Under-forest intelligent self-propelled tuber traditional Chinese medicinal material transplanter and transplanting method

Abstract

The invention belongs to the technical field of agricultural machinery, and discloses an under-forest intelligent self-propelled tuber traditional Chinese medicinal material transplanter which comprises an overall support, a self-propelled chassis device, a rotating device, a rotary tillage soil loosening device, a rotary tillage lifting device, a ridging plough, an electric transplanting device and a soil covering device. The self-propelled chassis device is used for achieving movement and steering of the transplanter, the rotation device is used for achieving orientation change of workers, the height of the rotary tillage soil loosening device is adjusted through a rotary tillage lifting device, so that the soil loosening depth is adjusted, a ridging plough is driven to ascend and descend through a first electric telescopic rod, and the ridging depth is adjusted. The electric transplanting device is used for transplanting seedlings, the soil covering device is used for covering the transplanted seedlings with soil, the transplanting machine can complete rotary tillage soil loosening, ditching, transplanting and soil covering operation at a time, and mechanical transplanting work of root-tuber traditional Chinese medicinal materials such as pseudo-ginseng can be efficiently completed with high quality.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an intelligent self-propelled transplanter and transplanting method for rhizomes and tubers used in traditional Chinese medicine under forest cover. Background Technology

[0002] Traditional Chinese medicinal herbs (TCM) refer to drugs used under the guidance of TCM theory for the prevention, diagnosis, and treatment of diseases or for regulating bodily functions. During the cultivation of TCM herbs, to improve their growth and development, seedlings need to be transplanted to land with suitable plant and row spacing. Currently, the transplanting of TCM seedlings mostly relies on manual labor, which is not only labor-intensive and inefficient but also prone to damaging the seedlings during transplanting, affecting their survival rate and subsequent growth. Therefore, this paper designs an intelligent, self-propelled transplanting machine and method for rhizomatous TCM herbs under forest cover to solve the above problems. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides an intelligent self-propelled rhizome transplanter and transplanting method for medicinal herbs grown under forest cover. This invention is achieved through the following technical solutions.

[0004] A self-propelled intelligent transplanter for rhizomes and tubers used in traditional Chinese medicine transplanting under forest cover includes an overall support frame, a self-propelled chassis, a rotary mechanism, a rotary tillage and loosening device, a rotary tillage lifting device, a ridging plow, an electric transplanting device, and a soil covering device. Two seats are fixedly mounted on the overall support frame, and a longitudinal beam is fixedly mounted to the front end of the frame. A pair of crossbeams are fixedly mounted to the front side of the longitudinal beam. The self-propelled chassis is connected to the lower part of the overall support frame via the rotary mechanism. The rotary tillage and loosening device is located at the front of the overall support frame, and the rotary tillage lifting device is used for rotating... The height of the tillage and loosening device is adjustable; a first electric telescopic rod is fixed to the outside of the crossbeam, and a longitudinal frame is fixed to the telescopic head of the first electric telescopic rod; the ridging plow is symmetrically fixed to the bottom of the longitudinal frame; the ridging plow includes a main plow body fixed to the longitudinal frame and a pair of tail wing side plates fixed to the rear side of the main furrowing body; the electric transplanting device is fixed to the rear side of the overall support device; a pair of second electric telescopic rods are symmetrically fixed to the rear end of the overall support; the soil covering device is fixed to the telescopic head of the second electric telescopic rod.

[0005] As a further embodiment of the present invention, the self-propelled chassis device includes support rods, a track, and a differential motor. The support rods are arranged side by side, and a power box is fixedly connected to the left and right ends of the support rods. A pair of support plates and a pair of ear plates are fixedly connected to the front and rear sides of the power box, respectively. A drive gear and a driven gear are rotatably connected between the pair of support plates and ear plates. The track is sleeved on the outer wall of the drive gear and the driven gear. The inner wall of the track is integrally formed with teeth, which mesh with the drive gear and the driven gear. The outer wall of the track is integrally formed with anti-slip teeth. Rollers are rotatably connected laterally on both the upper and lower sides of the power box. The rollers contact the upper and lower inner walls of the track. The outer walls of two adjacent support plates are fixedly connected to the differential motor through mounting flanges. The differential motor is used to drive the drive gear to rotate.

[0006] As a further embodiment of the present invention, the rotary device includes a housing and a rotary motor; the housing is fixedly connected to a support rod, a gear ring is fixedly connected to the inner wall of the housing, a rotating cylinder is rotatably connected to the top of the housing, the overall support is fixedly connected to the rotating cylinder, the rotary motor is fixedly connected to the bottom of the housing, the rotary motor has a vertically upward output shaft, and a clearance hole is opened on the housing corresponding to the position of the rotary motor output shaft, a sun gear is fixedly connected to the top of the rotary motor output shaft, a rotating shaft is circumferentially and uniformly connected to the lower surface of the top plate of the rotating cylinder, a planetary gear is fixedly connected to the bottom of the rotating shaft, and the two sides of the planetary gear mesh with the sun gear and the gear ring respectively.

[0007] As a further embodiment of the present invention, the rotary tillage and loosening device includes a rotary tillage and loosening support, a drive shaft, rotary tillage blades, a roller motor, and a transmission assembly; the front side of the rotary tillage and loosening support is provided with a cover, the drive shaft is rotatably connected in the rotary tillage and loosening support, the rotary tillage blades are threadedly connected to the drive shaft, the roller motor is fixedly connected to the top left side of the rotary tillage and loosening support, the transmission assembly is located on the left side of the rotary tillage and loosening support, the transmission assembly is a chain drive mechanism, the two drive chains of the transmission assembly are respectively fixedly connected to the drive shaft and the output shaft of the roller motor, and a torque sensor is provided inside the housing of the transmission assembly at the position corresponding to the output shaft of the roller motor.

[0008] As a further embodiment of the present invention, the rotary tillage lifting device includes a fixed frame, a lifting frame, and a third electric telescopic rod; the fixed frame is fixedly connected to the rotary tillage and loosening support, one end of the lifting frame is hinged to the fixed frame, and connecting rods are hinged between the two sides of the lifting frame and the head of the crossbeam; a seat plate is fixedly connected to the overall support, one end of the third electric telescopic rod is hinged to the seat plate, and the other end of the third electric telescopic rod is hinged to the end of the lifting frame away from the fixed frame.

[0009] As a further embodiment of the present invention, the electric transplanting device includes an electric transplanting bracket, an electric transplanting unit, and a seedling detection sensor; the electric transplanting bracket is fixed to the rear side of the overall bracket, the electric transplanting unit is disposed on the electric transplanting bracket and seven are evenly arranged longitudinally, and the seedling detection sensor is fixed to the electric transplanting bracket by a support rod, and the seedling detection sensor corresponds one-to-one with the electric transplanting unit.

[0010] The electric transplanting unit includes a mounting box, an electric telescopic guide tube, and a flexible conveyor belt. The mounting box is fixed to the electric transplanting bracket, the electric telescopic guide tube is fixed to the front side of the mounting box, a trencher is fixed to the bottom of the electric telescopic guide tube, the flexible conveyor belt is placed inside the mounting box, a drive motor is fixed to the outer wall of the mounting box, the drive motor is used to drive the flexible conveyor belt to rotate, and partitions are fixed to the flexible conveyor belt at intervals.

[0011] As a further embodiment of the present invention, a touch screen is fixedly mounted on the overall support frame. The touch screen is located on the rear side of the seat and is equipped with a start / stop button, an emergency stop button, and a quick switch button. Vision sensors are symmetrically fixedly mounted on the left and right sides of the front end of the overall support frame. The system also includes an electronic control system, which includes a self-propelled chassis control module, a rotary tillage control module, a ditching control module, an electric transplanting control module, and a soil covering control module. The signal input terminal of the electronic control system is connected to the vision sensors, and the touch screen is interactively connected to the electric control system.

[0012] A transplanting method for a forest-based intelligent self-propelled rhizome and tuber medicinal herb transplanter includes the following steps:

[0013] S1, when the transplanter is in motion, the rotary tiller lifting device and the first electric telescopic rod lift the rotary tiller loosening device and the ridging plow; the second electric telescopic rod lifts the soil covering device, and the electric telescopic guide lifts the furrow opener, so that the transplanter can walk on flat ground without being disturbed, and the transplanter can be moved to the transplanting field by manual operation.

[0014] S2, turn on the start / stop button to start the transplanter, input the working parameters on the touch screen, the rotary tiller lifting device and the first electric telescopic rod adjust the rotary tillage and soil loosening and ridging depth respectively, the second electric telescopic rod adjusts the soil covering thickness, the electric telescopic guide adjusts the ditching depth, the transplanter moves forward, and performs rotary tillage, soil loosening, ditching, ridging, transplanting and soil covering operations.

[0015] S3, the transplanting process requires manual replenishment of seedlings between two partitions on the flexible conveyor belt;

[0016] S4. When a seedling is accidentally left unplaced on the flexible conveyor belt, the seedling detection sensor will detect that there are no seedlings in the flexible conveyor belt, and the drive motor will speed up to ensure the spacing between transplanted seedlings.

[0017] S5. In case of an emergency during transplanting, the emergency stop button can be pressed to immediately cut off the power to all devices of the transplanter and stop working.

[0018] S6: After one row of transplanting is completed, click the start / stop button to stop the machine from moving and all components from working; the machine will automatically return to the braking state.

[0019] S7, click the quick switch button, the self-propelled chassis device remains stationary, the overall support rotates 180°, and then the self-propelled chassis device is moved manually to achieve quick row change of the transplanter;

[0020] After the row change operation is completed (S8), operations S2-S7 can be repeated sequentially until the entire transplanting task of the transplanted field is completed.

[0021] The beneficial effects of this invention are as follows: the self-propelled chassis device is used to realize the movement and steering of the transplanter; the slewing device is used to connect the overall support and the self-propelled chassis device to realize the orientation change of the operator; the rotary tillage and loosening device is set on the front side of the overall support and its height is adjusted by the rotary tillage lifting device, thereby adjusting the loosening depth; the ridging plow is driven to rise and fall by the first electric telescopic rod, thereby adjusting the ridging depth or whether ridging is performed; the electric transplanting device is used to transplant the seedlings; and the soil covering device covers the transplanted seedlings with soil. This transplanter can complete the rotary tillage, ditching, transplanting and soil covering operations in one go, and can efficiently and with high quality complete the mechanized transplanting of tuberous and rhizomatous Chinese medicinal materials such as Panax notoginseng. Attached Figure Description

[0022] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 Axonometric drawing of an intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover, as described in this invention;

[0024] Figure 2 : A schematic diagram of the structure of the self-propelled chassis device of the present invention;

[0025] Figure 3 : A schematic diagram of the structure of the rotary device described in this invention;

[0026] Figure 4 : A schematic diagram of the rotary tillage and soil loosening device of the present invention;

[0027] Figure 5: A schematic diagram of the transmission assembly described in this invention;

[0028] Figure 6 : A schematic diagram of the rotary tillage lifting device of the present invention;

[0029] Figure 7 : A schematic diagram of the ridging plow described in this invention;

[0030] Figure 8 : A schematic diagram of the structure of the electric transplanting device of the present invention;

[0031] Figure 9 : A schematic diagram of the structure of the electric transplanting unit described in this invention;

[0032] Figure 10 Wiring diagram of the electronic control system described in this invention;

[0033] Figure 11 : A schematic diagram of the transplanting method.

[0034] The attached figures are labeled as follows:

[0035] 1-Overall support frame, 11-Seat, 12-Longitudinal beam, 13-Crossbeam;

[0036] 2-Self-propelled chassis device, 21-Support rod, 22-Traveling track, 23-Differential motor, 24-Power box, 25-Support plate, 26-Ear plate, 27-Drive gear, 28-Driven gear, 29-Anti-slip teeth, 210-Idler roller, 211-Mounting flange;

[0037] 31-Housing, 32-Rotary motor, 33-Gear ring, 34-Rotating drum, 35-Output shaft, 36-Sun gear, 37-Rotating shaft, 38-Planetary gear;

[0038] 4-Rotary tillage and loosening device, 41-Rotary tillage and loosening support, 42-Drive shaft, 43-Rotary tillage blade, 44-Roller motor, 45-Transmission assembly, 46-Cover, 47-Torque sensor;

[0039] 5-Rotary tillage lifting device, 51-Fixed frame, 52-Lifting frame, 53-Third electric telescopic rod, 54-Connecting rod, 55-Seat plate;

[0040] 6- Ridging plow, 601- Main plow body, 602- Tail wing side plate, 61- First electric telescopic rod, 62- Longitudinal frame;

[0041] 7-Electric transplanting device, 71-Electric transplanting bracket, 72-Electric transplanting unit, 7201-Mounting box, 7202-Electric telescopic guide tube, 7203-Flexible conveyor belt, 7204-Furrow opener, 7205-Drive motor, 7206-Partition plate, 73-Seedling detection sensor, 74-Support rod;

[0042] 8-Soil covering device; 81-Second electric telescopic rod;

[0043] 91-Touchscreen display, 911-Start / Stop button, 912-Emergency stop button, 913-Quick switch button, 92-Vision sensor, 93-Electronic control system, 931-Self-propelled chassis control module, 932-Rotary tillage control module, 933-Ditching control module, 934-Electric transplanting control module, 935-Soil covering control module. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] This invention discloses an intelligent self-propelled rhizome transplanter for medicinal herbs grown in forests, comprising a main frame 1, a self-propelled chassis 2, a rotary mechanism, a rotary tillage and loosening device 4, a rotary tillage lifting device 5, a ridging plow 6, an electric transplanting device 7, and a soil covering device 8. Two seats 11 are fixedly mounted on the main frame 1, and a longitudinal beam 12 is fixedly mounted to the front end of the main frame 1. A pair of crossbeams 13 are fixedly mounted to the front side of the longitudinal beam 12. The self-propelled chassis 2 is connected to the lower part of the main frame 1 via the rotary mechanism. The rotary tillage and loosening device 4 is located on the front side of the main frame 1, and the rotary tillage lifting device 5 is used for... The height of the rotary tillage and loosening device 4 is adjustable; a first electric telescopic rod 61 is fixed to the outside of the crossbeam 13, and a longitudinal frame 62 is fixed to the telescopic head of the first electric telescopic rod 61; a ridging plow 6 is symmetrically fixed to the bottom of the longitudinal frame 62; the ridging plow 6 includes a main plow body 601 fixed to the longitudinal frame 62 and a pair of tail wing side plates 602 fixed to the rear side of the main furrowing body; an electric transplanting device 7 is fixed to the rear side of the overall support 1; a pair of second electric telescopic rods 81 are symmetrically fixed to the rear end of the overall support 1; and a soil covering device 8 is fixed to the telescopic head of the second electric telescopic rods 81.

[0046] like Figure 1 As shown, two seats 11 are installed on the overall support frame 1 for the driver and the staff replenishing seedlings, respectively. The self-propelled chassis 2 is used to move and steer the transplanter. A slewing device connects the overall support frame 1 and the self-propelled chassis 2, allowing for changes in the staff's orientation. The rotary tillage and loosening device 4 is located on the front of the overall support frame 1, and its height is adjusted by the rotary tillage lifting device 5, thereby adjusting the loosening depth. The ridging plow 6 is driven to rise and fall by the first electric telescopic rod 61, thereby adjusting the ridging depth or whether ridging is initiated. Figure 7 As shown, the ridging plow 6 includes a main plow body 601 fixedly connected to the longitudinal frame 62 and a pair of tail wing side plates 602 fixedly connected to the rear side of the main furrowing body. The electric transplanting device 7 is used to transplant seedlings, and the soil covering device 8 covers the transplanted seedlings with soil. This transplanter can complete rotary tillage, furrowing, transplanting and soil covering operations in one go, and can efficiently and with high quality complete the mechanized transplanting of tuberous and rhizomatous Chinese medicinal materials such as Panax notoginseng.

[0047] Preferably, the self-propelled chassis device 2 includes support rods 21, a track 22, and a differential motor 23. The support rods 21 are arranged side by side, and a power box 24 is fixedly connected to the left and right ends of the support rods 21. A pair of support plates 25 and a pair of ear plates 26 are fixedly connected to the front and rear sides of the power box 24, respectively. A drive gear 27 and a driven gear 28 are rotatably connected between the pair of support plates 25 and ear plates 26, respectively. The track 22 is fitted on the outer wall of the drive gear 27 and the driven gear 28. The inner wall of the track 22 is integrally formed with teeth, which mesh with the drive gear 27 and the driven gear 28. The outer wall of the track 22 is integrally formed with anti-slip teeth 29. Rollers 210 are rotatably connected laterally on both the upper and lower sides of the power box 24. The rollers 210 contact the upper and lower inner walls of the track 22. The outer walls of the two support plates 25 that are close to each other are fixedly connected to the differential motor 23 through mounting flanges 211. The differential motor 23 is used to drive the drive gear 27 to rotate.

[0048] like Figure 2 As shown, when the differential motor 23 is working, it drives the drive gear 27 to rotate. The walking track 22 meshes with the drive gear 27 through the teeth on its inner wall, and thus rotates with the drive gear 27. The walking track 22 also drives the driven gear 28 to rotate through the teeth on its inner wall. When the walking track 22 rotates, the transplanter can move. The walking track 22 is supported by the roller 210, and the anti-slip teeth improve its grip.

[0049] When the two differential motors 23 rotate at the same speed, the transplanter moves in a straight line; when the two differential motors 23 rotate at different speeds, the transplanter turns. The direction of movement of the transplanter can be adjusted by adjusting the direction of rotation of the differential motors 23, thereby realizing the walking and turning of the transplanter.

[0050] Preferably, the rotary device includes a housing 31 and a rotary motor 32; the housing 31 is fixedly connected to the support rod 21, a gear ring 33 is fixedly connected to the inner wall of the housing 31, a rotating cylinder 34 is rotatably connected to the top of the housing 31, the overall support 1 is fixedly connected to the rotating cylinder 34, the rotary motor 32 is fixedly connected to the bottom of the housing 31, the rotary motor 32 is provided with a vertically upward output shaft 35, and a clearance hole is provided on the housing 31 corresponding to the position of the output shaft 35 of the rotary motor 32, a sun gear 36 is fixedly connected to the top of the output shaft 35 of the rotary motor 32, a rotating shaft 37 is circumferentially and uniformly connected to the lower surface of the top plate of the rotating cylinder 34, a planetary gear 38 is fixedly connected to the bottom of the rotating shaft 37, and the two sides of the planetary gear 38 mesh with the sun gear 36 and the gear ring 33 respectively.

[0051] like Figure 3 As shown, the rotary motor 32 drives the output shaft 35 and the sun gear to rotate, and the planet gear meshing with the sun gear rotates. Due to the presence of the gear ring 33, the planet gear and the rotating cylinder 34 can be driven to rotate around the axis of the output shaft 35. The overall support 1 is fixed to the rotating cylinder 34, so that the rotation of the overall support 1 can be realized, and the staff on the seat 11 can simultaneously change their orientation.

[0052] Preferably, the rotary tillage and loosening device 4 includes a rotary tillage and loosening support 41, a drive shaft 42, rotary tillage blades 43, a roller motor 44, and a transmission assembly 45. The rotary tillage and loosening support 41 is provided with a cover 46 on the front side. The drive shaft 42 is rotatably connected in the rotary tillage and loosening support 41. The rotary tillage blades 43 are threadedly connected to the drive shaft 42. The roller motor 44 is fixedly connected to the top left side of the rotary tillage and loosening support 41. The transmission assembly 45 is located on the left side of the rotary tillage and loosening support 41. The transmission assembly 45 is a chain drive mechanism. The two transmission chains of the transmission assembly 45 are fixedly connected to the drive shaft 42 and the output shaft 35 of the roller motor 44, respectively. A torque sensor 47 is provided inside the housing 31 of the transmission assembly 45 at the position corresponding to the output shaft 35 of the roller motor 44.

[0053] like Figure 4 and Figure 5 As shown, the roller motor 44 is the power source for the entire rotary tillage and loosening device 4, and transmits power to the drive shaft 42 through the transmission assembly 45, thereby driving the drive shaft 42 and the rotary tillage blades 43 to rotate. The rotary tillage and loosening operation is achieved through the rotary tillage blades 43. The rotary tillage blades 43 are connected to the drive shaft 42 by threads, which facilitates the replacement of damaged rotary tillage blades 43. A torque sensor 47 is provided to monitor the output torque parameters of the roller motor 44.

[0054] Preferably, the rotary tillage lifting device 5 includes a fixed frame 51, a lifting frame 52, and a third electric telescopic rod 53; the fixed frame 51 is fixedly connected to the rotary tillage and loosening support 41, one end of the lifting frame 52 is hinged to the fixed frame 51, the two sides of the lifting frame 52 are hinged to the head of the crossbeam 13, a seat plate 55 is fixedly connected to the overall support 1, one end of the third electric telescopic rod 53 is hinged to the seat plate 55, and the other end of the third electric telescopic rod 53 is hinged to the end of the lifting frame 52 away from the fixed frame 51.

[0055] like Figure 6 As shown, the height of the rotary tillage and loosening device 4 can be controlled by extending and retracting the third electric telescopic rod 53.

[0056] Preferably, the electric transplanting device 7 includes an electric transplanting bracket 71, an electric transplanting unit 72, and a seedling detection sensor 73; the electric transplanting bracket 71 is fixed to the rear side of the overall bracket 1, the electric transplanting unit 72 is arranged on the electric transplanting bracket 71 and seven are evenly arranged longitudinally, and the seedling detection sensor 73 is fixed to the electric transplanting bracket 71 through the support rod 74, and the seedling detection sensor 73 corresponds one-to-one with the electric transplanting unit 72;

[0057] The electric transplanting unit 72 includes a mounting box 7201, an electric telescopic guide tube 7202, and a flexible conveyor belt 7203. The mounting box 7201 is fixed to the electric transplanting bracket 71, the electric telescopic guide tube 7202 is fixed to the front side of the mounting box 7201, a trencher 7204 is fixed to the bottom of the electric telescopic guide tube 7202, the flexible conveyor belt 7203 is disposed inside the mounting box 7201, a drive motor 7205 is fixed to the outer wall of the mounting box 7201, the drive motor 7205 is used to drive the flexible conveyor belt 7203 to rotate, and partitions 7206 are fixedly fixed at intervals on the flexible conveyor belt 7203.

[0058] like Figure 8 and 9 As shown, when the transplanter moves, it drives the electric transplanting device 7 to move. During this process, the seedlings are transplanted through the electric transplanting unit 72. At the same time, it is equipped with seven electric transplanting units 72, so that seven rows of seedlings can be transplanted at the same time.

[0059] During the seedling transplanting process, the staff places the seedlings between two adjacent partitions 7206. When the transplanter moves, the furrow opener 7204 opens a planting trough. The flexible transmission belt is driven to rotate by the drive motor 7205. The seedlings fall from the electric telescopic guide tube and enter the planting trough. Then, the soil covering device 8 is used to cover the soil, thus completing the seedling transplanting work. The seedling detection sensor 73 can determine whether there are seedlings on the flexible conveyor belt 7203.

[0060] Preferably, a touch screen 91 is fixedly connected to the overall support 1. The touch screen 91 is located behind the seat 11. The touch screen 91 is equipped with a start / stop button 911, an emergency stop button 912, and a quick switch button 913. Visual sensors 92 are symmetrically fixed to the front end of the overall support 1. It also includes an electronic control system 93. The electronic control system 93 includes a self-propelled chassis control module 931, a rotary tillage control module 932, a ditching control module 933, an electric transplanting control module 934, and a soil covering control module 935. The signal input terminal of the electronic control system 93 is connected to the visual sensor 92, and the touch screen 91 is interactively connected to the electric control system.

[0061] like Figure 10 As shown, the touch screen 91 is equipped with a start / stop button 911, an emergency stop button 912, and a quick switch button 913. The start / stop button 911 controls the start and stop of all devices and control systems of the transplanter. The touch screen 91 can display and control the operating parameters of the self-propelled chassis control module 931, rotary tillage control module 932, ditching control module 933, electric transplanting control module 934, and soil covering control module 935 in real time. The emergency stop button 912 can immediately cut off the power and stop the operation of all device control modules. The vision sensor 92 uses dual cameras and is installed on both sides of the frontmost end of the overall support 1. Based on the algorithm, the vision sensor 92 can output the moving speed of the transplanter in real time, obtain the real-time height parameters of the ground at the forward end of the transplanter, and output the two-dimensional contour curve of the terrain along the central axis of the transplanter's movement.

[0062] The self-propelled chassis control module 931 is used to control the speed and direction of the differential motor 23 and the rotary motor 32, thereby realizing the walking of the transplanter, the turning of the transplanter, and the rotation of the personnel.

[0063] The rotary tillage control module 932 is used to control the roller motor 44 and the third electric telescopic rod 53. When the soil hardness is high and the torque parameter obtained by the torque sensor 47 is too large, the rotary tillage blade 43 will not have enough torque to break the soil, so it will automatically increase the output power of the roller motor and increase the output speed. When the rotary tillage blade 43 gets stuck by stones or hard objects, and the output power exceeds the load of the roller motor, the rotary tillage control module 932 controls the roller motor to reduce the speed, and the third electric telescopic rod 53 automatically raises the rotary tillage and loosening device 4 to achieve overload protection. The third electric telescopic rod 53 can control the height of the rotary tillage and loosening device 4 according to the two-dimensional contour curve of the terrain along the center line of the transplanter's forward movement, so as to achieve terrain-following rotary tillage and loosening, and ensure the consistency of the loosened soil layer thickness.

[0064] The trenching control module 933 is used to control the formation of the first electric telescopic rod 61, thereby controlling the height of the ridging plow 6 and adjusting the ridging depth.

[0065] The electric transplanting control module 934, when the seedling detection sensor 73 detects that there are no seedlings in the flexible conveyor belt 7203, the drive motor 7205 will increase its speed to ensure the spacing between transplanted seedlings. Each electric transplanting unit 72 has an independent drive motor 7205, so when one electric transplanting unit 72 needs to increase its speed, it will not affect other electric transplanting units 72.

[0066] The soil covering control module 935 is used to control the second electric telescopic rod 81, thereby controlling the soil covering thickness.

[0067] like Figure 11 As shown, this transplanter can perform the following four transplanting methods:

[0068] Plants are transplanted side-by-side on ridge A. At this time, the ridging plow 6 is located below the soil and opens furrows. The partitions 7206 on each flexible conveyor belt 7203 are aligned longitudinally.

[0069] Planting is staggered on ridge B. At this time, the ridging plow 6 is below the soil and opens furrows. The partitions 7206 on the two adjacent flexible conveyor belts 7203 are staggered.

[0070] C. Transplanting on flat ground side by side. At this time, the ridging plow 6 is on the soil, and no furrows are opened. The partitions 7206 on each flexible conveyor belt 7203 are aligned longitudinally.

[0071] D. On flat ground, the ridge plow 6 is placed on the soil, and no furrows are opened. The partitions 7206 on the two adjacent flexible conveyor belts 7203 are staggered.

[0072] A transplanting method for a forest-based intelligent self-propelled rhizome and tuber medicinal herb transplanter includes the following steps:

[0073] S1, when the transplanter is in motion, the rotary tiller lifting device 5 and the first electric telescopic rod 61 lift the rotary tiller loosening device 4 and the ridging plow 6; the second electric telescopic rod 81 lifts the soil covering device 8, and the electric telescopic guide tube 7202 lifts the furrow opener 7204 so that the transplanter can walk on flat ground without interference, and the transplanter can be moved to the transplanting field by manual operation.

[0074] S2, turn on the start / stop button 911 to start the transplanter, input the working parameters on the touch screen 91, the rotary tiller lifting device 5 and the first electric telescopic rod 61 respectively adjust the rotary tillage and soil loosening and ridging depth, the second electric telescopic rod 81 adjusts the soil covering thickness, the electric telescopic guide tube 7202 adjusts the ditching depth, the transplanter moves forward, and performs rotary tillage, soil loosening, ditching, ridging, transplanting and soil covering operations;

[0075] S3, the transplanting process requires manual replenishment of seedlings between the two partitions 7206 on the flexible conveyor belt 7203;

[0076] S4. When a seedling is left unplaced on the flexible conveyor belt 7203, the seedling detection sensor 73 detects that there are no seedlings in the flexible conveyor belt 7203, and the drive motor 7205 will increase its speed to ensure the spacing between transplanted seedlings.

[0077] S5. In case of an emergency during transplanting, press the emergency stop button 912 to immediately cut off the power to all devices of the transplanter and stop working.

[0078] S6, after one row of transplanting is completed, click the start / stop button 911 to stop the machine from moving and all components from working; the machine will automatically return to the braking state.

[0079] S7, click the quick switch button 913, the self-propelled chassis device 2 remains stationary, the overall support 1 rotates 180°, and then the self-propelled chassis device 2 is moved manually to realize the quick row change of the transplanter;

[0080] After the row change operation is completed (S8), operations S2-S7 can be repeated sequentially until the entire transplanting task of the transplanted field is completed.

[0081] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A forest-based intelligent self-propelled rhizome transplanter for medicinal herbs, comprising an overall support frame, a self-propelled chassis, a rotary device, a rotary tillage and loosening device, a rotary tillage lifting device, a ridging plow, an electric transplanting device, and a soil covering device; characterized in that, Two seats are fixed to the overall support frame. A longitudinal beam is fixed to the front end of the overall support frame, and a pair of crossbeams are fixed to the front side of the longitudinal beam. The self-propelled chassis device is connected to the bottom of the overall support frame via a slewing device. The rotary tillage and loosening device is located on the front side of the overall support frame, and the rotary tillage lifting device is used to adjust the height of the rotary tillage and loosening device. A first electric telescopic rod is fixed to the outer side of the crossbeam, and a longitudinal frame is fixed to the telescopic head of the first electric telescopic rod. The ridging plow is symmetrically fixed to the bottom of the longitudinal frame. The ridging plow includes a main plow body fixed to the longitudinal frame and a pair of tail wing side plates fixed to the rear side of the main furrowing body. The electric transplanting device is fixed to the rear side of the overall support frame device. A pair of second electric telescopic rods are symmetrically fixed to the rear end of the overall support frame, and the soil covering device is fixed to the telescopic head of the second electric telescopic rods.

2. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover according to claim 1, characterized in that, The self-propelled chassis device includes support rods, tracks, and a differential motor. The support rods are arranged side by side, with a power box fixed to both ends. A pair of support plates and a pair of lugs are fixed to the front and rear sides of the power box, respectively. A drive gear and a driven gear are rotatably connected between the paired support plates and lugs. The tracks are fitted onto the outer walls of the drive gear and driven gear. The inner wall of the tracks is integrally formed with teeth that mesh with the drive gear and driven gear. The outer wall of the tracks is integrally formed with anti-slip teeth. Rollers are rotatably connected laterally to both the upper and lower sides of the power box. The rollers contact the upper and lower inner walls of the tracks. The outer walls of two adjacent support plates are fixed to the differential motor via mounting flanges. The differential motor drives the drive gear to rotate.

3. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover as described in claim 2, characterized in that, The rotating device includes a housing and a rotary motor; the housing is fixedly connected to a support rod, a gear ring is fixedly connected to the inner wall of the housing, a rotating cylinder is rotatably connected to the top of the housing, the overall support is fixedly connected to the rotating cylinder, the rotary motor is fixedly connected to the bottom of the housing, the rotary motor has a vertically upward output shaft, and a clearance hole is opened on the housing corresponding to the position of the rotary motor output shaft. A sun gear is fixedly connected to the top of the rotary motor output shaft, and a rotating shaft is circumferentially and evenly connected to the lower surface of the top plate of the rotating cylinder. A planetary gear is fixedly connected to the bottom of the rotating shaft, and the two sides of the planetary gear mesh with the sun gear and the gear ring, respectively.

4. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover according to claim 3, characterized in that, The rotary tillage and loosening device includes a rotary tillage and loosening support, a drive shaft, rotary tillage blades, a roller motor, and a transmission assembly. The front side of the rotary tillage and loosening support is provided with a cover. The drive shaft is rotatably connected to the rotary tillage and loosening support. The rotary tillage blades are threadedly connected to the drive shaft. The roller motor is fixed to the top left side of the rotary tillage and loosening support. The transmission assembly is located on the left side of the rotary tillage and loosening support. The transmission assembly is a chain drive mechanism. The two drive chains of the transmission assembly are fixedly connected to the drive shaft and the output shaft of the roller motor, respectively. A torque sensor is provided inside the housing of the transmission assembly at the position corresponding to the output shaft of the roller motor.

5. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover according to claim 4, characterized in that, The rotary tillage lifting device includes a fixed frame, a lifting frame, and a third electric telescopic rod; the fixed frame is fixedly connected to the rotary tillage and loosening support, one end of the lifting frame is hinged to the fixed frame, and connecting rods are hinged between the two sides of the lifting frame and the head of the crossbeam. A seat plate is fixedly connected to the overall support, one end of the third electric telescopic rod is hinged to the seat plate, and the other end of the third electric telescopic rod is hinged to the end of the lifting frame away from the fixed frame.

6. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover according to claim 5, characterized in that, The electric transplanting device includes an electric transplanting bracket, an electric transplanting unit, and a seedling detection sensor; the electric transplanting bracket is fixed to the rear side of the overall bracket, the electric transplanting unit is set on the electric transplanting bracket and seven are evenly arranged longitudinally, and the seedling detection sensor is fixed to the electric transplanting bracket through a support rod, and the seedling detection sensor corresponds one-to-one with the electric transplanting unit. The electric transplanting unit includes a mounting box, an electric telescopic guide tube, and a flexible conveyor belt. The mounting box is fixed to the electric transplanting bracket, the electric telescopic guide tube is fixed to the front side of the mounting box, a trencher is fixed to the bottom of the electric telescopic guide tube, the flexible conveyor belt is placed inside the mounting box, a drive motor is fixed to the outer wall of the mounting box, the drive motor is used to drive the flexible conveyor belt to rotate, and partitions are fixed to the flexible conveyor belt at intervals.

7. The intelligent self-propelled rhizome transplanter for medicinal herbs under forest cover as described in claim 6, characterized in that, A touch screen is fixedly mounted on the overall support frame, located behind the seat. The touch screen has start / stop buttons, emergency stop buttons, and quick switch buttons. Vision sensors are symmetrically fixed to the front of the overall support frame. It also includes an electronic control system, which includes a self-propelled chassis control module, a rotary tillage control module, a ditching control module, an electric transplanting control module, and a soil covering control module. The signal input terminal of the electronic control system is connected to the vision sensors, and the touch screen is interactively connected to the electric control system.

8. A transplanting method for a forest-based intelligent self-propelled rhizome and tuber medicinal herb transplanter, implemented using the transplanter described in any one of claims 1-7, characterized in that, Includes the following steps: S1, when the transplanter is in motion, the rotary tiller lifting device and the first electric telescopic rod lift the rotary tiller loosening device and the ridging plow; the second electric telescopic rod lifts the soil covering device, and the electric telescopic guide lifts the furrow opener, so that the transplanter can walk on flat ground without being disturbed, and the transplanter can be moved to the transplanting field by manual operation. S2, turn on the start / stop button to start the transplanter, input the working parameters on the touch screen, the rotary tiller lifting device and the first electric telescopic rod adjust the rotary tillage and soil loosening and ridging depth respectively, the second electric telescopic rod adjusts the soil covering thickness, the electric telescopic guide adjusts the ditching depth, the transplanter moves forward, and performs rotary tillage, soil loosening, ditching, ridging, transplanting and soil covering operations. S3, the transplanting process requires manual replenishment of seedlings between two partitions on the flexible conveyor belt; S4. When a seedling is accidentally left unplaced on the flexible conveyor belt, the seedling detection sensor will detect that there are no seedlings in the flexible conveyor belt, and the drive motor will speed up to ensure the spacing between transplanted seedlings. S5. In case of an emergency during transplanting, the emergency stop button can be pressed to immediately cut off the power to all devices of the transplanter and stop working. S6: After one row of transplanting is completed, click the start / stop button to stop the machine from moving and all components from working; the machine will automatically return to the braking state. S7, click the quick switch button, the self-propelled chassis device remains stationary, the overall support rotates 180°, and then the self-propelled chassis device is moved manually to achieve quick row change of the transplanter; After the row change operation is completed (S8), operations S2-S7 can be repeated sequentially until the entire transplanting task of the transplanted field is completed.

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