Transplanting control method and device of rice transplanter, electronic equipment and storage medium

Abstract

The invention provides a planting control method and device of a rice transplanter, electronic equipment and a storage medium. The planting control method comprises the following steps: acquiring the speed of the rice transplanter and the rotating speed of a driving wheel of the rice transplanter; based on the vehicle speed and the rotating speed, determining the slip rate of a rice transplanter driving wheel; in response to an input planting distance instruction, determining a proportional valve current value corresponding to the interpolation distance when the running wheel of the rice transplanter does not slip; based on the slip rate and the proportional valve current value, determining a target proportional valve current value corresponding to the interpolation distance after the driving wheel of the rice transplanter slips; and adjusting a proportional valve of the planting hydraulic stepless speed change device based on the target proportional valve current value. By the adoption of the technical scheme, the intelligent level and the working efficiency of the rice transplanter are improved, it is ensured that equal-plant-spacing planting can be achieved when the rice transplanter slips, the problem that uniform plant spacing is difficult to maintain when a traditional rice transplanter slips is solved, and effective guarantee is provided for high yield of crops; and meanwhile, the workload of the machinist is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of rice transplanting machines, and in particular to a rice transplanting control method, device, electronic equipment and storage medium. Background Art

[0002] Rice transplanters are agricultural machinery used for planting crops such as crops. Mechanized operation can greatly improve planting efficiency and crop quality. Rice transplanters efficiently insert seedlings into the soil, saving manpower and providing guarantee for large-scale rice transplanting. The transplanting frequency of mainstream domestic rice transplanters is adjusted by the linkage between the transplanting transmission box and the travel system, that is, the transplanting frequency is high when the driving wheel speed is fast, and vice versa, the transplanting frequency is low when the driving wheel speed is slow. The operator can change the transmission ratio of the transplanting frequency and the driving wheel speed by adjusting the plant spacing gear under the transplanting device to achieve a transplanting output distance of one of the fixed plant spacings.

[0003] However, the traditional transplanter can only set the planting distance to a fixed value and cannot be adjusted infinitely. During the transplanting process, the transplanter's wheels are prone to slipping due to the different softness of the soil in the field. When slipping occurs, the planting frequency remains unchanged, while the actual vehicle speed slows down, causing the plant distance at the slipping point to become smaller and the seedlings to be planted more densely, resulting in poor consistency in the density of the seedlings in the entire field, which not only wastes seedlings, but also affects crop growth and final yield. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a transplanting control method, device, electronic device and storage medium for a rice transplanter, which improve the intelligence level and work efficiency of the rice transplanter, ensure that equal plant spacing can be achieved when slipping, solve the problem that traditional rice transplanters are difficult to maintain uniform plant spacing when slipping, and provide effective guarantee for high yields and harvests of crops; at the same time, it reduces the workload of the operator and improves the degree of automation and operational convenience of the operation.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a transplanting control method of a rice transplanter, the transplanting control method comprising:

[0007] Obtain the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter;

[0008] Based on the vehicle speed and rotation speed, determining the slip rate of the traveling wheels of the rice transplanter;

[0009] In response to the input planting distance instruction, determining the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip;

[0010] Based on the slip rate and the proportional valve current value, determining a target proportional valve current value corresponding to an interpolation distance after the traveling wheel of the rice transplanter slips;

[0011] Based on the target proportional valve current value, the proportional valve of the planting hydraulic stepless speed change device is adjusted.

[0012] Preferably, the rotation speed of the traveling wheel of the rice transplanter is obtained by the following steps:

[0013] Take the average sensor frequency of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel;

[0014] The rotation speed of the traveling wheel of the rice transplanter is determined based on the average frequency of the sensor, the tire diameter of the traveling wheel of the rice transplanter and a preset mechanical transmission ratio.

[0015] Preferably, the determining the slip rate of the traveling wheels of the rice transplanter based on the vehicle speed and the rotation speed comprises:

[0016] The vehicle speed and the rotation speed are used to perform a quotient operation to obtain the slip rate of the traveling wheels of the rice transplanter.

[0017] Preferably, in response to the input planting distance instruction, determining the proportional valve current value corresponding to the interpolation distance when the driving wheel of the rice transplanter does not slip comprises:

[0018] In response to the input planting distance instruction, determining an interpolation distance of the rice transplanter;

[0019] Based on the interpolation distance, the preset current value and the preset transplanting distance, the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip is determined.

[0020] In a second aspect, an embodiment of the present application further provides a transplanting control device for a rice transplanter, the transplanting control device comprising:

[0021] An acquisition module is used to acquire the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter;

[0022] A slip rate determination module, which determines the slip rate of the traveling wheels of the rice transplanter based on the vehicle speed and the rotation speed;

[0023] A proportional valve current value determination module, in response to an input planting distance instruction, determines a proportional valve current value corresponding to an interpolation distance when the traveling wheels of the rice transplanter do not slip;

[0024] A target proportional valve current value determination module determines a target proportional valve current value corresponding to an interpolation distance after the traveling wheel of the rice transplanter slips based on the slip rate and the proportional valve current value;

[0025] The adjustment module adjusts the proportional valve of the planting hydraulic stepless speed change device based on the target proportional valve current value.

[0026] Preferably, the acquisition module acquires the rotation speed of the traveling wheel of the rice transplanter through the following steps:

[0027] Take the average sensor frequency of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel;

[0028] The rotation speed of the traveling wheel of the rice transplanter is determined based on the average frequency of the sensor, the tire diameter of the traveling wheel of the rice transplanter and a preset mechanical transmission ratio.

[0029] Preferably, the slip rate determination module is specifically used for:

[0030] The vehicle speed and the rotation speed are used to perform a quotient operation to obtain the slip rate of the traveling wheels of the rice transplanter.

[0031] Preferably, the proportional valve current value determination module is specifically used for:

[0032] In response to the input planting distance instruction, determining an interpolation distance of the rice transplanter;

[0033] Based on the interpolation distance, the preset current value and the preset transplanting distance, the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip is determined.

[0034] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the transplanting control method of the rice transplanter described in the first aspect or any possible implementation manner of the first aspect.

[0035] In a fourth aspect, 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 controlling the transplanting of the rice transplanter described in the first aspect or any possible implementation manner of the first aspect are executed.

[0036] The embodiments of the present application provide a transplanting control method, device, electronic device and storage medium for a rice transplanter. The scheme obtains the speed of the rice transplanter and the rotation speed of the driving wheel, calculates the slip rate of the driving wheel, and determines the current value of the proportional valve when there is no slip according to the input planting distance instruction, and then adjusts the target proportional valve current value in combination with the slip rate, and finally adjusts the planting hydraulic stepless speed change device to achieve equal planting spacing, ensuring the accuracy of the planting distance and the stability of the transplanting operation. In this way, the intelligence level and work efficiency of the rice transplanter are improved, ensuring that equal planting spacing can be achieved when slipping, solving the problem that it is difficult for traditional rice transplanters to maintain uniform planting spacing when slipping, and providing effective guarantee for high yields and harvests of crops; at the same time, the workload of the operator is reduced, and the degree of automation and ease of operation of the operation are improved.

[0037] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. 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 related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A flow chart of a transplanting control method of a rice transplanter provided in an embodiment of the present application is shown;

[0040] Figure 2 An exemplary diagram showing the position of a rice transplanting device of a rice transplanter provided in an embodiment of the present application is shown;

[0041] Figure 3 A schematic structural diagram of an interpolation control system for a rice transplanter provided in an embodiment of the present application is shown;

[0042] Figure 4 A schematic structural diagram of a transplanting control device of a rice transplanter provided in an embodiment of the present application is shown;

[0043] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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 explanation 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 in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0045] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application 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 application claimed for protection, but merely represents the 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 belong to the scope of protection of the present application.

[0046] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring rice transplanting with a rice transplanter. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the rice transplanter planting method and device provided by the embodiments of the present application is within the scope of protection of the present application.

[0047] Rice transplanters are agricultural machinery used for planting crops such as crops. Mechanized operation can greatly improve planting efficiency and crop quality. Rice transplanters efficiently insert seedlings into the soil, saving manpower and providing guarantees for large-scale crop transplanting. The transplanting frequency of mainstream domestic rice transplanters is adjusted by the transplanting transmission box and the travel system, that is, the transplanting frequency is high when the driving wheel speed is fast, and vice versa, the transplanting frequency is low when the driving wheel speed is slow. The operator can change the transmission ratio of the transplanting frequency and the driving wheel speed by adjusting the plant spacing gear below the transplanting device to achieve a transplanting output distance of one of the fixed plant spacings. However, the planting plant spacing of traditional rice transplanters can only be set to a fixed value and cannot be adjusted infinitely. During the transplanting process, due to the different softness of the soil in the field, the traveling wheel of the rice transplanter is prone to slip. When slipping occurs, the transplanting frequency remains unchanged, and the actual vehicle speed slows down, making the plant spacing at the slipping point smaller and the seedlings denser, resulting in poor consistency in the seedling density of the entire field, which not only wastes seedlings, but also affects crop growth and final yield.

[0048] In response to the above-mentioned problems, the embodiments of the present application provide a transplanting control method, device, electronic device and storage medium for a rice transplanter, which improve the intelligence level and work efficiency of the rice transplanter, ensure that equal plant spacing can be achieved when the rice transplanter slips, solve the problem that traditional rice transplanters are difficult to maintain uniform plant spacing when they slip, and provide effective guarantee for high yields and harvests of crops; at the same time, it reduces the workload of the operator and improves the degree of automation and operational convenience of the operation.

[0049] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0050] See also Figure 1 , Figure 1 A flow chart of a transplanting control method of a rice transplanter provided in an embodiment of the present application.

[0051] In the existing rice transplanters, before the rice transplanting operation, the operator can manually adjust the plant spacing adjustment handle located on the lower side of the planting platform, so as to select one of the fixed plant spacings of 12, 14, 16, 18, and 21 cm. The existing rice transplanters can only achieve the correspondence between the planting frequency and the speed of the driving wheels through the planting gearbox, and cannot correspond to the actual vehicle speed one by one. Specifically, the planting frequency of the rice transplanter is fixedly changed according to the fixed transmission ratio of the planting transmission box as the speed of the driving wheels changes. Only when the driving wheels do not slip and the speed of the driving wheels remains constant, the planting plant spacing is a pre-set fixed value. However, in the actual rice transplanting operation process, the rice transplanter often slips continuously when driving in the field. In this case, the operator cannot fine-tune the plant spacing, and because the frequency and degree of slippage are constantly changing, the density of the seedlings in the entire farmland ultimately lacks consistency.

[0052] like Figure 1 As shown in the figure, the transplanting control method of the rice transplanter provided in the embodiment of the present application comprises the following steps:

[0053] Step S101, obtaining the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter.

[0054] In the embodiment of the present application, the rice transplanter is equipped with a GPS navigation receiver and a navigation controller. As an example, Figure 2 As shown in , the GPS navigation receiver and the navigation controller are arranged on the top of the uppermost column of the rice transplanter, the GPS navigation receiver is used to receive navigation information, and the navigation controller is used to process navigation information. Figure 3 As shown in the figure, the GPS navigation receiver is responsible for receiving the real-time positioning information between the vehicle and the satellite, and transmitting the real-time positioning information to the navigation controller through the CAN bus. The navigation controller calculates the real-time speed V of the vehicle based on the received real-time positioning information. n1(Unit: m / s), and then send the real-time vehicle speed to the vehicle controller via the CAN bus.

[0055] In the embodiment of the present application, as an example, the rotation speed of the traveling wheel of the rice transplanter is obtained by the following steps:

[0056] First, the sensor frequency average of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel is taken. In the embodiment of the present application, the rice transplanter is equipped with a hydraulic motor. As an example, Figure 2 As shown in , the present application configures hydraulic motors in the two driving wheels at the rear half of the rice transplanter, wherein the hydraulic motor has a speed sensor, and the model of the hydraulic motor may be HMV-028, which is not limited here. Figure 3 As shown in , the vehicle controller collects the speed sensor frequency in real time.

[0057] Based on the sensor frequency average, the tire diameter of the rice transplanter travel wheel and the preset mechanical transmission ratio, the rotation speed of the rice transplanter travel wheel is determined. Here, as an example, the rotation speed of the rice transplanter travel wheel can be calculated by formula (1).

[0058]

[0059] Among them, V n2 is the speed of the transplanter's wheel (in m / s), P z is the left wheel sensor frequency of the rice transplanter driving wheel, P y is the sensor frequency of the right wheel of the rice transplanter, D is the tire diameter of the rice transplanter (unit: m), and i is the mechanical transmission ratio from the transplanting hydraulic stepless speed change device to the travel wheel. In this application, the original transplanting gearbox of the rice transplanter is replaced. Specifically, the original transplanting gearbox of the rice transplanter is replaced with a transplanting hydraulic stepless speed change HST device, and the transplanting hydraulic stepless speed change device is used to achieve stepless adjustment of plant spacing. As an example, Figure 2 As shown in the figure, the transplanting hydraulic stepless speed change device is arranged in the middle of the transplanter near the driver's seat area, and is used to control the transmission device of the transplanting operation.

[0060] Step S102: determining the slip rate of the traveling wheels of the rice transplanter based on the vehicle speed and rotation speed.

[0061] Specifically, the vehicle speed and the rotation speed are divided to obtain the slip rate of the rice transplanter's driving wheels. As an example, the slip rate of the rice transplanter's driving wheels N = V n2 / V n1 , the slip rate N is in %.

[0062] Step S103, in response to the input planting distance instruction, determining the proportional valve current value corresponding to the interpolation distance when the driving wheels of the rice transplanter do not slip.

[0063] Regarding step S103, in specific implementation, as an example, the following steps may be included:

[0064] First, in response to the input planting distance instruction, the interpolation distance of the rice transplanter is determined. Here, the rice transplanter is equipped with an intelligent display terminal. Figure 3 As shown in , the user sets the required output planting distance (in cm) of the whole vehicle when there is no slipping on the intelligent display terminal, that is, the planting distance instruction is the required output planting distance of the whole vehicle when there is no slipping. Then the planting distance instruction is sent to the whole vehicle controller through the CAN bus, and the whole vehicle controller responds to the input planting distance instruction and determines the interpolation distance of the rice transplanter.

[0065] Then, based on the interpolation distance, the preset current value and the preset planting distance, the proportional valve current value corresponding to the interpolation distance when the rice transplanter driving wheel does not slip is determined. As an example, the proportional valve current value corresponding to the interpolation distance when the rice transplanter driving wheel does not slip can be calculated by formula (2).

[0066]

[0067] Where, I0 is the proportional valve current value (in mA) of the transplanting hydraulic stepless speed change device corresponding to the interpolation distance when the transplanter's driving wheels do not slip, I min is the dead zone current threshold of the proportional valve of the hydraulic stepless speed change device, I max is the maximum current threshold of the proportional valve of the transplanting hydraulic stepless speed change device, d is the interpolation distance of the transplanter, and d min is the minimum limit position of seedling spacing, d max is the maximum limit position of the seedling spacing. As an example, I min =200mA, I max = 600mA. In this application, by adjusting the mechanical transmission ratio i from the hydraulic stepless speed change device end to the driving wheel end, the stepless speed change output of the planting distance of 12-21cm can be achieved. Therefore, d min =12cm, d max =21cm.

[0068] Step S104, based on the slip rate and the proportional valve current value, determining a target proportional valve current value corresponding to the interpolation distance after the traveling wheel of the rice transplanter slips.

[0069] Here, as an example, the target proportional valve current value corresponding to the interpolation distance after the traveling wheel of the rice transplanter slips can be calculated by formula (3).

[0070]

[0071] Wherein, I is the target proportional valve current value (in mA) corresponding to the interpolation distance after the rice transplanter's driving wheel slips.

[0072] Step S105, adjusting the proportional valve of the planting speed change device based on the target proportional valve current value.

[0073] In the embodiment of the present application, after the vehicle controller determines the target proportional valve current value corresponding to the interpolation distance after the transplanter's driving wheels slip, the target proportional valve current value is transmitted as a control signal to the planting hydraulic continuously variable transmission device. The proportional valve in the planting hydraulic continuously variable transmission device changes the flow and pressure of the hydraulic oil according to the target proportional valve current value, and adjusts it to the required position for equal planting spacing. The output of the planting hydraulic continuously variable transmission device will directly affect the movement of the upper and lower transmission shafts of the planting claws. The movement of the upper and lower transmission shafts of the planting claws drives the planting claws to plant the seedlings up and down. Figure 2 As shown in the figure, the upper and lower transmission shafts of the transplanting claws are located in the middle and rear part of the transplanter to control the up and down movement of the transplanting claws. The transplanting claws are located at the rear and lower part of the transplanter and cooperate with the transplanting claw transmission shaft to transmit power to complete the transplanting operation.

[0074] The above scheme steps S103-S105 realize the stepless speed adjustment of the planting distance by adjusting the proportional valve current of the planting hydraulic continuously variable speed device. The combination of the motor and the angle sensor can also be used to control the planting hydraulic continuously variable speed device to adjust to the required position for equal planting spacing. First, the voltage value corresponding to the angle sensor and the position of the planting hydraulic continuously variable speed device are calibrated to make the two correspond to each other. Then, the vehicle controller calculates the voltage value required to adjust the planting hydraulic continuously variable speed device to different working positions according to the demand. After that, the forward or reverse rotation of the motor is controlled to drive the planting hydraulic continuously variable speed device to adjust. During the adjustment process, the voltage of the angle sensor is detected to feedback whether the planting hydraulic continuously variable speed device has reached the required position. Once it reaches it, the operation of the motor is stopped. The specific scheme is described as follows:

[0075] First, the user sets the required output planting distance of the vehicle when there is no slipping on the intelligent display terminal, calibrates the voltage of the motor rotation angle sensor, and sends the planting distance instruction and voltage calibration instruction to the vehicle controller through the CAN bus. Here, the calibration method of the motor rotation angle sensor voltage is as follows: Step 1, manually control the motor to reverse until the minimum limit position S of the seedling distance is reached. min (At this time, the seedling spacing S min =12cm), the second step is to use the key confirmation method on the intelligent display terminal to set the minimum limit position of the seedling distance to the voltage value V corresponding to the angle sensor min Send to the vehicle controller; Step 3, manually control the motor to rotate forward until the maximum limit position S of the seedling spacing is reached. max (At this time, the seedling spacing Smax = 21cm), and the maximum limit position of the seedling distance corresponds to the voltage value V corresponding to the angle sensor by pressing a button on the intelligent display terminal. max Sent to the vehicle controller.

[0076] Then, as an example, the voltage value corresponding to the angle sensor corresponding to the interpolation distance when the rice transplanter's driving wheel does not slip can be calculated by formula (4):

[0077]

[0078] Among them, V0 is the voltage value (in mV) corresponding to the angle sensor corresponding to the interpolation distance when the rice transplanter's driving wheel does not slip, and S is the interpolation distance of the rice transplanter. In the automatic adjustment mode and when the rice transplanter's driving wheel does not slip, the vehicle controller collects the voltage value V corresponding to the motor rotation angle sensor in real time. When V0-V is greater than 0, the motor is controlled to rotate forward until V reaches V0; when V-V0 is greater than 0, the motor is controlled to rotate reversely until V reaches V0.

[0079] Finally, based on the slip rate and the voltage value corresponding to the angle sensor, the target voltage value corresponding to the angle sensor corresponding to the interpolation distance after the rice transplanter's driving wheel slips is determined. As an example, the target voltage value corresponding to the angle sensor corresponding to the interpolation distance after the rice transplanter's driving wheel slips can be calculated by formula (5).

[0080]

[0081] Among them, V c is the target voltage value (in mV) corresponding to the angle sensor of the interpolation distance after the rice transplanter's driving wheel slips. In the automatic adjustment mode and when the rice transplanter's driving wheel slips, the vehicle controller collects the voltage value V corresponding to the motor rotation angle sensor in real time. c - When V is greater than 0, the motor is controlled to rotate forward until V reaches V c ; When V-V c When it is greater than 0, the motor is controlled to reverse until V reaches V c .

[0082] The embodiment of the present application provides a transplanting control method for a rice transplanter. Through the method, the intelligence level and work efficiency of the rice transplanter are improved, ensuring that equal plant spacing can be achieved when the rice transplanter slips, solving the problem that traditional rice transplanters are difficult to maintain uniform plant spacing when they slip, and providing effective guarantee for high yields and harvests of crops; at the same time, the workload of the operator is reduced, and the degree of automation and operational convenience of the operation are improved.

[0083] Based on the same application concept, the embodiments of the present application also provide a planting control device for a rice transplanter corresponding to the planting control method for a rice transplanter provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the planting control method for a rice transplanter in the above embodiments 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.

[0084] See also Figure 4 , Figure 4 A schematic structural diagram of a transplanting control device for a rice transplanter provided in an embodiment of the present application.

[0085] like Figure 4 As shown in , the transplanting control device 410 of the rice transplanter includes:

[0086] An acquisition module 411 is used to acquire the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter;

[0087] A slip rate determination module 412 determines the slip rate of the traveling wheels of the rice transplanter based on the vehicle speed and the rotation speed;

[0088] The proportional valve current value determination module 413 determines the proportional valve current value corresponding to the interpolation distance when the driving wheels of the rice transplanter do not slip in response to the input planting distance instruction;

[0089] A target proportional valve current value determination module 414 determines a target proportional valve current value corresponding to an interpolation distance after the traveling wheel of the rice transplanter slips based on the slip rate and the proportional valve current value;

[0090] The adjustment module 415 adjusts the proportional valve of the planting hydraulic continuously variable transmission device based on the target proportional valve current value.

[0091] Preferably, the acquisition module 411 acquires the rotation speed of the driving wheel of the rice transplanter through the following steps:

[0092] Take the average sensor frequency of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel;

[0093] The rotation speed of the traveling wheel of the rice transplanter is determined based on the average frequency of the sensor, the tire diameter of the traveling wheel of the rice transplanter and a preset mechanical transmission ratio.

[0094] Preferably, the slip rate determination module 412 is specifically used for:

[0095] The vehicle speed and the rotation speed are used to perform a quotient operation to obtain the slip rate of the traveling wheels of the rice transplanter.

[0096] Preferably, the proportional valve current value determination module 413 is specifically used for:

[0097] In response to the input planting distance instruction, determining an interpolation distance of the rice transplanter;

[0098] Based on the interpolation distance, the preset current value and the preset transplanting distance, the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip is determined.

[0099] The embodiment of the present application provides a transplanting control device for a rice transplanter. Through the device, the intelligence level and work efficiency of the rice transplanter are improved, ensuring that equal plant spacing can be achieved when the rice transplanter slips, solving the problem that traditional rice transplanters are difficult to maintain uniform plant spacing when they slip, and providing effective guarantee for high yields and harvests of crops; at the same time, the workload of the operator is reduced, and the degree of automation and operational convenience of the operation are improved.

[0100] See also Figure 5 , Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0101] like Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0102] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 The specific implementation of the steps of the transplanting control method of the rice transplanter in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0103] Based on the same application concept, 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 transplanting control method of the rice transplanter provided in the above embodiment are executed.

[0104] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present 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 units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units 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 units, which can be electrical, mechanical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] 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.

[0107] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0108] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A transplanting control method for a rice transplanter, characterized in that: The implantation control method comprises: Obtain the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter; Based on the vehicle speed and rotation speed, determining the slip rate of the traveling wheels of the rice transplanter; In response to the input planting distance instruction, determining the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip; Based on the slip rate and the proportional valve current value, determining a target proportional valve current value corresponding to an interpolation distance after the traveling wheel of the rice transplanter slips; Based on the target proportional valve current value, the proportional valve of the planting hydraulic stepless speed change device is adjusted.

2. The planting control method according to claim 1, characterized in that: Obtain the rotation speed of the rice transplanter's travel wheel by following the steps below: Take the average sensor frequency of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel; The rotation speed of the traveling wheel of the rice transplanter is determined based on the average frequency of the sensor, the tire diameter of the traveling wheel of the rice transplanter and a preset mechanical transmission ratio.

3. The planting control method according to claim 1, characterized in that: Determining the slip rate of the rice transplanter's travel wheels based on the vehicle speed and rotation speed includes: The vehicle speed and the rotation speed are used to perform a quotient operation to obtain the slip rate of the traveling wheels of the rice transplanter.

4. The planting control method according to claim 1, characterized in that: The method of determining the proportional valve current value corresponding to the interpolation distance when the driving wheels of the rice transplanter do not slip in response to the input planting distance instruction comprises: In response to the input planting distance instruction, determining an interpolation distance of the rice transplanter; Based on the interpolation distance, the preset current value and the preset transplanting distance, the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip is determined.

5. A transplanting control device for a rice transplanter, characterized in that: The implantation control device comprises: An acquisition module is used to acquire the speed of the rice transplanter and the rotation speed of the driving wheels of the rice transplanter; A slip rate determination module, which determines the slip rate of the traveling wheels of the rice transplanter based on the vehicle speed and the rotation speed; A proportional valve current value determination module, in response to an input planting distance instruction, determines a proportional valve current value corresponding to an interpolation distance when the traveling wheels of the rice transplanter do not slip; A target proportional valve current value determination module determines a target proportional valve current value corresponding to an interpolation distance after the traveling wheel of the rice transplanter slips based on the slip rate and the proportional valve current value; The adjustment module adjusts the proportional valve of the planting hydraulic stepless speed change device based on the target proportional valve current value.

6. The implantation control device according to claim 5, characterized in that: The acquisition module acquires the rotation speed of the traveling wheel of the rice transplanter through the following steps: Take the average sensor frequency of the left wheel sensor frequency of the rice transplanter driving wheel and the right wheel sensor frequency of the rice transplanter driving wheel; The rotation speed of the traveling wheel of the rice transplanter is determined based on the average frequency of the sensor, the tire diameter of the traveling wheel of the rice transplanter and a preset mechanical transmission ratio.

7. The implantation control device according to claim 5, characterized in that: The slip rate determination module is specifically used for: The vehicle speed and the rotation speed are used to perform a quotient operation to obtain the slip rate of the traveling wheels of the rice transplanter.

8. The implantation control device according to claim 5, characterized in that: The proportional valve current value determination module is specifically used for: In response to the input planting distance instruction, determining an interpolation distance of the rice transplanter; Based on the interpolation distance, the preset current value and the preset transplanting distance, the proportional valve current value corresponding to the interpolation distance when the traveling wheels of the rice transplanter do not slip is determined.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are run by the processor, the steps of the transplanting control method of the rice transplanter as described in any one of claims 1 to 4 are executed.

10. 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 transplanting control method of the rice transplanter as described in any one of claims 1 to 4 are executed.

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