Pot seedling transplanter and control method

Abstract

The present invention relates to the technical field of agricultural machinery and equipment, and provides a pot seedling transplanter and a control method. The above-mentioned pot seedling transplanter includes: a transplanter body, a hole-drilling and transplanting mechanism, a pair of first adjustment components, a second adjustment component, and a controller; the chassis frame is provided with a rotating shaft, and the hole-drilling and transplanting mechanism is arranged on the chassis frame; both ends of each first adjustment component are respectively hinged to the rotating shaft and a first wheel body, 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 second wheel bodies are connected to the frame, the first end of the second adjustment component is hinged to the frame, and the second adjustment component is used to obtain the second height; the controller is used to control the action of the first adjustment component according to the second height so as to adjust the first height. The above-mentioned pot seedling transplanter can automatically adjust the first height between the chassis frame and the ridge platform according to the height of the ridge platform, and can also make the transplanting depth consistent when the ridge platform heights are different.

Description

Technical Field

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

[0002] Transplanting cultivation technology plays a key role in reducing costs and increasing efficiency in agricultural production and has been widely applied to the planting of various field crops such as rice, sweet potato, tobacco, rape, cotton, and corn. As an important tool for realizing planting mechanization, the pot-seedling planter not only reduces the labor burden but also significantly improves the production efficiency.

[0003] The working performance of the transplanter is directly related to the quality of the seedlings after transplantation, 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 China, the planting of crops such as vegetables and tobacco mostly adopts the ridging and transplanting method. However, most of the pot-seedling planting machinery currently used in China has a low degree of automation and lacks sufficient profiling and leveling capabilities. Coupled with factors such as irregular ridging patterns of the ridge platform and uneven terrain, the transplanting depth of the pot-seedlings is inconsistent, and the standing seedling rate is reduced, which in turn affects the survival rate and yield of the seedlings. Summary of the Invention

[0005] The present invention provides a pot-seedling transplanter and a control method therefor to solve the defect of inconsistent transplanting depths of pot-seedlings in the prior art.

[0006] The present invention provides a pot-seedling transplanter, including: a transplanter body, a hole-digging and transplanting mechanism, a pair of first adjusting components, a second adjusting component, and a controller; the transplanter body includes: 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-digging and transplanting mechanism is arranged on the chassis frame and can pass through the chassis frame; both ends of each first adjusting component are respectively hinged to one end of the rotating shaft and one of the first wheel bodies, and the first adjusting component is used for adjusting a 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, a first end of the second adjusting component is hinged to the frame, and a second end of the second adjusting component rolls along with the ridge platform, and the second adjusting component is used for obtaining a second height, and the second height is the height of the ridge platform; the controller is used for controlling the first adjusting component to act according to the second height so as to adjust the first height.

[0007] A bowl-seedling transplanter provided according to the present invention, the first adjustment assembly includes: a first connecting member, an adjusting member, and a first angle sensor; both ends of the first connecting member are respectively hinged to one end of the rotating shaft and the first wheel body, both ends of the adjusting member are respectively connected to the chassis frame and the first connecting member, and the adjusting member can be telescoped 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 a first angle between the first connecting member and the chassis frame.

[0008] A bowl-seedling transplanter provided according to the present invention, the second adjustment assembly includes: a second connecting member, a roller, and a second angle sensor; a first end of the second connecting member is hinged to the machine frame, a 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 arranged on the second connecting member, and the second angle sensor is used to detect a second angle between the second connecting member and the machine frame.

[0009] A bowl-seedling transplanter provided according to the present invention further includes an attitude sensor, the attitude sensor is arranged on the chassis frame, and the attitude sensor is used to obtain an inclination angle of the chassis frame; the controller is used to control the telescoping of the adjusting member according to the inclination angle so that the chassis frame is in a horizontal state.

[0010] A bowl-seedling transplanter provided according to the present invention further includes a travel sensor, the travel sensor is arranged on the adjusting member, and the travel sensor 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 a corresponding first height change value according to the real-time second height change value, and control the telescoping amount of the adjusting member based on the first height change value; the controller is further used to correct the corresponding relationship between the second height change value and the first height change value according to the actual adjustment amount.

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

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

[0013] The present invention also provides a control method for the bowl - seedling transplanter as described above, including: obtaining the ridge height, where the ridge height is the second height; controlling the first adjusting component to act based on the second height so as to adjust the first height between the chassis frame and the ridge.

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

[0015] According to a control method provided by the present invention, it further includes: obtaining the actual adjustment amount of the adjusting part; correcting the relationship between the second height change value and the first height change value based on the actual adjustment amount.

[0016] The bowl - seedling transplanter provided by the present invention can automatically adjust the first height between the chassis frame and the ridge according to the ridge height by setting the first adjusting component, the second adjusting component and the controller, so that the transplanting depth can be made consistent when the ridge 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 will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

[0019] Figure 2 is a schematic structural diagram of the first adjusting component and the second adjusting component.

[0020] Reference Numerals:

[0021] 11, first connecting piece; 12, adjusting part; 21, second connecting piece; 22, roller; 101, chassis frame; 102, rotating shaft; 103, frame; 104, first wheel body; 105, second wheel body; 110, hole - punching and transplanting mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0023] The following will describe Figure 1 and Figure 2 the pot seedling transplanter and control method of the present invention.

[0024] As Figure 1 shown, in the embodiment of the present invention, the pot seedling transplanter includes: a transplanter body, a hole-digging and 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. Both ends of each first adjustment component are respectively hinged to one end of the rotating shaft 102 and a first wheel body 104. The first adjustment component is used to adjust the first height between the chassis frame 101 and the ridge platform. The first wheel bodies 104 travel along the furrow.

[0025] The hole-digging and transplanting mechanism 110 is arranged on the chassis frame 101. The hole-digging and transplanting mechanism 110 can pass through the chassis frame 101 to transplant the pot seedlings onto 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. The second wheel bodies 105 travel along the furrow. When the second wheel bodies 105 travel along the furrow, the second end of the second adjustment component rolls along the ridge platform. In this embodiment, the diameter of the first wheel bodies 104 is larger than the diameter of the second wheel bodies 105. The second adjustment component is used to obtain the ridge platform height, that is, the second height.

[0026] The second adjustment component sends the obtained ridge platform height to the controller. The controller controls the first adjustment component to expand and contract according to the ridge platform height to adjust the first height, so as to ensure that the transplanting depth is consistent.

[0027] The pot seedling transplanter provided by the embodiment of the present invention can automatically adjust the first height between the chassis frame and the ridge platform according to the ridge platform height by setting the first adjustment component, the second adjustment component, and the controller, so that the transplanting depth can be made consistent even when the ridge platform heights are different.

[0028] As Figure 1 and Figure 2As shown, in the embodiment of the present invention, the first adjustment component includes: a first connecting member 11, an adjusting member 12, and a first angle sensor. Both ends of the first connecting member 11 are respectively hinged to one end of the rotating shaft 102 and the first wheel body 104. Both 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 expands and contracts, 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.

[0029] As Figure 2 shown, in the 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 and the frame 103. The second end of the second connecting member 21 is connected to the roller 22. When the second wheel body 105 travels along the furrow, the roller 22 rolls along the ridge platform. The second angle sensor is arranged 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.

[0030] As Figure 2 shown, the length L1 of the first connecting member 11 is known, the distance L0 from the hinge point of the first connecting member 11 and the rotating shaft 102 to the hole punching point is known, the included 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 H1 between the chassis frame 101 and the center of the first wheel body 104 = . The first height is: the sum of H1 and the radius R1 of the first wheel body 104.

[0031] The length L2 of the second connecting member 21 is known, the included 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 H2 between the hinge point of the second connecting member 21 and the frame 103 and the center of the roller 22 = L2cosb. The ridge platform height is: H1 + R1 - H2 - R2 - H3. Wherein, R2 is the radius of the roller 22, and H3 is the distance between the hinge point of the frame 103 and the second connecting member 21 and the chassis frame 101.

[0032] Since the radius R1 of the first-round body 104, the radius R2 of the roller 22, and the distance H3 between the hinge point of the frame 103 and the second connecting member 21 and the chassis frame 101 are all fixed values, when the ridge height is different, only H1 and H2 are variables. For the convenience of calculation, the change value △H2 of H2 is equated to the change value of the ridge height, and the change value △H1 of H1 is equated to the change value of the first height. Each △H2 corresponds to a △H1. During the transplanting process of the pot-seedling transplanter, the controller adjusts the telescopic amount of the adjusting member 12 according to the corresponding relationship between △H2 and △H1 to make the transplanting depth consistent.

[0033] In this embodiment, based on the corresponding relationship 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 pot-seedling 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 telescopic movement of the adjusting member 12 based on the first height change value to achieve consistent pot-seedling transplanting depth.

[0034] The pot-seedling transplanter provided by the embodiment of the present invention can automatically control the telescopic amount of the adjusting 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 heights are inconsistent, the pot-seedling transplanting depths are consistent.

[0035] In the above-mentioned embodiment, the number of the adjusting members 12 is two. Among them, one adjusting member 12 is used to drive the chassis frame 101 to move to adjust the first height between the chassis frame 101 and the ridge, and the other adjusting member 12 is used to level the chassis frame 101.

[0036] Further, in the embodiment of the present invention, the pot-seedling transplanter further includes a stroke sensor. The stroke sensor is arranged on the adjusting member 12, and the stroke sensor is used to detect the actual adjustment amount of the actual adjusting member 12. The controller is further 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 and the first height change value match in real time through closed-loop control and improve the accuracy of transplanting depth control.

[0037] In the embodiment of the present invention, the pot-seedling transplanter further includes an attitude sensor. The attitude sensor is arranged on the chassis frame 101, and the attitude sensor is used to obtain the horizontal inclination angle of the chassis frame 101. When the pot-seedling transplanter travels in the ridge ditch of hilly and mountainous areas, the attitude sensor detects the horizontal inclination angle of the chassis frame 101 in real time and sends it to the controller. The controller controls the telescopic movement of the adjusting member 12 according to the inclination angle to make the chassis frame 101 in a horizontal state, so that the hole-digging and transplanting mechanism 110 can vertically transplant the pot-seedlings on the ridge, ensuring the seedling standing rate of the pot-seedlings.

[0038] In an embodiment of the present invention, the pot seedling transplanter further includes a counter, which is arranged on the frame 103 and is used to collect the number of working cycles of the swing arm of the hole punching and transplanting mechanism 110 so as to record the planting quantity of the pot seedlings.

[0039] In an embodiment of the present invention, the pot seedling transplanter further includes a satellite positioning and speed measurement sensor, which is arranged on the body of the transplanter and is used to obtain the position information and speed of the pot seedling transplanter.

[0040] In an embodiment of the present invention, the pot seedling transplanter further includes: a hydraulic pump, an electro-hydraulic proportional valve group and a hydraulic oil tank. The hydraulic pump and the hydraulic oil tank are connected to the adjusting member 12 through pipelines. 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 telescopic movement of the adjusting member 12 through the electro-hydraulic proportional valve group.

[0041] In an embodiment of the present invention, the pot seedling transplanter further includes a terminal platform, which is arranged on the body of the transplanter and is located in a place convenient for the driver to view and operate. The terminal platform is used to record and display the number of transplanted pot seedlings, display the real-time position, movement trajectory and operation information of the transplanter, and can wirelessly transmit the above information to realize remote supervision of the operation of the pot seedling transplanter. The terminal platform is also provided with a self-checking and alarm function. After the terminal platform is powered on and started, it automatically detects the states of components such as CAN communication, wireless communication, satellite signal, and sensors, and automatically alarms in case of abnormalities. During the transplanting operation of the pot seedling transplanter, if the chassis frame 101 fails to level within the set time, an alarm will also be given.

[0042] The embodiment of the present invention also provides a control method for a pot seedling transplanter, which specifically includes the following steps:

[0043] Step 01: Obtain the ridge height, and the ridge height is the second height; Step 02: Control the first adjustment component to act based on the second height to adjust the first height between the chassis frame 101 and the ridge.

[0044] Specifically, when the pot seedling transplanter travels along the furrow, the first wheel body 104 and the second wheel body 105 travel along the furrow, and the second end of the second adjustment component rolls along the ridge. The height between the furrow and the ridge is the ridge height, that is, the second height, and the second adjustment component is used to obtain the ridge height. The height between the chassis frame 101 and the ridge is the first height. The second adjustment component sends the obtained ridge height to the controller, and the controller controls the telescopic movement of the first adjustment component according to the ridge height to adjust the first height, so as to ensure that the transplanting depth is consistent when the ridge heights are different.

[0045] The control method of the pot seedling transplanter provided by the embodiment of the present invention can automatically adjust the first height between the chassis frame and the ridge platform according to the ridge platform height, so that the transplanting depth is consistent even when the ridge platform heights are different.

[0046] Further, in the embodiment of the present invention, the step of controlling the first adjustment component to act based on the second height to adjust the first height includes: obtaining the first initial value of the first height and the first current value of the first height, and obtaining the first height change value based on the difference between the first current value and the first initial value; obtaining the second initial value of the second height and the second current value of the second height, and obtaining the 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 the 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.

[0047] Specifically, the length L1 of the first connecting member 11 is known, the distance L0 from the hinge point of the first connecting member 11 and the rotating shaft 102 to the hole punching point is known, the included 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 H1 between the center of the chassis frame 101 and the first wheel body 104 is . The first height is: the sum of H1 and the radius R1 of the first wheel body 104.

[0048] The length L2 of the second connecting member 21 is known, the included 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 H2 between the hinge point of the second connecting member 21 and the frame 103 and the center of the roller 22 is H2 = L2cosb. The ridge platform height is: H1 + R1 - H2 - R2 - H3. Wherein, R2 is the radius of the roller 22, and H3 is the distance between the hinge point of the frame 103 and the second connecting member 21 and the chassis frame 101.

[0049] Since the radius R1 of the first wheel body 104, the radius R2 of the roller 22, and the distance H3 between the hinge point of the frame 103 and the second connecting member 21 and the chassis frame 101 are all fixed values, when the ridge platform heights are different, only H1 and H2 are variables. For the convenience of calculation, the change value △H2 of H2 is regarded as the change value of the ridge platform height, and the change value △H1 of H1 is regarded as the change value of the first height. Each △H2 corresponds to a △H1. During the transplanting process of the pot seedling transplanter, the controller adjusts the telescopic amount of the adjusting member 12 according to the corresponding relationship between △H2 and △H1 to make the transplanting depth consistent.

[0050] In this embodiment, based on the correspondence relationship 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 pot seedling transplanter, the controller selects the corresponding first height change value from the database according to the real-time second height change value, and controls the telescopic movement of the adjusting member 12 based on the first height change value to achieve consistent transplanting depth of the pot seedlings.

[0051] In the embodiment of the present invention, the control method of the pot seedling transplanter further includes: obtaining the actual adjustment amount of the adjusting member 12, and correcting the relationship between the first height change value and the second height change value based on the actual adjustment amount.

[0052] Specifically, to improve the accuracy of transplanting depth control, during the transplanting process, the actual adjustment amount of the adjusting member 12 is obtained, and the relationship between the second height change value and the first height change value is corrected based on the actual adjustment amount to achieve closed-loop control and improve the accuracy of transplanting depth control.

[0053] 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 provided with a calibration system, and the calibration process of the pot seedling transplanter will be described in detail below.

[0054] During use, the terminal platform is powered on, and the parameter initialization module is started to read or input the physical dimension parameters such as L0, L1, and L2 of the pot seedling transplanter.

[0055] The pot seedling transplanter is horizontally parked on the standard ridge platform. The zero calibration interfaces of the first angle sensor and the second angle sensor are respectively opened, the actual values of a and b are measured, input into the calibration system interface, confirmed and saved to complete the zero position calibration of the angle sensor.

[0056] The ridge platform height calibration interface is opened, hole-digging and transplanting operations are carried out on the standard ridge platform, the hole-digging depth is measured and input into the calibration system, confirmed and saved to complete the ridge platform height calibration.

[0057] The planting depth error calibration interface is opened: the maximum value, minimum value and intermediate value of the allowable transplanting depth of the pot seedling transplanter are respectively input, field hole-digging operations are carried out, and the detected actual transplanting depth is input into the calibration system and saved to complete the planting depth calibration.

[0058] After calibration is completed, the predetermined planting depth is input in the settings, and then the pot seedling transplanting operation can be carried out.

[0059] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bowl seedling transplanter, characterized in that, Including: A transplanting machine body, a hole-digging and transplanting mechanism, a pair of first adjustment components, a second adjustment component, and a controller; The transplanting machine body includes: 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, and the hole-digging and 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. 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 second wheel bodies are connected to the frame. The first end of the second adjustment component is hinged to the frame, and the second end of the second adjustment component rolls along with the ridge platform. The second adjustment component is used to obtain a second height, and the second height 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; The first adjustment component includes: a first connecting piece, an adjusting piece, and a first angle sensor; Both ends of the first connecting piece are respectively hinged to one end of the rotating shaft and the first wheel body. Both ends of the adjusting piece are respectively connected to the chassis frame and the first connecting piece. The adjusting piece can be telescoped to adjust the first height; The first angle sensor is arranged on the first connecting piece. The first angle sensor is used to detect the first angle between the first connecting piece and the chassis frame; The second adjustment component includes: a second connecting piece, a roller, and a second angle sensor; The first end of the second connecting piece is hinged to the frame, and the second end of the second connecting piece is connected to the roller. The roller can roll along the ridge platform; The second angle sensor is arranged on the second connecting piece. The second angle sensor is used to detect the second angle between the second connecting piece and the frame.

2. The bowl seedling transplanter according to claim 1, characterized in that, It further includes an attitude sensor arranged on the chassis frame. The attitude sensor is used to obtain the tilt angle of the chassis frame; The controller is used to control the telescoping of the adjusting piece according to the tilt angle so that the chassis frame is in a horizontal state.

3. The bowl seedling transplanter according to claim 1, characterized in that, It further includes a travel sensor arranged on the adjusting piece. The travel sensor is used to detect the actual adjustment amount of the adjusting piece; 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 telescoping amount of the adjusting piece based on the first height change value; The controller is further used to correct the corresponding relationship between the second height change value and the first height change value according to the actual adjustment amount.

4. The bowl seedling transplanter according to claim 1, characterized in that, It further includes a counter arranged on the transplanting machine body. The counter is used to detect the transplanting quantity of the hole-digging and transplanting mechanism.

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

6. A control method for a bowl seedling transplanter according to any one of claims 1-5, characterized in that, Including: Obtaining the ridge height, where the ridge height is the second height; Based on the second height, controlling the first adjustment component to act to adjust the first height between the chassis frame and the ridge.

7. The control method according to claim 6, characterized in that The step of controlling the first adjustment component to act based on the second height to adjust the first height between the chassis frame and the ridge includes: Obtaining the first height change value and the 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; Adjusting the telescopic amount of the first adjustment component based on the second height change value - first height change value database.

8. The control method according to claim 7, characterized in that It further includes: Obtaining the actual adjustment amount of the adjustment part; Based on the actual adjustment amount, correcting the relationship between the second height change value and the first height change value.

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