Pot seedling transplanter and control method

Abstract

The invention provides a pot seedling transplanter and a control method. The pot seedling transplanter comprises a transplanter body, a transplanting mechanism, an image acquisition device, a first adjusting mechanism, a second adjusting mechanism and a controller, the transplanting mechanism is in sliding connection with the transplanter body; the first adjusting mechanism is used for adjusting the advancing direction of the transplanter body, and the second adjusting mechanism is used for driving the transplanting mechanism to move in the direction perpendicular to the central axis of the transplanting mechanism; the image acquisition device is used for acquiring the deviation between the central axis of the transplanter body and the central line of the ridge platform, when the deviation is greater than a preset value, the controller controls the first adjusting mechanism to act, and when the deviation is smaller than or equal to the preset value, the controller controls the second adjusting mechanism to act. According to the pot seedling transplanter, by adjusting the advancing direction of the transplanter body or adjusting the movement of the transplanting mechanism, the deviation between the center line of the ridge platform and the central axis of the transplanting mechanism is reduced, and the precision of directional planting of pot seedlings is improved.

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 can reduce the cost and increase the efficiency of crop planting. It is currently widely used in field crops such as rice, sweet potato, tobacco, rapeseed, cotton, and corn. The seedling transplanter can realize the mechanization of planting, reduce labor, and improve production efficiency. The operating performance of the transplanter affects the transplanting quality of the seedlings after transplanting, which in turn affects the survival rate and final yield of the seedlings. Therefore, high-quality and intelligent transplanting machinery is an urgent need for agricultural production and an inevitable trend for future development.

[0003] In many areas of my country, crops such as vegetables and tobacco are transplanted by ridge raising. The transplanting standard requires that tobacco seedlings be planted in the center of the ridge in a straight line, with a planting orientation deviation of ≤2.5 cm / 10 m. However, due to the low degree of mechanical automation of most pot seedling transplanters currently used in China, coupled with non-standard ridge types and uneven terrain, the planting orientation deviation of the transplanter is large, which fails to meet the transplant orientation deviation requirements and seriously affects the planting effect. Summary of the invention

[0004] The invention provides a pot seedling transplanter and a control method, which are used to solve the defect of large planting orientation deviation of the pot seedling transplanter in the prior art.

[0005] The present invention provides a seedling pot transplanter, comprising: a transplanter body, a transplanting mechanism, an image acquisition device, a first adjustment mechanism, a second adjustment mechanism and a controller; the first adjustment mechanism and the second adjustment mechanism are arranged on the transplanter body, the image acquisition device is arranged on the central axis of the transplanter body, and the transplanter mechanism is slidably connected to the transplanter body; the first adjustment mechanism is used to adjust the travel direction of the transplanter body, and the second adjustment mechanism is used to drive the transplanter mechanism to move in a direction perpendicular to the central axis of the transplanter mechanism; the image acquisition device is used to obtain image information of the shape of the ridge platform and the position information of the transplanter body relative to the center line of the ridge platform, and the controller is used to obtain the deviation between the central axis of the transplanter body and the center line of the ridge platform according to the image information and the position information, when the deviation is greater than a preset value, the controller controls the first adjustment mechanism to act, and when the deviation is less than or equal to the preset value, the controller controls the second adjustment mechanism to act, so that the deviation between the central axis of the transplanter mechanism and the center line of the ridge platform is within a preset range.

[0006] According to a seedling transplanter in a pot provided by the present invention, the first adjustment mechanism includes: a first oil cylinder, a pair of first brackets and a pair of pull wire assemblies, the first oil cylinder has two telescopic rods, each of the telescopic rods is respectively connected to one of the first brackets; each of the pull wire assemblies is connected to one of the first brackets, and the pull wire assemblies are also connected to the travel power clutch of the transplanter body, and each of the telescopic rods can drive the pull wire assembly connected thereto to move in a direction away from the travel power clutch when extended.

[0007] According to a seedling transplanter in a pot provided by the present invention, the pull wire assembly includes: a connecting member, a connecting plate and a pull wire, the two ends of the connecting member are respectively connected to the connecting plate and the pull wire, and the pull wire is connected to the walking power clutch; the connecting member is passed through the first bracket, the connecting plate is abutted against the first bracket, and when the telescopic rod is extended, it can drive the connecting plate to move in a direction away from the walking power clutch.

[0008] A seedling transplanter provided in the present invention further includes a pair of steering handles, each of which is connected to one of the connecting plates. When the steering handles are actuated, they can drive the connecting plates to move in a direction away from the travel power clutch.

[0009] According to a seedling transplanter in a pot provided by the present invention, the second adjustment mechanism includes: a second bracket, a slide, a second oil cylinder and a stroke sensor, the slide is arranged on the transplanter body; the first end of the second bracket is connected to the transplanting mechanism, and the second end of the second bracket is slidably connected to the slide; the second oil cylinder is arranged on the slide, and the second oil cylinder is connected to the second bracket, and the second oil cylinder can push the second bracket to move in a direction perpendicular to the central axis of the transplanting mechanism when it is extended and retracted; the stroke sensor is arranged on the second oil cylinder, and the stroke sensor is used to obtain the extension and retraction amount of the second oil cylinder to obtain the distance between the central axis of the transplanting mechanism and the central axis of the transplanter body.

[0010] A seedling transplanter in a pot provided by the present invention also includes: a motor and a speed sensor, wherein the motor is connected to the transplanting mechanism, and the motor is used to drive the transplanting mechanism to transplant the seedlings in the pot; the speed sensor is used to detect the travel speed of the transplanter body, and the controller is used to adjust the rotation speed of the motor based on the travel speed of the transplanter body.

[0011] A seedling pot transplanter provided according to the present invention further includes a terminal platform, which is arranged on the transplanter body, the terminal platform is arranged adjacent to the driver's seat of the transplanter body, and the terminal platform is used for human-computer interaction.

[0012] A seedling transplanter provided in a pot according to the present invention also includes a hydraulic pump, an oil tank and an electro-hydraulic proportional valve group. The hydraulic pump, the oil tank, the first oil cylinder and the second oil cylinder are connected by pipelines. The electro-hydraulic proportional valve group is arranged in the pipeline, and the controller is electrically connected to the electro-hydraulic proportional valve group.

[0013] The present invention also provides a control method based on the seedling pot transplanter as described above, comprising: acquiring image information of the ridge shape and position information of the transplanter body relative to the center of the ridge; based on the image information and the position information, obtaining the deviation between the central axis of the transplanter body and the center line of the ridge; when the deviation is greater than a preset value, controlling the first adjusting mechanism to operate to adjust the travel direction of the transplanter body; when the deviation is less than or equal to the preset value, controlling the second adjusting mechanism to operate to adjust the position of the transplanting mechanism.

[0014] A control method provided by the present invention further includes: obtaining a travel speed of the transplanter body; and adjusting a transplanting speed of the transplanting mechanism based on the travel speed.

[0015] The seedling pot transplanter provided by the present invention, by providing an image acquisition device, a first adjustment mechanism and a second adjustment mechanism, can reduce the deviation between the central axis of the transplanter body and the center line of the ridge platform by adjusting the moving direction of the transplanter body when the deviation between the central axis of the transplanter body and the center line of the ridge platform is large; when the deviation between the central axis of the transplanter body and the center line of the ridge platform is small, the deviation between the two is reduced by adjusting the movement of the transplanter mechanism, thereby realizing directional transplanting of seedlings in pots and improving the accuracy of directional planting on the pot surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to 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 any creative work.

[0017] Figure 1 It is a structural schematic diagram of the pot seedling transplanter provided by the present invention.

[0018] Figure 2 Schematic diagram of the structure of the first regulating mechanism.

[0019] Reference numerals: 1. Transplanter body; 2. Transplanting mechanism; 5. Image acquisition device; 31. First oil cylinder; 32. First bracket; 33. Connector; 34. Pull wire; 35. Connecting plate; 41. Second bracket; 42. Slide; 43. Second oil cylinder; 101. Right steering handle; 102. Left steering handle; 311. First telescopic rod; 312. Second telescopic rod. DETAILED DESCRIPTION

[0020] 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.

[0021] Combine the following Figure 1 and Figure 2 The present invention describes a pot seedling transplanter and a control method.

[0022] like Figure 1 As shown, in an embodiment of the present invention, the seedling transplanter includes: a transplanter body 1, a transplanting mechanism 2, an image acquisition device 5, a first adjustment mechanism, a second adjustment mechanism and a controller. The first adjustment mechanism and the second adjustment mechanism are both arranged on the transplanter body 1, the image acquisition device 5 is arranged on the central axis of the transplanter body 1, and the transplanter mechanism 2 is slidably connected to the transplanter body 1. The first adjustment mechanism is used to adjust the travel direction of the transplanter body 1, and the second adjustment mechanism is used to adjust the position of the transplanter mechanism 2. The image acquisition device 5 is used to obtain image information of the shape of the ridge platform and the position information of the transplanter body 1 relative to the center line of the ridge platform. The controller is used to obtain the deviation between the central axis of the transplanter body 1 and the center line of the ridge platform according to the image information and the position information. When the deviation is greater than the preset value, the controller controls the first adjustment mechanism to act, and when the deviation is less than or equal to the preset value, the controller controls the second adjustment mechanism to act.

[0023] Specifically, the transplanter body 1 is the main structure of the seedling transplanter, and the transplanter body 1 can move between ridges. The transplanting mechanism 2 is used to transplant the seedlings on the transplanter body 1 to the ridge. In this embodiment, the transplanting mechanism 2 can slide left and right relative to the transplanter body 1. In the initial state, the central axis of the transplanter mechanism 2 coincides with the central axis of the transplanter body 1. When the transplanter body 1 walks on the ridge, the image acquisition device 5 acquires the image information of the ridge shape and the position information of the transplanter body 1 relative to the center line of the ridge, and sends the image information and position information to the controller. The controller processes the image information and position information to obtain the direction of travel of the transplanter body 1 relative to the center line of the ridge and the deviation between the central axis of the transplanter body 1 and the center line of the ridge, and controls the action of the first adjustment mechanism or the second adjustment mechanism based on the deviation and the direction of travel.

[0024] When the deviation is greater than the preset value, it indicates that the transplanter body 1 is not moving along the center line of the ridge. At this time, by controlling the action of the first adjustment mechanism, the travel direction of the transplanter body 1 can be adjusted so that the central axis of the transplanter body 1 is close to the center line of the ridge. When the deviation is less than or equal to the preset value, it indicates that the deviation between the central axis of the transplanter body 1 and the center line of the ridge is small. At this time, it is not necessary to adjust the travel direction of the transplanter body 1, and only the position of the transplanting mechanism 2 needs to be adjusted. The controller controls the action of the second adjustment mechanism, which can drive the transplanting mechanism 2 to slide left and right relative to the central axis of the transplanter body 1, thereby coinciding the central axis of the transplanting mechanism 2 with the center line of the ridge or making the deviation between the central axis of the transplanting mechanism 2 and the center line of the ridge within the preset range, thereby realizing directional planting of seedlings in pots and making the deviation between plants smaller.

[0025] In this embodiment, based on the image information and position information, it can be known that the transplanter body 1 is located on the left or right side of the center line of the ridge platform, so as to control the transplanter body 1 or the transplanting mechanism 2 to move to the opposite side so that the central axis of the transplanting mechanism 2 coincides with the center line of the ridge platform.

[0026] Optionally, in an embodiment of the present invention, the preset value may be 50 mm. That is, when the deviation between the center line of the ridge platform and the central axis of the transplanter body 1 is greater than 50 mm, the moving direction of the transplanter body 1 is adjusted; when the deviation between the center line of the ridge platform and the central axis of the transplanter body 1 is less than or equal to 50 mm, the transplanting mechanism 2 is adjusted to slide left and right. Through this adjustment method, it can be ensured that after the seedlings are transplanted, the seedlings are located on the center line of the ridge platform as much as possible, thereby improving the accuracy of directional transplanting of seedlings.

[0027] Optionally, in an embodiment of the present invention, the image acquisition device may be a camera or an industrial camera.

[0028] The seedling transplanter in a pot provided by the embodiment of the present invention, by providing an image acquisition device, a first adjustment mechanism and a second adjustment mechanism, can reduce the deviation between the central axis of the transplanter body and the center line of the ridge platform by adjusting the moving direction of the transplanter body when the deviation between the central axis of the transplanter body and the center line of the ridge platform is large; and reduce the deviation between the central axis of the transplanter body and the center line of the ridge platform when the deviation between the central axis is small by adjusting the movement of the transplanting mechanism, thereby realizing directional transplanting of seedlings in a pot and improving the accuracy of directional planting on the pot surface.

[0029] like Figure 2 As shown, the first adjustment mechanism includes: a first oil cylinder 31, a pair of first brackets 32 and a pair of wire assemblies. The first oil cylinder 31 has a first telescopic rod 311 and a second telescopic rod 312, each of which is connected to a first bracket 32. Each wire assembly is connected to a first bracket 32, and each wire assembly is also connected to a travel power clutch on one side of the transplanter body 1.

[0030] Specifically, each telescopic rod controls the travel direction of the wheel body on one side of the transplanter body 1 through a first bracket 32 ​​and a pull wire assembly. For example, when the deviation between the center line of the ridge platform and the central axis of the transplanter body 1 is greater than a preset value, such as when the central axis of the transplanter body 1 is located on the right side of the center line of the ridge platform, the controller controls the first telescopic rod 311 to extend, and when the first telescopic rod 311 extends, it drives the pull wire assembly to move away from the left travel power clutch, thereby tightening the clutch line of the left travel power clutch, causing the wheel body on the left to lose travel power, and the transplanter body 1 to turn to the left, thereby reducing the deviation between the central axis of the transplanter body 1 and the center line of the ridge platform. Correspondingly, when the central axis of the transplanting mechanism 2 is located on the left side of the center line of the ridge platform, the controller controls the second telescopic rod 312 to extend, so that the wheel body on the right loses travel power, and the transplanter body 1 turns to the right.

[0031] Furthermore, each cable assembly includes: a connector 33, a cable 34 and a connecting plate 35. The two ends of the connector 33 are respectively connected to the cable 34 and the connecting plate 35, and the cable 34 is connected to the travel power clutch. The connector 33 is inserted into the first bracket 32, and the connecting plate 35 abuts against the first bracket 32. When the telescopic rod is extended, it drives the first bracket 32 ​​to move away from the travel power clutch, thereby driving the cable 34 to tighten the clutch line, causing the wheel body on one side to lose power, thereby realizing differential steering.

[0032] Furthermore, in an embodiment of the present invention, the seedling pot transplanter further includes a pair of steering handles. The operator can also control the first adjustment mechanism to operate through the steering handles to adjust the travel direction of the transplanter body 1.

[0033] like Figure 2As shown, the right steering handle 101 and the left steering handle 102 are respectively connected to a connecting plate 35. When turning to the left, the operator controls the left steering handle 102 to move, and the left steering handle 102 drives the connecting plate 35 to move away from the travel power clutch, thereby driving the pull wire 34 to tighten the clutch wire, so that the left wheel body loses power, so that the transplanter body 1 turns to the left.

[0034] When the telescopic rod is retracted or the steering handle is released, the cable assembly will reset under the action of the clutch spring.

[0035] The seedling transplanter in a pot provided by the embodiment of the present invention can switch the steering of the transplanter body between automatic control and manual operation by setting a controller and a steering handle, thereby improving safety. Passengers can also complete the transfer of the transplanter and turning at the end of the field without getting off the vehicle through the terminal steering button, thereby improving the automation level of the seedling transplanter in a pot.

[0036] like Figure 1 As shown, in an embodiment of the present invention, the second adjustment mechanism includes: a second bracket 41, a slide 42 and a second oil cylinder 43. The slide 42 is arranged on the transplanter body 1, the first end of the second bracket 41 is connected to the transplanting mechanism 2, and the second end of the second bracket 41 is slidably connected to the slide 42. The cylinder body of the second oil cylinder 43 is arranged on the slide 42, and the telescopic rod of the second oil cylinder 43 is connected to the second bracket 41. When the telescopic rod is extended, it can drive the second bracket 41 to slide along the slide 42, thereby driving the transplanting mechanism 2 to deviate to both sides of the central axis of the transplanter body 1.

[0037] Specifically, when the deviation between the center line of the ridge platform and the center axis of the transplanter body 1 is less than or equal to the preset value, the controller controls the telescopic rod of the second oil cylinder 43 to extend and retract. Specifically, when the center axis of the transplanting mechanism 2 is located on the left side of the center line of the ridge platform, the controller controls the telescopic rod of the second oil cylinder 43 to extend, and the telescopic rod pushes the second bracket 41 to slide to the right, driving the transplanting mechanism 2 to slide to the right, thereby making the center axis of the transplanting mechanism 2 coincide with the center line of the ridge platform to achieve directional planting. Correspondingly, when the center axis of the transplanting mechanism 2 is located on the right side of the center line of the ridge platform, the controller controls the telescopic rod of the second oil cylinder 43 to contract, and the telescopic rod pulls the second bracket 41 to slide to the left, driving the transplanting mechanism 2 to slide to the left, thereby making the center axis of the transplanting mechanism 2 coincide with the center line of the ridge platform.

[0038] In an embodiment of the present invention, the second adjustment mechanism further includes a stroke sensor, which is arranged on the second oil cylinder 43 and is used to obtain the extension amount of the telescopic rod of the second oil cylinder 43, and obtain the distance of the central axis of the transplanting mechanism 2 deviating from the central axis of the transplanting machine body 1. Combined with the deviation between the central axis of the transplanting machine body 1 and the center line of the ridge platform obtained by the image acquisition device 5, the distance of the central axis of the transplanting mechanism 2 deviating from the center line of the ridge platform is further obtained. By setting the stroke sensor, the directional transplanting forms a closed-loop control, which improves the control accuracy.

[0039] The seedling pot transplanter provided by the embodiment of the present invention, by setting an image acquisition device, a controller and a second adjustment mechanism, can obtain the distance between the central axis of the transplanting mechanism and the central axis of the transplanting machine body according to the distance between the central axis of the transplanting mechanism detected by the stroke sensor and the central axis of the transplanting machine body, combined with the deviation between the central axis of the transplanting machine body and the center line of the ridge platform detected by the image acquisition device, and adjust the position of the second bracket in real time, so that the central axis of the transplanting mechanism coincides with the center line of the ridge platform, so that the transplanted seedlings are located on the center line of the ridge platform, thereby improving the accuracy of directional transplanting.

[0040] In an embodiment of the present invention, the seedling transplanter further includes a motor and a speed sensor. The output shaft of the motor is connected to the input shaft of the transplanting mechanism 2 through a coupling, and when the motor rotates, the transplanting mechanism 2 is driven to move so as to plant the seedlings in the ridge. The speed sensor is arranged on the rotating shaft of the wheel body of the transplanter body 1, and the speed sensor is used to detect the driving speed of the transplanter body 1 in real time, and send the driving speed to the controller, and the controller controls the speed of the motor according to the driving speed of the transplanter body 1, so that the motor speed matches the driving speed of the transplanter body 1, thereby ensuring the consistency of the spacing between the plants after planting.

[0041] In an embodiment of the present invention, the seedling transplanter further includes a hydraulic pump, an electro-hydraulic proportional valve group and an oil tank. The hydraulic pump, the oil tank, the first oil cylinder 31 and the second oil cylinder 43 are connected by a pipeline, 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 first oil cylinder 31 and the second oil cylinder 43 by controlling the electro-hydraulic proportional valve group.

[0042] In an embodiment of the present invention, the seedling transplanter further comprises a terminal platform, which is arranged on the transplanter body 1 and is disposed adjacent to a driver's seat of the transplanter body 1 to facilitate human-computer interaction between an operator and the terminal platform.

[0043] Specifically, the terminal platform is used to store the image information of the ridge shape collected by the image acquisition device, the position information of the transplanting mechanism 2 relative to the center of the ridge, and the walking path of the transplanter body 1. The terminal platform is provided with a control button for switching the automatic control of the first adjustment mechanism and the manual control of the first adjustment mechanism; the terminal platform can also be used to set various parameters, such as the travel speed of the transplanter body 1, the spacing between plants after the seedlings are planted, etc.

[0044] In an embodiment of the present invention, the automatic navigation button is selected in the operation mode of the terminal platform. After the planting operation starts, the image acquisition device collects image information of the ridge shape and the position information of the transplanting mechanism 2 relative to the center line of the ridge. The controller processes the image information and the position information to obtain the travel direction of the transplanter body 1 relative to the ridge and the deviation between the central axis of the transplanting mechanism 2 and the center line of the ridge. The control system of the terminal platform uses the method of pre-aiming the center line in front of the ridge according to the forward direction, integrates the operation speed information, plans a navigation path, and sends the navigation path to the controller. The controller controls the action of the first cylinder 31 based on the navigation path to adjust the travel direction of the transplanter body 1 to achieve ridge navigation.

[0045] Furthermore, the terminal platform is also equipped with self-check and alarm functions. After the terminal platform is powered on, it will self-check the status of CAN communication, wireless communication, satellite signals, sensors and other components, and alarm if any abnormality occurs. During planting operations, when the planting deviation is greater than the preset range, an alarm will also be triggered.

[0046] The present invention also provides a control method for a seedling pot transplanter, which specifically includes the following steps: Step 01: Acquire image information of the ridge shape and position information of the transplanter body 1 relative to the center line of the ridge; Step 02: Based on the image information and the position information, obtain the deviation between the central axis of the transplanter body 1 and the center line of the ridge; Step 03: When the deviation is greater than a preset value, control the first adjustment mechanism to operate to adjust the travel direction of the transplanter body 1; when the deviation is less than or equal to the preset value, control the second adjustment mechanism to operate to adjust the position of the transplanter mechanism 2.

[0047] Specifically, the image information of the ridge shape and the position information of the transplanter body 1 relative to the center line of the ridge are obtained, and the image information and the position information are processed to obtain the deviation between the center line of the ridge and the central axis of the transplanter body 1. At the same time, it can also be known whether the central axis of the transplanter body 1 is located on the left or right side of the center line of the ridge, so the adjustment direction of the transplanter body 1 or the transplanting mechanism 2 can be obtained.

[0048] When the deviation between the center line of the ridge platform and the central axis of the transplanter body 1 is greater than a preset value, the first adjusting mechanism is controlled to operate, and the first adjusting mechanism is used to control the travel direction of the transplanter body 1. By adjusting the travel direction of the transplanter body 1, the center line of the ridge platform is made to coincide with the central axis of the transplanter body 1 or the deviation between the two is within a preset range; when the deviation between the center line of the ridge platform and the central axis of the transplanter body 1 is less than or equal to the preset value, the second adjusting mechanism is controlled to operate, and the second adjusting mechanism is used to drive the transplanting mechanism 2 to move, so that the central axis of the transplanter body 1 coincides with the center line of the ridge platform or the deviation between the two is within a preset range, thereby realizing directional planting of seedlings in pots and making the deviation between plants smaller.

[0049] The control method of the pot seedling transplanter provided in the embodiment of the present invention can reduce the deviation between the central axis of the transplanter body and the center line of the ridge platform by adjusting the moving direction of the transplanter body when the deviation between the two is large; when the deviation between the central axis of the transplanter body and the center line of the ridge platform is small, the deviation between the two is reduced by adjusting the transplanting mechanism to slide left and right, thereby realizing directional transplanting of pot seedlings and improving the accuracy of directional planting on the pot surface.

[0050] Furthermore, the control method provided by the embodiment of the present invention also includes the following steps: obtaining the extension and contraction amount of the second oil cylinder, and obtaining the distance between the central axis of the transplanting mechanism 2 and the central axis of the transplanter body 1 based on the extension and contraction amount of the second oil cylinder; combining the deviation between the central axis of the transplanter body 1 and the center line of the ridge platform obtained by the image acquisition device 5 to obtain the distance between the central axis of the transplanting mechanism 2 and the center line of the ridge platform, and based on the distance, controlling the extension and contraction of the second oil cylinder 43 in real time to form a closed-loop control to further improve the control accuracy of directional planting.

[0051] Furthermore, the control method provided by the embodiment of the present invention further includes the following steps: obtaining the travel speed of the transplanter body 1, and adjusting the transplanting speed of the transplanting mechanism 2 based on the travel speed.

[0052] Specifically, the output shaft of the motor is connected to the input shaft of the transplanting mechanism 2 through a coupling, and when the motor rotates, the transplanting mechanism 2 is driven to move, so as to plant the seedlings between the ridges. The speed sensor is arranged on the rotating shaft of the wheel body of the transplanting machine body 1, and the speed sensor is used to detect the driving speed of the transplanting machine body 1 in real time, and send the driving speed to the controller, and the controller controls the speed of the motor according to the driving speed of the transplanting machine body 1, so that the motor speed matches the driving speed of the transplanting machine body 1, thereby ensuring the consistency of the spacing between the plants after planting.

[0053] The following is a detailed description of the method for using the seedling pot transplanter provided by the embodiment of the present invention.

[0054] The new device requires inputting basic parameter information such as brand model, overall size, wheelbase, wheelbase of the seedling transplanter on the terminal platform, as well as the distance between the image acquisition device and the central axis of the transplanter body 1, and the distance when the transplanting mechanism 2 sinks to the lowest position when making holes.

[0055] Due to installation and measurement deviations, the new device needs to be calibrated on the terminal platform: turn on the system calibration, transplant operation ≥ 50 meters, take 100 consecutive potted seedlings in the middle to measure the transplanting directional deviation value (vector), take the average value as the calibration value input and confirm, and re-transplant operation ≥ 50 meters to verify that the calibration effect reaches the expected value of planting directional deviation and complete the calibration.

[0056] Drive the seedling transplanter to the work site, align it, open the terminal platform, set the spacing between seedlings, and start the intelligent directional planting system. The intelligent directional planting system will control the motor speed in real time according to the operating speed collected by the speed sensor to match the predetermined transplanting spacing.

[0057] Select the automatic navigation button in the terminal platform operation mode. After the planting operation begins, the image acquisition device collects image information of the ridge shape and the position information of the transplanting mechanism 2 relative to the center line of the ridge. The controller processes the image information and position information to obtain the travel direction of the transplanter body 1 relative to the ridge and the deviation between the central axis of the transplanting mechanism 2 and the center line of the ridge. The control system of the terminal platform uses the method of pre-aiming the center line in front of the ridge according to the forward direction, integrates the operation speed information, plans a navigation path, and sends the navigation path to the controller. The controller controls the action of the first cylinder 31 based on the navigation path to adjust the travel direction of the transplanter body 1 to achieve ridge-following navigation.

[0058] During transplanting operations, the system will comprehensively consider the installation dimensions of the image acquisition device, the distance of the image acquisition device from the center line of the ridge platform, and the stroke feedback information of the second cylinder 43 to obtain the planting orientation deviation in real time, and then adjust the extension and retraction amount of the second cylinder 43 in real time according to the operating speed, heading and other information of the seedling transplanter to control the planting orientation deviation within the range required by agronomy.

[0059] When the transplanting operation reaches the end of the field, turn off the directional transplanting control system, switch to manual steering, and complete the U-turn or transfer.

[0060] 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: Transplanter body, transplanting mechanism, image acquisition device, first adjustment mechanism, second adjustment mechanism and controller; The first adjustment mechanism and the second adjustment mechanism are arranged on the transplanter body, the image acquisition device is arranged on the central axis of the transplanter body, and the transplanting mechanism is slidably connected to the transplanter body; The first adjustment mechanism is used to adjust the travel direction of the transplanter body, and the second adjustment mechanism is used to drive the transplanter to move in a direction perpendicular to the central axis of the transplanter; The image acquisition device is used to acquire image information of the ridge shape and the position information of the transplanter body relative to the center line of the ridge. The controller is used to obtain the deviation between the central axis of the transplanter body and the center line of the ridge based on the image information and the position information. When the deviation is greater than a preset value, the controller controls the first adjustment mechanism to operate. When the deviation is less than or equal to the preset value, the controller controls the second adjustment mechanism to operate so that the deviation between the central axis of the transplanting mechanism and the center line of the ridge is within a preset range.

2. The seedling pot transplanter according to claim 1, characterized in that: The first adjustment mechanism comprises: a first oil cylinder, a pair of first brackets and a pair of pull-wire assemblies, the first oil cylinder has two telescopic rods, and each of the telescopic rods is respectively connected to one of the first brackets; Each of the pull wire assemblies is connected to one of the first brackets, and is also connected to the travel power clutch of the transplanter body. When each of the telescopic rods is extended, it can drive the pull wire assembly connected thereto to move in a direction away from the travel power clutch.

3. The seedling transplanter according to claim 2, characterized in that: The pull wire assembly comprises: a connecting member, a connecting plate and a pull wire, the two ends of the connecting member are respectively connected to the connecting plate and the pull wire, and the pull wire is connected to the walking power clutch; The connecting member is inserted through the first bracket, and the connecting plate is in contact with the first bracket. When the telescopic rod is extended, the connecting plate can be driven to move in a direction away from the travel power clutch.

4. The seedling pot transplanter according to claim 3, characterized in that: It also includes a pair of steering handles, each of which is connected to one of the connecting plates. When the steering handles are actuated, they can drive the connecting plates to move in a direction away from the travel power clutch.

5. The seedling pot transplanter according to claim 2, characterized in that: The second adjustment mechanism includes: a second bracket, a slide, a second oil cylinder and a stroke sensor, and the slide is arranged on the transplanter body; The first end of the second bracket is connected to the transplanting mechanism, and the second end of the second bracket is slidably connected to the slide; The second oil cylinder is arranged on the slide, and the second oil cylinder is connected to the second bracket. When the second oil cylinder is extended or retracted, it can push the second bracket to move in a direction perpendicular to the central axis of the transplanting mechanism; The stroke sensor is arranged on the second oil cylinder, and is used to obtain the extension and contraction amount of the second oil cylinder to obtain the distance between the central axis of the transplanting mechanism and the central axis of the transplanting machine body.

6. The seedling pot transplanter according to claim 1, characterized in that: Also includes: A motor and a speed sensor, wherein the motor is connected to the transplanting mechanism and is used to drive the transplanting mechanism to transplant the seedlings in the pot; The speed sensor is used to detect the travel speed of the transplanter body, and the controller is used to adjust the rotation speed of the motor based on the travel speed of the transplanter body.

7. The seedling pot transplanter according to claim 1, characterized in that: It also includes a terminal platform, which is arranged on the transplanter body, and is arranged adjacent to a driver's seat of the transplanter body, and is used for human-computer interaction.

8. The seedling pot transplanter according to claim 5, characterized in that: It also includes a hydraulic pump, an oil tank and an electro-hydraulic proportional valve group. The hydraulic pump, the oil tank, the first oil cylinder and the second oil cylinder are connected by pipelines. The electro-hydraulic proportional valve group is arranged in the pipeline, and the controller is electrically connected to the electro-hydraulic proportional valve group.

9. A control method for a seedling pot transplanter according to any one of claims 1 to 8, characterized in that: include: Acquire image information of the shape of the ridge platform and position information of the transplanter body relative to the center of the ridge platform; Based on the image information and the position information, obtaining a deviation between a central axis of the transplanter body and a center line of the ridge platform; When the deviation is greater than a preset value, controlling the first adjusting mechanism to operate so as to adjust the moving direction of the transplanter body; When the deviation is less than or equal to the preset value, the second adjusting mechanism is controlled to operate so as to adjust the position of the transplanting mechanism.

10. The control method according to claim 9, characterized in that: Also includes: Obtaining the travel speed of the transplanter body; A transplanting speed of the transplanting mechanism is adjusted based on the travel speed.

Images