Pot seedling transplanter and control method

Abstract

The invention relates to the technical field of agricultural mechanical equipment, and provides a pot seedling transplanter and a control method. The pot seedling transplanter comprises a transplanter body, a punching and transplanting mechanism, a pair of first adjusting assemblies, a second adjusting assembly and a controller, the chassis frame is provided with a rotating shaft, and the punching and transplanting mechanism is arranged on the chassis frame; the two ends of each first adjusting assembly are hinged to the rotating shaft and one first wheel body respectively, and the first adjusting assemblies are used for adjusting the first height between the chassis frame and the ridge platform; the rack is hinged to the chassis frame, the pair of second wheel bodies is connected with the rack, the first end of the second adjusting assembly is hinged to the rack, and the second adjusting assembly is used for obtaining a second height; the controller is used for controlling the first adjusting assembly to act according to the second height so as to adjust the first height. According to the pot seedling transplanter, the first height between the chassis frame and the ridge platform can be automatically adjusted according to the height of the ridge platform, and when the height of the ridge platform is different, the transplanting depth can be consistent.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to a seedling pot transplanter and a control method thereof. Background Art

[0002] Transplanting cultivation technology plays a key role in reducing costs and increasing efficiency in agricultural production, and has been widely used in the cultivation of various field crops such as rice, sweet potatoes, tobacco, rapeseed, cotton, corn, etc. As an important tool for realizing mechanized planting, the seedling transplanter not only reduces the labor burden, but also significantly improves production efficiency.

[0003] The operating performance of the transplanter is directly related to the quality of the transplanted seedlings, which in turn affects the survival rate and final yield of the seedlings. Therefore, high-quality and intelligent transplanting machinery is not only an urgent need for current agricultural production, but also an inevitable trend for future development.

[0004] In my country, the planting of crops such as vegetables and tobacco mostly adopts the ridge-making and transplanting method. However, most of the seedling planting machines currently used in China have a low degree of automation and lack sufficient contour-profiling and leveling capabilities. In addition, the irregular ridge shape and uneven terrain lead to inconsistent seedling transplanting depths, reduced seedling establishment rates, and thus affect the survival rate and yield of seedlings. Summary of the invention

[0005] The invention provides a pot seedling transplanter and a control method, which are used to solve the defect of inconsistent pot seedling transplanting depth in the prior art.

[0006] The present invention provides a seedling pot transplanter, comprising: a transplanter body, a hole-punching and transplanting mechanism, a pair of first adjustment components, a second adjustment component and a controller; the transplanter body comprises: a chassis frame, a frame, a pair of first wheel bodies and a pair of second wheel bodies, the chassis frame is provided with a rotating shaft, the hole-punching and transplanting mechanism is arranged on the chassis frame and can pass through the chassis frame; the two ends of each first adjustment component are respectively hinged to one end of the rotating shaft and one of the first wheel bodies, and the first adjustment component is used to adjust the first height between the chassis frame and the ridge platform; the frame is hinged to the chassis frame, a pair of the second wheel bodies are connected to the frame, the first end of the second adjustment component is hinged to the frame, the second end of the second adjustment component rolls with the ridge platform, and the second adjustment component is used to obtain a second height, which is the ridge platform height; the controller is used to control the action of the first adjustment component according to the second height to adjust the first height.

[0007] According to a seedling transplanter provided by the present invention, the first adjustment component includes: a first connecting member, an adjusting member and a first angle sensor; two ends of the first connecting member are respectively hinged to one end of the rotating shaft and the first wheel body, and two ends of the adjusting member are respectively connected to the chassis frame and the first connecting member, and the adjusting member can be extended and retracted to adjust the first height; the first angle sensor is arranged on the first connecting member, and the first angle sensor is used to detect the first angle between the first connecting member and the chassis frame.

[0008] According to a seedling transplanter provided by the present invention, the second adjustment component includes: a second connecting member, a roller and a second angle sensor; the first end of the second connecting member is hinged to the frame, and the second end of the second connecting member is connected to the roller, and the roller can roll along the ridge; the second angle sensor is arranged on the second connecting member, and the second angle sensor is used to detect the second angle between the second connecting member and the frame.

[0009] A seedling transplanter provided in a pot according to the present invention also includes a posture sensor, which is arranged on the chassis frame and is used to obtain the inclination angle of the chassis frame; the controller is used to control the extension and retraction of the adjustment member according to the inclination angle so that the chassis frame is in a horizontal state.

[0010] A seedling transplanter in a pot provided by the present invention also includes a stroke sensor, which is arranged on the adjusting member, and the stroke sensor is used to detect the actual adjustment amount of the adjusting member; the controller is used to establish a second height change value-first height change value database based on the correspondence between the second height change value and the first height change value, and select the corresponding first height change value according to the real-time second height change value, and control the extension and retraction amount of the adjusting member based on the first height change value; the controller is also used to correct the correspondence between the second height change value and the first height change value according to the actual adjustment amount.

[0011] A seedling pot transplanter provided according to the present invention further includes a counter, which is arranged on the transplanter body and is used to detect the transplanting quantity of the hole-making and transplanting mechanism.

[0012] A seedling pot transplanter provided according to the present invention further includes a satellite positioning speed sensor, which is arranged on the transplanter body and is used to obtain position information and speed of the seedling pot transplanter.

[0013] The present invention also provides a control method for the seedling pot transplanter as described above, comprising: obtaining a ridge platform height, the ridge platform height being a second height; and controlling the action of the first adjustment component based on the second height to adjust the first height between the chassis frame and the ridge platform.

[0014] According to a control method provided by the present invention, the step of controlling the action of the first adjusting component based on the second height to adjust the first height between the chassis frame and the ridge platform includes: obtaining a first height change value and a second height change value; establishing a second height change value-first height change value database based on a one-to-one correspondence between the second height change value and the first height change value; and adjusting the telescopic amount of the first adjusting component based on the second height change value-first height change value database.

[0015] A control method provided according to the present invention further includes: obtaining an actual adjustment amount of the adjustment member; and based on the actual adjustment amount, correcting the relationship between the second height change value and the first height change value.

[0016] The seedling pot transplanter provided by the present invention can automatically adjust the first height between the chassis frame and the ridge platform according to the ridge platform height by arranging the first adjustment component, the second adjustment component and the controller, so that the transplanting depth can be consistent when the ridge platform heights are different. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the pot seedling transplanter provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the first regulating component and the second regulating component.

[0020] Reference numerals: 11. first connecting member; 12. adjusting member; 21. second connecting member; 22. roller; 101. chassis frame; 102. rotating shaft; 103. frame; 104. first wheel body; 105. second wheel body; 110. hole-making and transplanting mechanism. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Combine the following Figure 1 and Figure 2 The present invention describes a seedling pot transplanter and a control method.

[0023] like Figure 1 As shown, in an embodiment of the present invention, the seedling pot transplanter includes: a transplanter body, a hole-making transplanting mechanism 110, a pair of first adjustment components, a second adjustment component and a controller. The transplanter body includes: a chassis frame 101, a frame 103, a pair of first wheel bodies 104 and a pair of second wheel bodies 105. The chassis frame 101 is provided with a rotating shaft 102, and the two ends of each first adjustment component are respectively hinged to one end of the rotating shaft 102 and a first wheel body 104, and the first adjustment component is used to adjust the first height between the chassis frame 101 and the ridge platform. The first wheel body 104 moves along the ridge ditch.

[0024] The hole-making and transplanting mechanism 110 is arranged on the chassis frame 101, and the hole-making and transplanting mechanism 110 can pass through the chassis frame 101 to transplant the seedlings to the ridge platform. The frame 103 is arranged at one end of the chassis frame 101 and is hinged to the chassis frame 101. A pair of second wheel bodies 105 are connected to the frame 103. The first end of the second adjustment component is hinged to the frame 103, and the second wheel body 105 moves along the ridge ditch. When the second wheel body 105 moves along the ridge ditch, the second end of the second adjustment component rolls along the ridge platform. In this embodiment, the diameter of the first wheel body 104 is greater than the diameter of the second wheel body 105. The second adjustment component is used to obtain the height of the ridge platform, that is, the second height.

[0025] The second adjusting component sends the acquired ridge platform height to the controller, and the controller controls the extension and retraction of the first adjusting component according to the ridge platform height to adjust the first height, thereby ensuring consistent transplanting depth.

[0026] The seedling transplanter provided in the embodiment of the present invention can automatically adjust the first height between the chassis frame and the ridge platform according to the height of the ridge platform by setting a first adjustment component, a second adjustment component and a controller, so that the transplanting depth can be consistent when the height of the ridge platform is different.

[0027] like Figure 1 and Figure 2As shown, in an embodiment of the present invention, the first adjustment component includes: a first connecting member 11, an adjusting member 12 and a first angle sensor. The two ends of the first connecting member 11 are respectively hinged to one end of the rotating shaft 102 and the first wheel body 104, and the two ends of the adjusting member 12 are respectively connected to the chassis frame 101 and the first connecting member 11. When the adjusting member 12 is extended or retracted, it can drive the chassis frame 101 to rise or fall, so as to adjust the first height between the chassis frame 101 and the ridge platform. The first angle sensor is arranged on the first connecting member 11, and the first angle sensor is used to detect the first angle between the first connecting member 11 and the chassis frame 101.

[0028] like Figure 2 As shown, in an embodiment of the present invention, the second adjustment component includes: a second connecting member 21, a roller 22 and a second angle sensor. The first end of the second connecting member 21 is hinged to the chassis frame 101 frame 103, and the second end of the second connecting member 21 is connected to the roller 22. When the second wheel body 105 walks along the ridge, the roller 22 rolls along the ridge platform. The second angle sensor is provided on the second connecting member 21, and the second angle sensor is used to detect the second angle between the second connecting member 21 and the frame 103.

[0029] like Figure 2 As shown, the length L of the first connecting member 11 1 It is known that the distance L from the hinge point of the first connecting member 11 and the rotating shaft 102 to the acupuncture point 0 It is known that the angle a between the first connecting member 11 and the chassis frame 101 can be detected in real time by the first angle sensor, and the height H between the chassis frame 101 and the center of the first wheel body 104 1 = The first height is: H 1 The radius R of the first wheel body 104 1 sum.

[0030] The length L of the second connecting member 21 2 is known, the angle b between the second connecting member 21 and the frame 103 can be detected in real time by the second angle sensor, and the height H between the hinge point of the second connecting member 21 and the frame 103 and the center of the roller 22 2 =L 2 cosb. The height of the ridge is: H 1 +R 1 -H 2 -R 2 -H 3 Among them, R 2 is the radius of the roller 22, H 3 It is the distance between the hinge point between the frame 103 and the second connecting member 21 and the chassis frame 101.

[0031] Since the radius R of the first wheel body 104 1 , the radius R of the roller 22 2 and the distance H between the hinge point between the frame 103 and the second connecting member 21 and the chassis frame 101 3 are all fixed values. When the ridge height is different, only H 1 and H 2 For the convenience of calculation, H 2 The change value of △H 2 Equivalent to the change in ridge height, H 1 Change value △H 1 Equivalent to the change in the first height. Each △H 2 Corresponding to a △H 1 During the transplanting process of the seedling transplanter, the controller 2 With △H 1 According to the corresponding relationship between them, the telescopic amount of the adjusting member 12 is adjusted to make the transplanting depth consistent.

[0032] In this embodiment, based on the correspondence between the second height change value and the first height change value, a second height change value-first height change value database is established. During the transplanting process of the seedling pot transplanter, the controller selects the corresponding first height change value in the database according to the real-time ridge height change value, and controls the extension and retraction of the adjustment member 12 based on the first height change value to achieve consistent depth of seedling pot transplanting.

[0033] The seedling transplanter provided in the embodiment of the present invention can automatically control the extension and retraction amount of the adjustment member according to the real-time second height change value by establishing a first height change value-second height change value database, so that when the ridge platform heights are inconsistent, the seedling transplanting depths are consistent.

[0034] In the above-described embodiment, there are two adjusting members 12 , wherein one adjusting member 12 is used to drive the chassis frame 101 to move so as to adjust the first height between the chassis frame 101 and the ridge platform, and the other adjusting member 12 is used to level the chassis frame 101 .

[0035] Furthermore, in an embodiment of the present invention, the seedling pot transplanter further includes a stroke sensor, which is disposed on the adjustment member 12, and is used to detect an actual adjustment amount of the actual adjustment member 12. The controller is also used to correct the corresponding relationship between the second height change value and the first height change value based on the actual adjustment amount, so as to make the second height change value match the first height change value in real time through closed-loop control, thereby improving the accuracy of transplanting depth control.

[0036] In an embodiment of the present invention, the seedling transplanter further includes a posture sensor, which is arranged on the chassis frame 101, and is used to obtain the horizontal tilt angle of the chassis frame 101. When the seedling transplanter is traveling in the ridges of hilly and mountainous areas, the posture sensor detects the horizontal tilt angle of the chassis frame 101 in real time and sends it to the controller. The controller controls the adjustment member 12 to extend and retract according to the tilt angle, so that the chassis frame 101 is in a horizontal state, so that the hole-making and transplanting mechanism 110 can vertically transplant the seedlings on the ridge platform, thereby ensuring the seedling standing rate of the seedlings.

[0037] In an embodiment of the present invention, the seedling pot transplanter further includes a counter, which is disposed on the frame 103 and is used to collect the number of working revolutions of the swing arm of the hole-making and transplanting mechanism 110 to record the planting amount of the seedling pots.

[0038] In an embodiment of the present invention, the seedling transplanter further comprises a satellite positioning speed sensor, which is arranged on the transplanter body and is used to obtain the position information and speed of the seedling transplanter.

[0039] In an embodiment of the present invention, the seedling transplanter further includes: a hydraulic pump, an electro-hydraulic proportional valve group and a hydraulic oil tank, wherein the hydraulic pump and the hydraulic oil tank are connected to the adjusting member 12 through a pipeline, and in this embodiment, the adjusting member 12 is an oil cylinder. The electro-hydraulic proportional valve group is arranged on the pipeline, and the controller is electrically connected to the electro-hydraulic proportional valve group to control the extension and retraction of the adjusting member 12 through the electro-hydraulic proportional valve group.

[0040] In an embodiment of the present invention, the seedling transplanter also includes a terminal platform, which is arranged on the transplanter body and is located in a place convenient for the driver to watch and operate. The terminal platform is used to record and display the number of seedlings transplanted, the real-time position of the transplanter, the movement trajectory and operation information, and can transmit the above information wirelessly to realize remote supervision of the seedling transplanter operation. The terminal platform is also provided with a self-check and alarm function. After the terminal platform is powered on, it automatically detects the status of components such as CAN communication, wireless communication, satellite signals, sensors, etc., and automatically alarms when abnormalities occur. When the seedling transplanter is transplanting, if the chassis frame 101 is not leveled in place within the set time, an alarm will also be given.

[0041] The embodiment of the present invention also provides a control method for a seedling pot transplanter, which specifically includes the following steps: Step 01: Obtain the height of the ridge platform, which is the second height; Step 02: Control the action of the first adjustment component based on the second height to adjust the first height between the chassis frame 101 and the ridge platform.

[0042] Specifically, when the seedling transplanter moves along the ridge, the first wheel body 104 and the second wheel body 105 move along the ridge, and the second end of the second adjustment component rolls along the ridge platform. The height between the ridge and the ridge platform is the ridge platform height, that is, the second height, and the second adjustment component is used to obtain the ridge platform height. The height between the chassis frame 101 and the ridge platform is the first height. The second adjustment component sends the obtained ridge platform height to the controller, and the controller controls the first adjustment component to extend and retract according to the ridge platform height to adjust the first height, so as to ensure that the transplanting depth is consistent when the ridge platform height is different.

[0043] The control method of the seedling pot transplanter provided in the embodiment of the present invention can automatically adjust the first height between the chassis frame and the ridge platform according to the height of the ridge platform, so that the transplanting depth can be consistent when the height of the ridge platform is different.

[0044] Further, in an embodiment of the present invention, the step of controlling the action of the first adjustment component based on the second height to adjust the first height includes: obtaining a first initial value of the first height and a first current value of the first height, and obtaining a first height change value based on a difference between the first current value and the first initial value; obtaining a second initial value of the second height and a second current value of the second height, and obtaining a second height change value based on the difference between the second current value and the second initial value; establishing a second height change value-first height change value database based on a one-to-one correspondence between the second height change value and the first height change value; and adjusting the telescopic amount of the first adjustment component based on the second height change value-first height change value database.

[0045] Specifically, the length L of the first connecting member 11 is 1 It is known that the distance L from the hinge point of the first connecting member 11 and the rotating shaft 102 to the acupuncture point 0 It is known that the angle a between the first connecting member 11 and the chassis frame 101 can be detected in real time by the first angle sensor, and the height H between the chassis frame 101 and the center of the first wheel body 104 1 = The first height is: H 1 The radius R of the first wheel body 104 1 sum.

[0046] The length L of the second connecting member 21 2 is known, the angle b between the second connecting member 21 and the frame 103 can be detected in real time by the second angle sensor, and the height H between the hinge point of the second connecting member 21 and the frame 103 and the center of the roller 22 2 =L 2 cosb. The height of the ridge is: H 1 +R 1 -H 2 -R 2 -H3 Among them, R 2 is the radius of the roller 22, H 3 It is the distance between the hinge point between the frame 103 and the second connecting member 21 and the chassis frame 101.

[0047] Since the radius R of the first wheel body 104 1 , the radius R of the roller 22 2 and the distance H between the hinge point between the frame 103 and the second connecting member 21 and the chassis frame 101 3 are all fixed values. When the ridge height is different, only H 1 and H 2 For the convenience of calculation, H 2 The change value of △H 2 Equivalent to the change in ridge height, H 1 Change value △H 1 Equivalent to the change in the first height. Each △H 2 Corresponding to a △H 1 During the transplanting process of the seedling transplanter, the controller 2 With △H 1 According to the corresponding relationship between them, the telescopic amount of the adjusting member 12 is adjusted to make the transplanting depth consistent.

[0048] In this embodiment, based on the correspondence between the second height change value and the first height change value, a second height change value-first height change value database is established. During the transplanting process of the seedling pot transplanter, the controller selects the corresponding first height change value in the database according to the real-time second height change value, and controls the extension and retraction of the adjustment member 12 based on the first height change value to achieve consistent depth of transplanting seedlings in pots.

[0049] In an embodiment of the present invention, the control method of the seedling transplanter further includes: obtaining an actual adjustment amount of the adjustment member 12, and correcting the relationship between the first height change value and the second height change value based on the actual adjustment amount.

[0050] Specifically, in order to improve the accuracy of transplanting depth control, during the transplanting process, the actual adjustment amount of the adjustment member 12 is obtained, and based on the actual adjustment amount, the relationship between the second height change value and the first height change value is corrected to achieve closed-loop control and improve the accuracy of transplanting depth control.

[0051] The above calculation method will cause a large error in the transplanting depth due to factors such as structural position and measurement. Therefore, the terminal platform is also equipped with a calibration system. The calibration process of the pot seedling transplanter is described in detail below.

[0052] When in use, the terminal platform is powered on, the parameter initialization module is started, and the L 0, L 1 , L 2 And other physical size parameters.

[0053] Park the seedling transplanter horizontally on the standard ridge platform, open the first angle sensor and the second angle sensor zero point calibration interface respectively, measure the actual values ​​of a and b, enter the calibration system interface, confirm and save, and complete the angle sensor zero point position calibration.

[0054] Open the ridge height calibration interface, perform hole digging and transplanting operations on the standard ridge, measure the hole digging depth and input it into the calibration system, confirm and save, and the ridge height calibration is completed.

[0055] Open the planting depth error calibration interface: enter the maximum, minimum and middle values ​​of the transplanting depth allowed by the seedling pot transplanter respectively, perform field hole-digging operations, enter the actual transplanting depth detected into the calibration system and save it to complete the planting depth calibration.

[0056] After calibration is completed, enter the expected planting depth in the settings and you can start transplanting seedlings in pots.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seedling transplanter, characterized in that: include: A transplanter body, a hole-making and transplanting mechanism, a pair of first adjustment components, a second adjustment component and a controller; The transplanter body comprises: a chassis frame, a frame, a pair of first wheel bodies and a pair of second wheel bodies, the chassis frame is provided with a rotating shaft, the acupuncture transplanting mechanism is arranged on the chassis frame and can pass through the chassis frame; Both ends of each first adjustment component are respectively hinged to one end of the rotating shaft and one of the first wheel bodies, and the first adjustment component is used to adjust the first height between the chassis frame and the ridge platform; The frame is hinged to the chassis frame, a pair of the second wheels are connected to the frame, a first end of the second adjustment component is hinged to the frame, a second end of the second adjustment component rolls with the ridge platform, and the second adjustment component is used to obtain a second height, which is the ridge platform height; The controller is used to control the action of the first adjustment component according to the second height to adjust the first height.

2. The seedling pot transplanter according to claim 1, characterized in that: The first adjustment component includes: a first connecting member, an adjusting member and a first angle sensor; Two ends of the first connecting member are respectively hinged to one end of the rotating shaft and the first wheel body, and two ends of the adjusting member are respectively connected to the chassis frame and the first connecting member, and the adjusting member can be extended to adjust the first height; The first angle sensor is disposed on the first connecting member, and is used to detect a first angle between the first connecting member and the chassis frame.

3. The seedling transplanter according to claim 2, characterized in that: The second adjustment assembly includes: a second connecting member, a roller and a second angle sensor; The first end of the second connecting member is hinged to the frame, the second end of the second connecting member is connected to the roller, and the roller can roll along the ridge platform; The second angle sensor is disposed on the second connecting member, and is used to detect a second angle between the second connecting member and the frame.

4. The seedling pot transplanter according to claim 1, characterized in that: It also includes a posture sensor, which is arranged on the chassis frame and is used to obtain the tilt angle of the chassis frame; The controller is used to control the extension and retraction of the adjusting member according to the tilt angle so that the chassis frame is in a horizontal state.

5. The seedling pot transplanter according to claim 1, characterized in that: It also includes a stroke sensor, which is arranged on the adjusting member and is used to detect an actual adjustment amount of the adjusting member; The controller is used to establish a second height change value-first height change value database based on the corresponding relationship between the second height change value and the first height change value, select the corresponding first height change value according to the real-time second height change value, and control the extension and contraction amount of the adjusting member based on the first height change value; The controller is further configured to modify the corresponding relationship between the second height change value and the first height change value according to the actual adjustment amount.

6. The seedling pot transplanter according to claim 1, characterized in that: It also includes a counter, which is arranged on the transplanter body and is used to detect the transplanting quantity of the acupuncture and transplanting mechanism.

7. The seedling pot transplanter according to claim 1, characterized in that: It also includes a satellite positioning speed sensor, which is arranged on the transplanter body and is used to obtain the position information and speed of the seedling pot transplanter.

8. A control method for a seedling pot transplanter according to any one of claims 1 to 7, characterized in that: include: Acquire the ridge platform height, where the ridge platform height is the second height; The first adjustment component is controlled to move based on the second height to adjust the first height between the chassis frame and the ridge platform.

9. The control method according to claim 8, characterized in that: The step of controlling the first adjustment component to move based on the second height to adjust the first height between the chassis frame and the ridge platform includes: Get a first height change value and a second height change value; Based on the one-to-one correspondence between the second height change value and the first height change value, establishing a second height change value-first height change value database; The telescopic amount of the first adjusting component is adjusted based on the second height change value-first height change value database.

10. The control method according to claim 9, characterized in that: Also includes: Obtaining the actual adjustment amount of the adjustment member; Based on the actual adjustment amount, the relationship between the second height change value and the first height change value is corrected.

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