Unmanned automatic rice transplanting vehicle based on vision intelligence

Abstract

The invention discloses an unmanned automatic rice transplanting vehicle based on visual intelligence in the technical field of rice transplanting equipment. The automatic rice transplanting vehicle comprises a vehicle body, an accelerator pedal, a brake pedal, a steering wheel and a navigation system, the navigation system is connected with an accelerator adjusting piece used for adjusting an accelerator pedal, a brake adjusting piece used for adjusting a brake pedal and a steering wheel adjusting piece used for adjusting a steering wheel. The navigation system comprises an industrial personal computer, a gyroscope I, a gyroscope II and an image data acquisition module. The navigation system collects turning angle data of the steering wheel and the vehicle body through the gyroscope, the industrial personal computer controls the rice transplanting vehicle to run along a rice transplanting path through the gyroscope and the steering wheel adjusting piece according to the predefined rice transplanting path, automatically turns around when encountering a ridge, meanwhile, controls the rice transplanting platform to be lifted up, and controls the rice transplanting platform to be put down after the rice transplanting platform turns around. The rice transplanting vehicle can be operated by a single person, so that the rice transplanting working efficiency is improved, and the workload of a user is reduced.

Description

Technical Field

[0001] This invention relates to the field of rice transplanting equipment, and more specifically to an unmanned automatic rice transplanter based on visual intelligence. Background Technology

[0002] Traditional rice transplanters can automatically transplant rice seedlings while in motion, using a transplanting head to insert seedlings from different areas of the transplanting platform into the field. However, driving a rice transplanter mainly relies on manual operation, with the driver controlling the steering wheel, accelerator, brakes, and other components throughout the process, resulting in low work efficiency and high labor intensity.

[0003] The aforementioned rice transplanter typically requires two workers to operate simultaneously during the transplanting process. One worker drives the transplanter through the field, while the other monitors the remaining seedlings on the planting platform and replenishes them as needed. When manpower is insufficient, the driver needs to periodically apply the brakes, and after the transplanter comes to a stop, check the remaining seedlings and add more, making the transplanting process time-consuming and labor-intensive. Furthermore, the transplanter is prone to scraping against the field ridges and seedlings during turning, causing damage to the vehicle.

[0004] Therefore, it is urgent to design a rice transplanter with a high degree of automation to reduce the workload of rice transplanting, improve work efficiency, and enhance the transplanting effect. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned automatic rice transplanter based on visual intelligence, which solves the problem of insufficient automation in existing rice transplanting equipment.

[0006] The present invention achieves the above objectives through the following technical solutions: An unmanned automatic rice transplanter based on visual intelligence includes a vehicle body and an accelerator pedal, a brake pedal, and a steering wheel mounted on the vehicle body. The system further includes a navigation system; the navigation system is connected to an accelerator pedal adjustment component for adjusting the accelerator pedal angle, a brake pedal adjustment component for adjusting the brake pedal angle, and a steering wheel adjustment component for adjusting the steering wheel angle. The navigation system includes an industrial control computer (ICC), and two gyroscopes (one and two) and an image data acquisition module connected to the ICC. Gyroscope one collects steering wheel angle data, gyroscope two collects vehicle body angle data, and the image data acquisition module collects image data. The ICC adjusts the throttle, brake, and steering wheel adjustment components based on the angle data and image data. The navigation system collects real-time steering wheel and vehicle body angle data using the two gyroscopes and simultaneously collects image data using the image acquisition module. After receiving the angle data and image data, the ICC, in conjunction with the telescopic components and steering wheel adjustment components, adjusts the throttle, brake, and steering wheel of the rice transplanter, improving the automation level of the rice transplanter.

[0007] As a further optimization of the invention, the image data acquisition module includes a camera for detecting field ridges. When the camera detects a field ridge, the steering wheel adjustment component rotates the steering wheel, causing the autonomous vehicle to turn around.

[0008] As a further optimization of the invention, the image data acquisition module also includes a second camera for detecting field ridges. A seedling platform adjustment component and a transplanting platform are provided on the rear side of the vehicle. When the first camera detects a field ridge, the seedling platform adjustment component raises the transplanting platform; when the second camera detects a field ridge, the seedling platform adjustment component lowers the transplanting platform.

[0009] As a further optimization of the invention, the camera is also used to detect obstacles; when the camera detects an obstacle, the throttle adjustment component and the brake adjustment component control the throttle pedal and the brake pedal to brake the automatic rice transplanter; when the camera detects that the obstacle has disappeared, the throttle adjustment component and the brake adjustment component control the throttle pedal and the brake pedal to allow the automatic rice transplanter to continue driving.

[0010] As a further optimization of the invention, the second camera is also used to detect the remaining seedlings. The transplanting platform is provided with multiple rows of seedling troughs. When the second camera detects that the remaining seedlings in any seedling trough are insufficient, the throttle adjustment component and the brake adjustment component control the throttle pedal and the brake pedal to brake the automatic transplanter. When the second camera detects that the seedlings have been replenished, the throttle adjustment component and the brake adjustment component control the throttle pedal and the brake pedal to allow the automatic transplanter to continue moving.

[0011] As a further optimization of the invention, the accelerator pedal is fixedly mounted on link one, and the brake pedal is fixedly mounted on link two; one end of the accelerator adjustment component is hinged to the vehicle body, and the other end is hinged to link one; one end of the brake adjustment component is hinged to the vehicle body, and the other end is hinged to link two.

[0012] As a further optimization of the invention, the steering wheel is fixedly mounted on the steering column, and the steering wheel adjustment component includes a first rotary drive component and a gear set disposed between the first rotary drive component and the steering column.

[0013] As a further optimization of the invention, a gear control lever is hinged to the vehicle body, and a gear adjustment component for adjusting the swing angle of the gear control lever is provided on the vehicle body.

[0014] As a further optimization of the invention, the gear adjustment component includes a third rotary drive component and a second winding roller disposed at the output end of the third rotary drive component, as well as a reset component disposed between the vehicle body and the gear control lever. The second winding roller is connected to the gear control lever via a rope.

[0015] As a further optimization of the invention, a connecting shaft is fixed at the center of the second winding roller, and a positioning plate is provided on one side of the second winding roller, with a handle for rotating the connecting shaft on the positioning plate.

[0016] The beneficial effects of this invention are as follows: The navigation system of this invention collects the steering wheel and vehicle body angle data in real time through two gyroscopes, and simultaneously collects image data through an image acquisition module. The industrial control computer adjusts the throttle, brake and steering wheel of the rice transplanter according to the above data in conjunction with the telescopic parts and steering wheel adjustment parts, so as to realize automated driving. Only one person needs to replenish the seedlings to complete the rice transplanting work, improve the efficiency of rice transplanting work and reduce the workload of the rice transplanter user. After receiving image data from the camera, the industrial control computer of this invention combines the steering state data from the dual gyroscopes to detect obstacles in real time. It also plans the driving path of the rice transplanter through two telescopic parts and a steering wheel adjustment part to ensure that the rice transplanter can successfully complete the rice transplanting task and avoid collision accidents. This invention raises the rice transplanter and transplanter head during turning by adjusting the rice transplanter platform to avoid scraping against the field ridges. The industrial control computer adjusts the height of the mounting frame, rice transplanter platform, transplanter head and floating boat by combining the vehicle body turning angle data, reducing the reserved space in the turning area and improving the utilization rate of farmland.

[0017] The industrial control computer of this invention identifies the remaining amount of seedlings on the transplanting platform by collecting image data from another camera. When additional seedlings are needed, the machine automatically stops, thus avoiding the situation where some areas of the farmland lack seedlings during the transplanting process due to insufficient seedlings on the transplanting platform, thereby improving the transplanting effect. Attached Figure Description

[0018] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the structure of the steering wheel adjustment component of the present invention; Figure 5 This is a top view of the structure of the present invention; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 This is a schematic diagram of the gear adjustment component of the present invention; Figure 8 This is a top view of the gear shift adjustment component of the present invention; Figure 9 for Figure 8 Enlarged view of point C in the middle; In the diagram: 1. Vehicle body; 2. Accelerator pedal; 3. Brake pedal; 4. Steering wheel; 5. Navigation system; 6. Accelerator adjuster; 7. Brake adjuster; 8. Steering wheel adjuster; 9. Seedling bed adjuster; 10. Transplanting bed; 11. Gear control lever; 12. Gear adjuster; 501. Industrial computer; 502. Gyroscope 1; 503. Gyroscope 2; 504. Camera 1; 505. Camera 2; 801. First rotary drive component; 802. Gear set; 901. Second rotary drive component; 902. First winding roller; 1201. Third rotary drive component; 1202. Second winding roller; 1203. Reset component; 1204. Connecting shaft; 1205. Positioning plate; 1206. Adjusting cylinder; 1207. Connecting rod; 1208. Positioning pin. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0020] Example like Figure 1 As shown, this embodiment relates to a vision-based autonomous rice transplanter. The autonomous rice transplanter includes a vehicle body 1 and an accelerator pedal 2, a brake pedal 3, and a steering wheel 4 located at the front of the vehicle body 1. A front axle and a rear axle are respectively located on the front and rear sides of the bottom of the vehicle body 1. The autonomous rice transplanter is equipped with a navigation system 5, which is connected to a throttle adjustment component 6, a brake adjustment component 7, and a steering wheel adjustment component 8. The throttle adjustment component 6 adjusts the angle of the accelerator pedal 2, the brake adjustment component 7 adjusts the angle of the brake pedal 3, and the steering wheel adjustment component 8 adjusts the angle of the steering wheel 4. During transplanting, the navigation system 5 adjusts the angles of the accelerator pedal 2, brake pedal 3, and steering wheel 4 through the throttle adjustment component 6, brake adjustment component 7, and steering wheel adjustment component 8, enabling autonomous driving. A seedling platform adjustment component 9 is located at the rear of the vehicle body 1, and a transplanting platform 10 is hinged to the rear of the vehicle body 1. The seedling platform adjustment component 9 is connected to the transplanting platform 10 and is used to raise or lower the transplanting platform 10, which is used to insert rice seedlings into the paddy field.

[0021] Specifically, such as Figure 2-4As shown, the accelerator pedal 2 is fixedly mounted on link one, and the brake pedal 3 is fixedly mounted on link two. One end of the accelerator adjustment component 6 is hinged to the vehicle body 1, and the other end is hinged to link one. Both link one and link two are hinged to the front of the vehicle body 1. One end of the brake adjustment component 7 is hinged to the vehicle body 1, and the other end is hinged to link two. Both the accelerator adjustment component 6 and the brake adjustment component 7 are preferably electric push rods. The steering wheel 4 is fixedly mounted on the steering column. The steering wheel adjustment component 8 includes a first rotary drive component 801 and a gear set 802 disposed between the first rotary drive component 801 and the steering column. The first rotary drive component 801 is preferably a motor. In addition, in some other embodiments, the accelerator adjustment component 6 and the brake adjustment component 7 can be replaced by telescopic devices such as cylinders or hydraulic cylinders, and the first rotary drive component 801 can also be replaced by rotary drive devices such as hydraulic motors.

[0022] The navigation system 5 includes an industrial control computer 501, and an inertial navigation module and an image data acquisition module connected to the industrial control computer 501. The inertial navigation module is used to acquire turning angle data, and the image data acquisition module is used to acquire image data. The inertial navigation module consists of a first gyroscope 502 and a second gyroscope 503. The first gyroscope 502 is mounted on the front axle of the automatic rice transplanter, and the second gyroscope 503 is mounted on the vehicle body 1. The first gyroscope 502 is used to acquire the turning angle data of the steering wheel 4, and the second gyroscope 503 is used to acquire the turning angle data of the vehicle body 1. In some other embodiments, the first gyroscope 502 may also be mounted on the steering wheel 4 or the steering column.

[0023] The image data acquisition module includes a camera 504, which is mounted on the hood at the front of the vehicle body 1. Camera 504 is used to acquire image data of the front side of the vehicle body 1. The industrial control computer 501 uses this image data to detect whether the vehicle body 1 has reached the paddy field ridge. Once the vehicle body 1 reaches the ridge, the industrial control computer 501 adjusts the throttle adjustment component 6, brake adjustment component 7, and steering wheel adjustment component 8 based on the turning angle data. The steering wheel adjustment component 8 drives the steering column and steering wheel 4 to rotate, enabling the vehicle body 1 to turn around and travel along a predefined S-shaped path. The S-shaped path consists of multiple straight sections and curved sections between adjacent straight sections. The industrial control computer 501 analyzes the position of the vehicle body 1 within the S-shaped path based on the data acquired by camera 504. Specifically, the industrial control computer 501 identifies the paddy field ridge based on the data acquired by camera 504, determines whether the vehicle body 1 has reached the ridge, and thus determines whether the vehicle body 1 has reached the curved section of the S-shaped path. After passing through all the straight sections of the S-shaped path, vehicle 1 completes the rice planting work in a field.

[0024] When the automatic rice transplanter is in motion, camera 504 collects farmland image data and sends the collected data to industrial control computer 501. Industrial control computer 501 identifies field ridges and obstacles based on the farmland image data. Industrial control computer 501 adjusts the linkage 1 with accelerator pedal 2 via throttle adjustment component 6 and the linkage 2 with brake pedal 3 via brake adjustment component 7, thereby driving and braking the vehicle body 1. When industrial control computer 501 detects a field ridge directly in front of the automatic rice transplanter, steering wheel adjustment component 8 drives the steering column and steering wheel 4, causing the vehicle body 1 to turn around. Based on the steering wheel angle data and vehicle body angle data collected by gyroscope 502 and gyroscope 503, industrial control computer 501 adjusts steering wheel adjustment component 8 to make the automatic rice transplanter turn around and enter the adjacent straight section of road. The transplanting platform 10 automatically inserts rice seedlings into the farmland in the straight section. Following the above process, the automatic rice transplanter passes through each straight section in sequence, completing the transplanting work.

[0025] In addition, the industrial control computer 501 also performs obstacle recognition based on image data collected by camera 504. When the industrial control computer 501 recognizes an obstacle, it adjusts the accelerator pedal 2 and brake pedal 3 through the throttle adjustment component 6 and brake adjustment component 7 to brake the automatic rice transplanter and prevent collision accidents. The industrial control computer 501 then continuously recognizes the image data sent by camera 504 until it no longer recognizes obstacles. When it no longer recognizes obstacles, it adjusts the accelerator pedal 2 and brake pedal 3 through the throttle adjustment component 6 and brake adjustment component 7 to allow the automatic rice transplanter to continue moving. Furthermore, in some other embodiments, an accelerometer can be installed on the vehicle body 1, or wheel speed sensors can be installed on the wheels, so that the industrial control computer 501 can precisely control the throttle adjustment component 6 and brake adjustment component 7.

[0026] Furthermore, the aforementioned image data acquisition module also includes a second camera 505 connected to the industrial control computer 501. The second camera 505 is used to acquire image data from the rear side of the vehicle body 1. Please refer to [link / reference]. Figure 5 and Figure 6 The automatic rice transplanter adjusts the height of the transplanting platform 10 via the seedling platform adjuster 9, allowing the platform to be raised or lowered. During transplanting, the platform automatically inserts seedlings into the paddy field. The automatic transplanting of the platform 10 is common knowledge in the art and will not be described in detail. The seedling platform adjuster 9 includes a second rotary drive 901 fixed to the rear side of the vehicle body 1, and a first winding roller 902 located at the output end of the second rotary drive 901. The first winding roller 902 is connected to the transplanting platform 10 via a steel wire rope. One end of the steel wire rope of the seedling platform adjuster 9 is wound around the first winding roller 902, and the other end is connected to the transplanting platform 10. The second rotary drive 901 is preferably a motor. In some other embodiments, a hydraulic motor or other rotary drive device can be used instead of the second rotary drive 901.

[0027] During the process of the automatic rice transplanter turning around, the industrial control computer 501, based on the image data collected by camera 1 504 and camera 2 505, controls the raising or lowering of the transplanting platform 10 through the seedling platform adjustment component 9. Specifically, when the industrial control computer 501, in conjunction with camera 1 504, detects a field ridge, it indicates that the vehicle body 1 has reached a curved section and needs to turn around. At the same time as turning around, the industrial control computer 501 sends a raising control command to the seedling platform adjustment component 9. The second rotary drive component 901 rotates the first winding roller 902, and the steel wire rope on the first winding roller 902 pulls the transplanting platform 10, causing the transplanting platform 10 to rotate upward, thus completing the raising action of the transplanting platform 10. When camera 2 505 detects the field ridge, it indicates that vehicle 1 has turned around and arrived at the next straight section. At this time, industrial control computer 501 sends a lowering control command to the seedling platform adjustment component 9. The second rotary drive component 901 rotates the first winding roller 902 in the opposite direction, releasing the steel wire rope on the first winding roller 902, so that the seedling platform 10 rotates downward under the action of gravity, completing the lowering action of the seedling platform 10.

[0028] By raising and lowering the transplanting platform 10 as described above, it is possible to avoid scraping the paddy field ridges and seedlings, and to prevent damage to the transplanting platform 10. In addition, since the height of the transplanting platform 10 can be adjusted by the adjusting component 9, it is possible to prevent the transplanting platform 10 from scraping the paddy field ridges and seedlings, eliminating the need to reserve a large area of ​​open space for turning around, thus improving the utilization rate of farmland.

[0029] The transplanting platform 10 is equipped with multiple rows of seedling troughs. Camera 2 505 is also used to collect image data of the seedlings at the transplanting platform 10. The industrial control computer 501 identifies the seedlings based on the image data collected by camera 2 505 and determines whether there are seedlings in the seedling troughs. When there are no seedlings in one or more seedling troughs, the remaining seedlings on the surface are insufficient, so the transplanting platform 10 stops working. The throttle pedal 2 and brake pedal 3 are adjusted through the throttle adjustment component 6 and the brake adjustment component 7 to brake the automatic transplanting vehicle. After the user of the automatic transplanting vehicle adds seedlings to the transplanting platform 10, the industrial control computer 501 identifies that there are seedlings in each row of seedling troughs and the remaining seedlings on the surface are sufficient based on the image data collected by camera 2 505. The automatic transplanting vehicle continues to move, and the transplanting platform 10 continues to transplant seedlings. In addition, in some other embodiments, a set value can be set, and the number of seedlings can be analyzed by the industrial control computer 501. If it is determined that the number of seedlings in any row is lower than the first set value, the surface seedling reserve is insufficient. If it is determined that the number of seedlings in each row of seedling troughs is higher than the second set value, the surface seedling reserve is sufficient.

[0030] Furthermore, such as Figure 7As shown, a gear control lever 11 is hinged to the body 1 of the automatic rice transplanter, and a gear adjustment member 12 for adjusting the swing angle of the gear control lever 11 is provided on the body 1. The gear adjustment member 12 includes a third rotary drive member 1201, a second winding roller 1202 located at the output end of the third rotary drive member 1201, and a reset member 1203 located between the body 1 and the gear control lever 11. The second winding roller 1202 is connected to the gear control lever 11 by a steel wire rope. One end of the steel wire rope of the gear adjustment member 12 is wound around the second winding roller 1202, and the other end is connected to the gear control lever 11. The third rotary drive member 1201 is preferably a motor, and the reset member 1203 is preferably a tension spring. In addition, in some other embodiments, a rotary drive component such as a hydraulic motor can be used to replace the third rotary drive member 1201, and an elastic structure such as a torsion spring can be used to replace the reset member 1203.

[0031] The aforementioned gear control lever 11 can adjust the gears of the automatic rice transplanter. By adjusting the angle of the gear control lever 11, the gears of the automatic rice transplanter can be adjusted to neutral, forward, or reverse. The reset member 1203 is always in a stretched state, and the gear control lever 11 plays a reset role. In the initial state, the reset member 1203 resets the gear control lever 11, putting the automatic rice transplanter in neutral. When adjusting the gear, the industrial control computer 501 rotates the second winding roller 1202 through the third rotary drive member 1201, causing the steel wire rope on the second winding roller 1202 to pull the gear control lever 11, which can adjust the automatic rice transplanter from neutral to forward or reverse. When the third rotary drive member 1201 rotates the second winding roller 1202 in the opposite direction, the steel wire rope is loosened, and at the same time, the tension of the reset member 1203 resets the gear control lever 11, putting the automatic rice transplanter back into neutral.

[0032] Additionally, please see Figure 7-9 A connecting shaft 1204 is fixed at the center of the second winding roller 1202 of the gear adjustment component 12. A positioning plate 1205 is provided on one side of the second winding roller 1202, and a handle for rotating the connecting shaft 1204 is provided on the positioning plate 1205. The shaft of the second winding roller 1202 has a hinge shaft, the two ends of which are fixedly connected to the connecting shaft 1204 and the output end of the third rotary drive component 1201, respectively. The handle includes an adjustment cylinder 1206 passing through the positioning plate 1205, a connecting rod 1207 fixed at one end of the adjustment cylinder 1206, and a positioning pin 1208 fixed at the end of the connecting rod 1207. Positioning pins 1208 are provided at both ends of the connecting rod 1207, and the positioning plate 1205 has multiple pairs of positioning holes for the positioning pins 1208 to be inserted. The connecting shaft 1204 is preferably a splined shaft, and a spline groove corresponding to the splined shaft is provided on the inner side of the adjustment cylinder 1206.

[0033] In case of a malfunction in the gear adjustment component 12, the gear can be manually adjusted via the handle. When manually adjusting the gear, the adjustment cylinder 1206 is fitted onto the outside of the splined shaft, at which point the locating pin 1208 is embedded in the locating hole. Then, the connecting rod 1207 is rotated, causing the adjustment cylinder 1206 to drive the winding shaft of the second winding roller 1202 to rotate via the splined shaft, thus winding or releasing the wire rope on the second winding roller 1202. This allows adjustment of the gear control lever 11's tilt angle via the wire rope, enabling manual gear adjustment. After gear adjustment, the connecting rod 1207 is pushed towards the connecting shaft 1204, increasing the depth of the splined shaft embedded in the spline groove and causing the locating pin 1208 to embed in the locating hole of the locating plate 1205, locking the gear control lever 11. Separating the adjustment cylinder 1206 from the splined shaft releases the locking effect on the gear control lever 11.

[0034] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A vision-based autonomous rice transplanter, comprising a vehicle body (1) and an accelerator pedal (2), a brake pedal (3), and a steering wheel (4) mounted on the vehicle body (1), characterized in that: It also includes a navigation system (5); the navigation system (5) is connected to a throttle adjustment component (6) for adjusting the throttle pedal (2) angle, a brake adjustment component (7) for adjusting the brake pedal (3) angle, and a steering wheel adjustment component (8) for adjusting the steering wheel (4) angle. The navigation system (5) includes an industrial control computer (501), and gyroscope one (502), gyroscope two (503) and an image data acquisition module connected to the industrial control computer (501). The gyroscope one (502) is used to acquire the steering wheel (4) angle data, the gyroscope two (503) is used to acquire the body (1) angle data, and the image data acquisition module is used to acquire image data. The industrial control computer (501) adjusts the throttle adjustment component (6), the brake adjustment component (7) and the steering wheel adjustment component (8) based on the angle data and the image data.

2. The unmanned automatic rice transplanter according to claim 1, characterized in that: The image data acquisition module includes a camera (504) for detecting field ridges. When the camera (504) detects a field ridge, the steering wheel adjustment component (8) rotates the steering wheel (4) to make the autonomous vehicle turn around.

3. The unmanned automatic rice transplanter according to claim 2, characterized in that: The image data acquisition module also includes a second camera (505) for detecting field ridges. The rear side of the vehicle body (1) is provided with a seedling platform adjustment component (9) and a rice transplanting platform (10). When the first camera (504) detects a field ridge, the seedling platform adjustment component (9) raises the rice transplanting platform (10); when the second camera (505) detects a field ridge, the seedling platform adjustment component (9) lowers the rice transplanting platform (10).

4. The unmanned automatic rice transplanter according to claim 3, characterized in that: The camera (504) is also used to detect obstacles; when the camera (504) detects an obstacle, the throttle adjustment component (6) and the brake adjustment component (7) control the throttle pedal (2) and the brake pedal (3) to brake the automatic rice transplanter; when the camera (504) detects that the obstacle has disappeared, the throttle adjustment component (6) and the brake adjustment component (7) control the throttle pedal (2) and the brake pedal (3) to make the automatic rice transplanter continue to drive.

5. The unmanned automatic rice transplanter according to claim 3, characterized in that: The second camera (505) is also used to detect the remaining amount of seedlings. The transplanting platform (10) is provided with multiple rows of seedling troughs. When the second camera (505) detects that the remaining amount of seedlings in any seedling trough is insufficient, the throttle adjustment component (6) and the brake adjustment component (7) control the throttle pedal (2) and the brake pedal (3) to brake the automatic transplanter. When the second camera (505) detects that the seedlings have been replenished, the throttle adjustment component (6) and the brake adjustment component (7) control the throttle pedal (2) and the brake pedal (3) to make the automatic transplanter continue to drive.

6. The unmanned automatic rice transplanter according to claim 1, characterized in that: The accelerator pedal (2) is fixedly mounted on the first connecting rod, and the brake pedal (3) is fixedly mounted on the second connecting rod; one end of the accelerator adjustment component (6) is hinged to the vehicle body (1), and the other end is hinged to the first connecting rod; one end of the brake adjustment component (7) is hinged to the vehicle body (1), and the other end is hinged to the second connecting rod.

7. The unmanned automatic rice transplanter according to claim 1, characterized in that: The steering wheel (4) is fixedly mounted on the steering column, and the steering wheel adjustment component (8) includes a first rotary drive component (801) and a gear set (802) disposed between the first rotary drive component (801) and the steering column.

8. The unmanned automatic rice transplanter according to claim 1, characterized in that: The vehicle body (1) is hinged with a gear control lever (11), and the vehicle body (1) is provided with a gear adjustment component (12) for adjusting the swing angle of the gear control lever (11).

9. The unmanned automatic rice transplanter according to claim 8, characterized in that: The gear adjustment component (12) includes a third rotary drive component (1201) and a second winding roller (1202) located at the output end of the third rotary drive component (1201), and a reset component (1203) located between the vehicle body (1) and the gear control lever (11). The second winding roller (1202) is connected to the gear control lever (11) by a rope.

10. The unmanned automatic rice transplanter according to claim 9, characterized in that: A connecting shaft (1204) is fixed at the center of the second winding roller (1202), and a positioning plate (1205) is provided on one side of the second winding roller (1202). The positioning plate (1205) is provided with a handle for rotating the connecting shaft (1204).

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