Pot seedling transplanter and control method

Abstract

The present invention provides a pot seedling transplanter and a control method. The above-mentioned pot seedling transplanter includes: a transplanter body, a transplanting mechanism, an image acquisition device, a first adjustment mechanism, a second adjustment mechanism, and a controller; the transplanting mechanism is slidably connected to the transplanter body; the first adjustment mechanism is used to adjust the traveling direction of the transplanter body, and the second adjustment mechanism is used to drive the transplanting mechanism to move in a direction perpendicular to the central axis of the transplanting mechanism; the image acquisition device is used to acquire the deviation between the central axis of the transplanter body and the center line of the ridge platform. When the deviation is greater than a preset value, the controller controls the first adjustment mechanism to act. When the deviation is less than or equal to the preset value, the controller controls the second adjustment mechanism to act. The above-mentioned pot seedling transplanter reduces the deviation between the center line of the ridge platform and the central axis of the transplanting mechanism by adjusting the traveling direction of the transplanter body or by adjusting the movement of the transplanting mechanism, and improves the accuracy of directional planting of pot seedlings.

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 thereof. Background Art

[0002] Transplanting cultivation can reduce costs and increase efficiency in crop planting, and is currently widely used in field crops such as rice, sweet potatoes, tobacco, rapeseed, cotton, and corn. Pot seedling planters can achieve mechanized planting, reduce labor, and improve production efficiency. The operating performance of a transplanter affects the transplanting quality of seedlings after transplantation, 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 regions of our country, vegetables, tobacco and other crops are transplanted by ridging. The transplanting standard requires that tobacco seedlings be planted in the center of the ridge and in a straight line, and the planting orientation deviation ≤ 2.5 cm / 10 m. However, due to the low degree of mechanical automation of most pot seedling transplanters currently used in China, combined with factors such as non-standard ridge shapes and uneven terrain, the planting orientation deviation of the transplanter is relatively large, failing to meet the transplanting orientation deviation requirements, and seriously affecting the planting effect. Summary of the Invention

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

[0005] The present invention provides a pot seedling transplanter, including: 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 transplanting mechanism is slidably connected to the transplanter body; the first adjustment mechanism is used to adjust the traveling direction of the transplanter body, and the second adjustment mechanism is used to drive the transplanting mechanism to move in a direction perpendicular to the central axis of the transplanting mechanism; 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, and the controller is used to obtain the deviation between the central axis of the transplanter body and the center line of the ridge 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. 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 transplanting mechanism and the center line of the ridge is within a preset range.

[0006] According to a pot-seedling transplanter provided by the present invention, the first adjustment mechanism includes: a first oil cylinder, a pair of first brackets, and a pair of cable assemblies. The first oil cylinder has two telescopic rods, and each telescopic rod is respectively connected to one of the first brackets; each cable assembly is connected to one of the first brackets, and the cable assembly is also connected to the traveling power clutch of the transplanter body. When each telescopic rod extends, it can drive the cable assembly connected thereto to move away from the traveling power clutch.

[0007] According to a pot-seedling transplanter provided by the present invention, the cable assembly includes: a connecting piece, a connecting plate, and a cable. Two ends of the connecting piece are respectively connected to the connecting plate and the cable, and the cable is connected to the traveling power clutch; the connecting piece is passed through the first bracket, the connecting plate abuts against the first bracket, and when the telescopic rod extends, it can drive the connecting plate to move away from the traveling power clutch.

[0008] According to a pot-seedling transplanter provided by the present invention, it further includes a pair of steering handles. Each steering handle is connected to one of the connecting plates, and when the steering handle moves, it can drive the connecting plate to move away from the traveling power clutch.

[0009] According to a pot-seedling transplanter provided by the present invention, the second adjustment mechanism includes: a second bracket, a sliding table, a second oil cylinder, and a stroke sensor. The sliding table 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 sliding table; the second oil cylinder is arranged on the sliding table, the second oil cylinder is connected to the second bracket, and when the second oil cylinder expands and contracts, 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 the stroke sensor is used to obtain the expansion 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 transplanter body.

[0010] According to a pot-seedling transplanter provided by the present invention, it further includes: a motor and a speed sensor. The motor is connected to the transplanting mechanism, and the motor is used to drive the transplanting mechanism to transplant pot-seedlings; the speed sensor is used to detect the traveling speed of the transplanter body, and the controller is used to adjust the rotation speed of the motor based on the traveling speed of the transplanter body.

[0011] According to a pot-seedling transplanter provided by the present invention, it further includes a terminal platform. The terminal platform 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-machine interaction.

[0012] A bowl - seedling transplanter provided by the present invention further 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 through pipelines. The electro - hydraulic proportional valve group is arranged in the pipelines, 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 above - mentioned bowl - seedling transplanter, including: 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 adjustment mechanism to act to adjust the traveling direction of the transplanter body; when the deviation is less than or equal to the preset value, controlling the second adjustment mechanism to act to adjust the position of the transplanting mechanism.

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

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

[0016] 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, without creative efforts, other drawings can also be obtained based on these drawings.

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

[0018] Figure 2 is a schematic structural diagram of the first adjustment mechanism.

[0019] Reference Signs:

[0020] 1. Transplanter body; 2. Transplanting mechanism; 5. Image acquisition device; 31. First oil cylinder; 32. First bracket; 33. Connecting piece; 34. Pull wire; 35. Connecting plate; 41. Second bracket; 42. Slide table; 43. Second oil cylinder; 101. Right steering handle; 102. Left steering handle; 311. First telescopic rod; 312. Second telescopic rod. Detailed implementation mode

[0021] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below 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 making creative efforts shall fall within the protection scope of the present invention.

[0022] The following combines Figure 1 and Figure 2 to describe the pot seedling transplanter and control method of the present invention.

[0023] As Figure 1 shown, in the embodiment of the present invention, the pot 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 transplanting mechanism 2 is slidably connected to the transplanter body 1. The first adjustment mechanism is used to adjust the traveling direction of the transplanter body 1, and the second adjustment mechanism is used to adjust the position of the transplanting mechanism 2. The image acquisition device 5 is used to acquire the image information of the ridge shape and the position information of the transplanter body 1 relative to the center line of the ridge. The controller is used to obtain the deviation between the central axis of the transplanter body 1 and the center line of the ridge 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. When the deviation is less than or equal to the preset value, the controller controls the second adjustment mechanism to act.

[0024] Specifically, the transplanting machine body 1 is the main structure of the pot seedling transplanting machine, and the transplanting machine body 1 can move between ridge platforms. The transplanting mechanism 2 is used to transplant the pot seedlings on the transplanting machine body 1 to the ridge platforms. In this embodiment, the transplanting mechanism 2 can slide left and right relative to the transplanting machine body 1. In the initial state, the central axis of the transplanting mechanism 2 coincides with the central axis of the transplanting machine body 1. When the transplanting machine body 1 moves on the ridge platform, the image acquisition device 5 acquires the image information of the ridge platform shape and the position information of the transplanting machine body 1 relative to the center line of the ridge platform, and sends the image information and the position information to the controller. The controller processes the image information and the position information to obtain the traveling direction of the transplanting machine body 1 relative to the center line of the ridge platform and the deviation between the central axis of the transplanting machine body 1 and the center line of the ridge platform, and controls the action of the first adjustment mechanism or the second adjustment mechanism based on the deviation and the traveling direction.

[0025] When the deviation is greater than the preset value, it indicates that the transplanting machine body 1 does not move along the center line of the ridge platform. At this time, by controlling the action of the first adjustment mechanism, the traveling direction of the transplanting machine body 1 can be adjusted to make the central axis of the transplanting machine body 1 close to the center line of the ridge platform. When the deviation is less than or equal to the preset value, it indicates that the deviation between the central axis of the transplanting machine body 1 and the center line of the ridge platform is small. At this time, it is not necessary to adjust the traveling direction of the transplanting machine body 1, and only the position of the transplanting mechanism 2 needs to be adjusted. The controller controls the second adjustment mechanism to act, which can drive the transplanting mechanism 2 to slide left and right relative to the central axis of the transplanting machine body 1, and then make the central axis of the transplanting mechanism 2 coincide with the center line of the ridge platform or make the deviation between the central axis of the transplanting mechanism 2 and the center line of the ridge platform within the preset range, realizing the directional planting of pot seedlings and making the deviation between plants smaller.

[0026] In this embodiment, according to the image information and the position information, it can be known whether the transplanting machine body 1 is on the left or right side of the center line of the ridge platform, so as to control the transplanting machine 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.

[0027] Optionally, in the embodiment of the present invention, the preset value can be 50 mm. That is, when the deviation between the center line of the ridge platform and the central axis of the transplanting machine body 1 is greater than 50 mm, the traveling direction of the transplanting machine body 1 is adjusted; when the deviation between the center line of the ridge platform and the central axis of the transplanting machine body 1 is less than or equal to 50 mm, the transplanting mechanism 2 is adjusted to slide left and right. By this adjustment method, it can be ensured that after the pot seedlings are transplanted, the pot seedlings are as close as possible to the center line of the ridge platform, improving the accuracy of the directional transplanting of pot seedlings.

[0028] Optionally, in the embodiment of the present invention, the image acquisition device can be a camera or an industrial camera.

[0029] The pot seedling transplanter provided by the embodiment of the present invention can, by setting an image acquisition device, a first adjustment mechanism and a second adjustment mechanism, adjust the traveling direction of the transplanter body to reduce the deviation between the central axis of the transplanter body and the central line of the ridge platform when the deviation is large; when the deviation between the central axis of the transplanter body and the central line of the ridge platform is small, adjust the movement of the transplanting mechanism to reduce the deviation between the two, realizing the directional transplanting of pot seedlings and improving the accuracy of directional planting on the pot surface.

[0030] As Figure 2 shown, the first adjustment mechanism includes: a first oil cylinder 31, a pair of first brackets 32 and a pair of cable assemblies. The first oil cylinder 31 has a first telescopic rod 311 and a second telescopic rod 312, and each telescopic rod is respectively connected to a first bracket 32. Each cable assembly is connected to a first bracket 32, and each cable assembly is also connected to the traveling power clutch on one side of the transplanter body 1.

[0031] Specifically, each telescopic rod controls the traveling direction of the wheel body on one side of the transplanter body 1 through a first bracket 32 and a cable assembly. For example, when the deviation between the central line of the ridge platform and the central axis of the transplanter body 1 is greater than a preset value, for example, the central axis of the transplanter body 1 is on the right side of the central line of the ridge platform, the controller controls the first telescopic rod 311 to extend. When the first telescopic rod 311 extends, it drives the cable assembly to move away from the left traveling power clutch, so that the clutch wire of the left traveling power clutch is tightened, and the left wheel body loses its traveling power, and the transplanter body 1 turns to the left, thereby reducing the deviation between the central axis of the transplanter body 1 and the central line of the ridge platform. Correspondingly, when the central axis of the transplanting mechanism 2 is on the left side of the central line of the ridge platform, the controller controls the second telescopic rod 312 to extend, so that the right wheel body loses its traveling power, and the transplanter body 1 turns to the right.

[0032] Further, each cable assembly includes: a connecting piece 33, a cable 34 and a connecting plate 35. The two ends of the connecting piece 33 are respectively connected to the cable 34 and the connecting plate 35, and the cable 34 is connected to the traveling power clutch. The connecting piece 33 is disposed through the first bracket 32, and the connecting plate 35 abuts against the first bracket 32. When the telescopic rod extends, it drives the first bracket 32 to move away from the traveling power clutch, and further drives the cable 34 to tighten the clutch wire, so that the wheel body on one side loses power, thereby realizing differential steering.

[0033] Further, in the embodiment of the present invention, the pot seedling transplanter further includes a pair of steering handles. The operator can also control the operation of the first adjustment mechanism through the steering handles to adjust the traveling direction of the transplanter body 1.

[0034] As Figure 2As shown in the figure, 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. The left steering handle 102 drives the connecting plate 35 to move away from the traveling power clutch, and then drives the cable 34 to tighten the clutch cable, causing the left wheel body to lose power, so that the transplanting machine body 1 turns to the left.

[0035] When the telescopic rod retracts or the steering handle is released, the cable assembly will reset under the action of the clutch spring.

[0036] The pot seedling transplanting machine provided by the embodiment of the present invention can switch the turning of the transplanting machine body between automatic control and manual operation by setting a controller and a steering handle, improving safety, and can realize that the rider can complete the transfer and turning at the end of the field of the transplanting machine without getting off the vehicle through the terminal steering button, improving the automation degree of the pot seedling transplanting machine.

[0037] As Figure 1 As shown in the figure, in the embodiment of the present invention, the second adjusting mechanism includes: a second bracket 41, a slide table 42 and a second oil cylinder 43. The slide table 42 is arranged on the transplanting machine 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 table 42. The cylinder body of the second oil cylinder 43 is arranged on the slide table 42, and the telescopic rod of the second oil cylinder 43 is connected to the second bracket 41. When the telescopic rod extends and retracts, it can drive the second bracket 41 to slide along the slide table 42, and then drive the transplanting mechanism 2 to offset to both sides of the central axis of the transplanting machine body 1.

[0038] Specifically, when the deviation between the center line of the ridge platform and the central axis of the transplanting machine body 1 is less than or equal to a preset value, the controller controls the telescopic rod of the second oil cylinder 43 to extend and retract. Specifically, when the central axis of the transplanting mechanism 2 is 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. The telescopic rod pushes the second bracket 41 to slide to the right, driving the transplanting mechanism 2 to slide to the right, so that the central axis of the transplanting mechanism 2 coincides with the center line of the ridge platform to achieve directional planting. Correspondingly, when the central axis of the transplanting mechanism 2 is 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. The telescopic rod pulls the second bracket 41 to slide to the left, driving the transplanting mechanism 2 to slide to the left, so that the central axis of the transplanting mechanism 2 coincides with the center line of the ridge platform.

[0039] In an embodiment of the present invention, the second adjustment mechanism further includes a stroke sensor. The stroke sensor is disposed on the second oil cylinder 43 and is used to obtain the amount of expansion and contraction of the telescopic rod of the second oil cylinder 43, so as to obtain the distance between the central axis of the transplanting mechanism 2 and the central axis of the transplanting machine body 1. Combining the deviation between the central axis of the transplanting machine body 1 and the center line of the ridge obtained by the image acquisition device 5, the distance between the central axis of the transplanting mechanism 2 and the center line of the ridge is further obtained. By setting the stroke sensor, the directional transplanting forms a closed-loop control, improving the control accuracy.

[0040] The pot seedling transplanting machine provided by the embodiment of the present invention can, by setting an image acquisition device, a controller and a second adjustment mechanism, obtain the distance between the central axis of the transplanting mechanism and the central axis of the transplanting machine body according to the distance detected by the stroke sensor, and combine the deviation between the central axis of the transplanting machine body detected by the image acquisition device and the center line of the ridge, so as to obtain the distance between the central axis of the transplanting mechanism and the center line of the ridge, 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, making the transplanted pot seedlings located on the center line of the ridge and improving the accuracy of directional transplanting.

[0041] In an embodiment of the present invention, the pot seedling transplanting machine 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. When the motor rotates, it drives the transplanting mechanism 2 to act to plant the pot seedlings on the ridge. The speed sensor is disposed on the rotating shaft of the wheel body of the transplanting machine body 1. The speed sensor is used to detect the traveling speed of the transplanting machine body 1 in real time and send the traveling speed to the controller. The controller controls the rotation speed of the motor according to the traveling speed of the transplanting machine body 1, so that the rotation speed of the motor matches the traveling speed of the transplanting machine body 1, thereby ensuring the consistency of the spacing between the plants after planting.

[0042] In an embodiment of the present invention, the pot seedling transplanting machine 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 through pipelines. The electro-hydraulic proportional valve group is disposed on the pipeline. The controller is electrically connected to the electro-hydraulic proportional valve group to control the expansion and contraction of the first oil cylinder 31 and the second oil cylinder 43 by controlling the electro-hydraulic proportional valve group.

[0043] In an embodiment of the present invention, the pot seedling transplanting machine further includes a terminal platform. The terminal platform is disposed on the transplanting machine body 1 and is arranged adjacent to the driver's seat of the transplanting machine body 1 to facilitate the human-machine interaction between the operator and the terminal platform.

[0044] 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 line of the ridge, and the traveling path of the transplanting machine body 1. The terminal platform is provided with control buttons for switching between automatically controlling the operation of the first adjustment mechanism and manually controlling the operation of the first adjustment mechanism; the terminal platform can also be used to set various parameters, such as the traveling speed of the transplanting machine body 1, the plant spacing after the pot seedlings are planted, etc.

[0045] In an embodiment of the present invention, when the automatic navigation button is selected in the operation mode of the terminal platform and the planting operation starts, the image acquisition device collects the 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 traveling direction of the transplanting machine 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 will use the method of previewing the center line in front of the ridge according to the forward direction, integrate the operation speed information, plan the navigation path, and send the navigation path to the controller. The controller controls the operation of the first oil cylinder 31 based on this navigation path to adjust the traveling direction of the transplanting machine body 1 and achieve navigation along the ridge.

[0046] Furthermore, the terminal platform is also provided with a self-checking and alarm function. After the terminal platform is powered on and started, it will self-check the states of components such as CAN communication, wireless communication, satellite signals, and sensors, and will give an alarm prompt when an abnormality occurs. During the planting operation, when the planting deviation is greater than the preset range, an alarm prompt will also be given.

[0047] The present invention also provides a control method for a pot seedling transplanter, which specifically includes the following steps: Step 01: Obtain the image information of the ridge shape and the position information of the transplanting machine 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 transplanting machine body 1 and the center line of the ridge; Step 03: When the deviation is greater than the preset value, control the first adjustment mechanism to act to adjust the traveling direction of the transplanting machine body 1; when the deviation is less than or equal to the preset value, control the second adjustment mechanism to act to adjust the position of the transplanting mechanism 2.

[0048] Specifically, by obtaining the image information of the ridge shape and the position information of the transplanting machine body 1 relative to the center line of the ridge, and processing the image information and the position information, the deviation between the center line of the ridge and the central axis of the transplanting machine body 1 can be obtained. At the same time, it can also be known whether the central axis of the transplanting machine body 1 is on the left or right side of the center line of the ridge, and thus the adjustment direction of the transplanting machine body 1 or the transplanting mechanism 2 can be obtained.

[0049] When the deviation between the center line of the ridge platform and the central axis of the transplanting machine body 1 is greater than the preset value, control the first adjustment mechanism to act. The first adjustment mechanism is used to control the traveling direction of the transplanting machine body 1. By adjusting the traveling direction of the transplanting machine body 1, the center line of the ridge platform coincides with the central axis of the transplanting machine body 1 or the deviation between the two is within the preset range; when the deviation between the center line of the ridge platform and the central axis of the transplanting machine body 1 is less than or equal to the preset value, control the second adjustment mechanism to act. The second adjustment mechanism is used to drive the transplanting mechanism 2 to move, so that the central axis of the transplanting machine body 1 coincides with the center line of the ridge platform or the deviation between the two is within the preset range, realizing the directional planting of pot seedlings and making the deviation between plants smaller.

[0050] The control method of the pot seedling transplanting machine provided by the embodiment of the present invention can, when the deviation between the central axis of the transplanting machine body and the center line of the ridge platform is large, reduce the deviation between the two by adjusting the traveling direction of the transplanting machine body; when the deviation between the central axis of the transplanting machine body and the center line of the ridge platform is small, adjust the left and right sliding of the transplanting mechanism to reduce the deviation between the two, realizing the directional transplanting of pot seedlings and improving the accuracy of directional planting on the pot surface.

[0051] Further, the control method provided by the embodiment of the present invention further includes the following steps: obtaining the telescopic amount of the second oil cylinder, obtaining the distance between the central axis of the transplanting mechanism 2 and the central axis of the transplanting machine body 1 based on the telescopic amount of the second oil cylinder; combining 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 to obtain the distance between the central axis of the transplanting mechanism 2 and the center line of the ridge platform, and controlling the telescopic of the second oil cylinder 43 in real time based on this distance to form a closed-loop control to further improve the control accuracy of directional planting.

[0052] Further, the control method provided by the embodiment of the present invention further includes the following steps: obtaining the traveling speed of the transplanting machine body 1 and adjusting the transplanting speed of the transplanting mechanism 2 based on this traveling speed.

[0053] Specifically, the output shaft of the motor is connected to the input shaft of the transplanting mechanism 2 through a coupling. When the motor rotates, it drives the transplanting mechanism 2 to act to plant the pot seedlings between the ridge platforms. The speed sensor is arranged on the rotating shaft of the wheel body of the transplanting machine body 1. The speed sensor is used to detect the traveling speed of the transplanting machine body 1 in real time and send the traveling speed to the controller. The controller controls the rotation speed of the motor according to the traveling speed of the transplanting machine body 1 to make the rotation speed of the motor match the traveling speed of the transplanting machine body 1, so as to ensure the consistency of the spacing between plants after planting.

[0054] The following details the usage method of the pot seedling transplanting machine provided by the embodiment of the present invention.

[0055] The new device needs to input basic parameter information such as the brand model, overall dimensions, wheelbase, and axle distance of the pot seedling transplanter, 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 during hole punching.

[0056] Due to installation and measurement deviations, the new device needs to perform system calibration on the terminal platform: Open the system calibration, perform transplanting operations for ≥ 50 meters, measure the transplanting orientation deviation value (vector) of 100 consecutive pot seedlings in the middle, take the average value as the calibration value and input and confirm it, and then perform transplanting operations for ≥ 50 meters again to verify that the calibration effect reaches the expected value of the planting orientation deviation, and complete the calibration.

[0057] After driving the pot seedling transplanter to the working field head and aligning it, turn on the terminal platform, set the plant spacing of the pot seedling transplanter, and start the intelligent orientation planting system. The intelligent orientation 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 plant spacing.

[0058] Select the automatic navigation button in the operation mode of the terminal platform. After the planting operation starts, the image acquisition device collects the 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 traveling 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 will use the method of pre-viewing the center line in front of the ridge according to the forward direction, combine the operating speed information, plan the navigation path, and send the navigation path to the controller. The controller controls the action of the first oil cylinder 31 based on this navigation path to adjust the traveling direction of the transplanter body 1 to achieve following-the-ridge navigation.

[0059] During the transplanting operation, the system will comprehensively obtain the planting orientation deviation in real time based on the installation dimensions of the image acquisition device, the distance of the image acquisition device from the center line of the ridge, and the stroke feedback information of the second oil cylinder 43, and then adjust the telescopic amount of the second oil cylinder 43 in real time according to information such as the operating speed and heading of the pot seedling transplanter to control the planting orientation deviation within the range required by agronomy.

[0060] When the transplanting operation reaches the end of the field, turn off the directional transplanting control system and switch to manual steering to complete a U-turn or transfer.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; 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 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 transplanting machine body. The image acquisition device is arranged on the central axis of the transplanting machine body. The transplanting mechanism is slidably connected to the transplanting machine body; The first adjustment mechanism is used to adjust the traveling direction of the transplanting machine body. The second adjustment mechanism is used to drive the transplanting mechanism to move in a direction perpendicular to the central axis of the transplanting mechanism; The image acquisition device is used to acquire the image information of the ridge shape and the position information of the transplanting machine body relative to the center line of the ridge. The controller is used to obtain the deviation between the central axis of the transplanting machine body and the center line of the ridge 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. 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 transplanting mechanism and the center line of the ridge is within a preset range.

2. The bowl seedling transplanter according to claim 1, wherein, The first adjustment mechanism includes: a first oil cylinder, a pair of first brackets, and a pair of cable assemblies. The first oil cylinder has two telescopic rods, and each telescopic rod is respectively connected to a first bracket; Each cable assembly is connected to a first bracket. The cable assembly is also connected to the traveling power clutch of the transplanting machine body. When each telescopic rod extends, it can drive the cable assembly connected to it to move in a direction away from the traveling power clutch.

3. The bowl seedling transplanter according to claim 2, wherein, The cable assembly includes: a connecting piece, a connecting plate, and a cable. The two ends of the connecting piece are respectively connected to the connecting plate and the cable. The cable is connected to the traveling power clutch; The connecting piece passes through the first bracket. The connecting plate abuts against the first bracket. When the telescopic rod extends, it can drive the connecting plate to move in a direction away from the traveling power clutch.

4. The bowl seedling transplanter according to claim 3, characterized in that, It also includes a pair of steering handles. Each steering handle is connected to a connecting plate. When the steering handle acts, it can drive the connecting plate to move in a direction away from the traveling power clutch.

5. The bowl seedling transplanter according to claim 2, characterized in that, The second adjustment mechanism includes: a second bracket, a sliding table, a second oil cylinder, and a stroke sensor. The sliding table is arranged on the transplanting machine body; The first end of the second bracket is connected to the transplanting mechanism. The second end of the second bracket is slidably connected to the sliding table; The second oil cylinder is arranged on the sliding table. The second oil cylinder is connected to the second bracket. When the second oil cylinder expands and contracts, 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. The stroke sensor is used to acquire the expansion 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 bowl seedling transplanter according to claim 1, wherein It also includes: A motor and a speed sensor. The motor is connected to the transplanting mechanism. The motor is used to drive the transplanting mechanism to transplant pot seedlings; The speed sensor is used to detect the traveling speed of the transplanting machine body, and the controller is used to adjust the rotation speed of the motor based on the traveling speed of the transplanting machine body.

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

8. The bowl seedling transplanter according to claim 5, characterized in that, It further includes a hydraulic pump, a fuel tank and an electro-hydraulic proportional valve group. The hydraulic pump, the fuel tank, the first oil cylinder and the second oil cylinder are connected through pipelines. The electro-hydraulic proportional valve group is arranged on the pipelines, and the controller is electrically connected to the electro-hydraulic proportional valve group.

9. A control method for a pot seedling transplanter according to any one of claims 1-8, characterized in that, It includes: Obtaining the image information of the ridge shape and the position information of the transplanting machine 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 transplanting machine body and the center line of the ridge; When the deviation is greater than a preset value, controlling the first adjustment mechanism to act to adjust the traveling direction of the transplanting machine body; When the deviation is less than or equal to the preset value, controlling the second adjustment mechanism to act to adjust the position of the transplanting mechanism.

10. The control method according to claim 9, wherein It further includes: Obtaining the traveling speed of the transplanting machine body; Adjusting the transplanting speed of the transplanting mechanism based on the traveling speed.

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