Electrically-driven rice transplanter with variable spacing between plants and rows and control method of electrically-driven rice transplanter

Abstract

The invention provides an electrically-driven rice transplanter with variable row spacing and a control method thereof. The electrically-driven rice transplanter comprises a seedling box, a rack, a plurality of branch rice transplanting units, a power system, a row spacing adjusting actuator, a seedling box driving mechanism and a control system, the control system is electrically connected with the row spacing adjusting actuator, the seedling box driving mechanism and the power system respectively; the control system is configured to receive target row spacing and target row spacing parameters, control the row spacing adjusting actuator to act so as to position each branch rice transplanting unit to a preset position corresponding to the target row spacing, and control the row spacing adjusting actuator to adjust the row spacing according to the target row spacing and the actual advancing speed of the rice transplanter. The power system is controlled to adjust the rotating speed of the planting transmission mechanism so as to realize the target plant spacing. The row spacing and plant spacing of rice transplanting can be rapidly adjusted, stable planting quality is guaranteed under the complex field condition, and popularization of a ratooning rice seed harvesting same-rail mode is facilitated. The device is simple in structure, accurate in line spacing adjustment, adjustable in one-time planting line spacing and line number, and high in adaptability.

Description

Technical Field

[0001] This invention relates to planting machinery in the field of agricultural machinery, and more particularly to an electrically driven rice transplanter with variable plant spacing and its control method. Background Technology

[0002] Ratoon rice is a highly efficient rice cultivation method that involves planting once and harvesting twice. However, during the first harvest, traditional harvesters crush 40%-50% of the rice stubble, severely damaging the regenerated buds and leading to a significant reduction in yield in the second season. This has become a bottleneck restricting the promotion of ratoon rice.

[0003] To address this issue, the concept of "planting and harvesting on the same track" was proposed, which involves using a wide-narrow row planting pattern during rice transplanting, reserving a "wide row" with a width matching the harvester's tracks as an operating channel, thereby achieving "zero crushing" during the first season's machine harvest.

[0004] However, existing rice transplanters are unable to effectively implement this concept: Most ordinary rice transplanters have a fixed row spacing, making it impossible to create wide and narrow row planting.

[0005] A few rice transplanters that can achieve both wide and narrow row spacing also have fixed and non-adjustable row spacing. For example, the Yanmar YR80D(G4) rice transplanter uses a fixed 14cm / 36cm alternating row spacing for planting. Its row spacing is determined by the mechanical layout of the transplanting mechanism and cannot be changed. Therefore, it cannot adapt to the "same track" requirements of different harvester models with different track widths and gauges.

[0006] Existing rice transplanters with adjustable row spacing have significant limitations. For example: Chinese patent publication number CN201010127011.8 discloses a wide-narrow row rice transplanter, whose row spacing is fixed after design and manufacturing, and lacks a mechanism for convenient adjustment in the field.

[0007] Chinese patent CN202110232622.7 discloses a modular adjustable wide and narrow row rice transplanter. Although it achieves stepless adjustment of the wide row, the row spacing of the narrow row remains fixed. This necessitates the use of seedbeds of a specific width, resulting in poor versatility. Furthermore, it requires a customized row spacing adjustment mechanism and a dedicated seedling box, leading to a complex structure and high cost.

[0008] In summary, existing technologies cannot provide a rice transplanter that can quickly achieve flexible adjustment of row spacing and coordinated control of plant spacing. This makes it difficult for existing machines to adapt to different harvesters under the "planting and harvesting on the same track" model, and also makes it difficult to ensure stable planting quality under complex field conditions, thus hindering the large-scale promotion of this advanced agronomic model. Summary of the Invention

[0009] To address the aforementioned technical problems, this invention provides an electrically driven rice transplanter with variable row and plant spacing and its control method, which can quickly adjust the row and plant spacing during transplanting, ensuring stable planting quality under complex field conditions and facilitating the promotion of the integrated planting and harvesting model for ratooning rice.

[0010] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0011] An electrically driven rice transplanter with variable plant spacing includes a seedling box, a frame, multiple transplanting units, a power system, a row spacing adjustment actuator, a seedling box drive mechanism, and a control system. The seedling box is installed on the machine frame; The rice transplanting unit can be movably installed on the frame, and each rice transplanting unit includes a seedling claw and a planting transmission mechanism that drives the seedling claw to move. The power system is connected to the planting transmission mechanism and is used to provide power to the planting transmission mechanism; The row spacing adjustment actuator is connected to the rice transplanting unit and is used to drive each rice transplanting unit to move independently on the frame; The seedling box drive mechanism is connected to the seedling box and is used to drive the seedling box to reciprocate in the lateral direction; The control system is electrically connected to the row spacing adjustment actuator, the seedling box drive mechanism, and the power system, respectively; the control system is configured as follows: The system receives the target row spacing and target plant spacing parameters and controls the row spacing adjustment actuator to position each transplanting unit to a preset position corresponding to the target row spacing. Based on the target plant spacing and the actual forward speed of the transplanter, the system controls the power system to adjust the rotation speed of the planting transmission mechanism to achieve the target plant spacing.

[0012] In the above scheme, the seedling box includes a box body and multiple pluggable seedling box baffles; the box body serves as the main structure, and the upper part of the box body is provided with a linear array of fixing holes; the pluggable seedling box baffles have fixing ends that are adapted to the fixing holes, and by selectively inserting the fixing ends into different fixing holes, the pluggable seedling box baffles are fixed on the box body in an attitude perpendicular to the bottom of the box body, thereby dividing the interior of the box body into multiple variable seedling placement spaces; the bottom of the box body is provided with multiple seedling extraction ports.

[0013] In the above scheme, the frame includes a supporting longitudinal beam, a supporting cross beam, a guide rail, a seedling box bracket, a second electric push rod, and an electric push rod base; The frame includes at least two parallel longitudinal support beams, and a crossbeam is connected to the longitudinal support beams. The supporting crossbeam is connected to the rice transplanting unit and serves as the moving track for the rice transplanting unit; The seedling box bracket is slidably connected to the supporting longitudinal beam via a guide rail, and the seedling box is fixed on the seedling box bracket; The second electric push rod is a seedling box drive mechanism. The telescopic end of the second electric push rod is hinged to the seedling box bracket, and its fixed end is installed on the support longitudinal beam through the electric push rod base.

[0014] In the above scheme, the power system includes a motor, a motor bracket, and a hexagonal transmission shaft; The motor is mounted on a motor bracket, which is mounted on a supporting longitudinal beam. The output end of the motor is connected to a hexagonal transmission shaft, which passes through the supporting longitudinal beam and is supported by the beam. A bearing is nested outside the hexagonal transmission shaft, and the bearing is mounted on the supporting longitudinal beam. The hexagonal transmission shaft is connected to the seedling claw through a planting transmission mechanism, which drives the seedling claw to rotate.

[0015] In the above scheme, the rice transplanting unit is a sliding rice transplanting mechanism; the sliding rice transplanting mechanism includes a rice transplanting mechanism support beam, a sliding base, fastening bolts, a transmission sprocket, a first electric push rod, a planting hexagonal shaft, a rotary box, and rice seedling claws; The sliding base is nested on the support beam and can move along the support beam. It has threaded holes around its perimeter and can be fixedly connected to the support beam by tightening the fastening bolts. The bottom end of the first electric push rod is fixed to the sliding base, and its telescopic end is connected to the support beam of the rice transplanting mechanism. The extension and retraction of the first electric push rod drives the support beam of the rice transplanting mechanism and the components installed on it to move as a whole. The planting hexagonal shaft is rotatably mounted on the support beam of the rice transplanting mechanism, and multiple positioning holes are opened along the axial direction on its upper part; At least two of the rotary boxes are mounted on the planting hexagonal shaft and are located on the lateral sides of the support beam of the rice transplanting mechanism. Each rotary box is equipped with a seedling claw. By changing the relative positions of the two rotary boxes on the planting hexagonal shaft and using positioning pins inserted into the corresponding positioning holes for limiting, the distance between the two seedling claws in the same sliding rice transplanting mechanism can be adjusted. The rotary box, the planting hexagonal shaft, and the transmission sprocket form a planting transmission mechanism; the transmission sprocket is installed at the end of the planting hexagonal shaft and is connected to the drive sprocket on the transmission hexagonal shaft via a chain, thereby transmitting power from the transmission hexagonal shaft to the planting hexagonal shaft; when the planting hexagonal shaft rotates, it drives the rotary box and the seedling claw to move.

[0016] In the above scheme, the control system includes an on-board controller, a GNSS system, and a speed sensor; The GNSS system is used to acquire real-time information on the actual forward speed of the rice transplanter. The speed sensor is used to obtain the rotational angular velocity of the rear wheel of the rice transplanter in real time. and the rotational angular velocity of the main shaft of the seedling claw in the planting transmission mechanism. ; The vehicle-mounted controller is electrically connected to the GNSS system, the speed sensor, the power system, and the row spacing adjustment actuator. The vehicle-mounted controller is configured to receive data from the GNSS system and the speed sensor, and based on the received target row spacing and target plant spacing parameters, control the row spacing adjustment actuator to position each transplanting unit to a preset position corresponding to the target row spacing. Based on the target plant spacing and the actual forward speed of the transplanter, the controller controls the power system to adjust the rotational angular velocity of the main shaft of the planting transmission mechanism's seedling claw. To achieve the target plant spacing.

[0017] A control method for a electrically driven rice transplanter with variable plant spacing includes the following steps: The control system acquires the target row spacing and target plant spacing parameters. Based on the target row spacing, it controls the row spacing adjustment actuator to drive each transplanting unit to move to the target position on the frame. Based on the target plant spacing and the actual forward speed of the transplanter, it controls the power system to adjust the rotation speed of the planting transmission mechanism to achieve the target plant spacing.

[0018] In the above scheme, the step of the control system adjusting the rotational speed of the planting transmission mechanism based on the target plant spacing and the actual forward speed includes: The rotational angular velocity of the rear wheel of the rice transplanter is obtained by a speed sensor. ; The actual forward speed of the rice transplanter was obtained through the GNSS system. ; According to the formula Calculate the slippage correction factor, where, The radius of the rear wheel; Based on the target plant spacing With formula Calculate the target angular velocity of the main shaft of the seedling claw in the planting transmission mechanism. ,in, This represents the effective number of plants per revolution of the seedling claw turntable; Adjust the output of the power system so that the measured angular velocity ω2 of the seedling claw spindle approaches the target angular velocity. .

[0019] The above scheme also includes the following steps: Based on the minimum row spacing in the target row spacing, the stroke of the seedling box drive mechanism is adjusted to control the distance of a single reciprocating motion of the seedling box and adjust the distance between each pair of seedling claws.

[0020] In the above scheme, the target row spacing is set based on the principle of planting and harvesting on the same track. The wide row spacing and narrow row spacing of rice transplanting are determined according to the track width, track gauge and header width of the predetermined model of harvester.

[0021] Compared with the prior art, the beneficial effects of the present invention are: This invention enables rapid adjustment of row spacing and plant spacing during transplanting, ensuring stable planting quality even in complex field conditions and facilitating the promotion of integrated planting and harvesting models for ratooning rice. The invention features a simple structure, precise row spacing adjustment, and adjustable row spacing, number of rows, and plant spacing for a single planting cycle, making it highly adaptable. It can be used as a standard equal-row rice transplanter, or, based on the principle of integrated planting and harvesting, different wide and narrow row spacing arrangements can be adopted for different harvester models. Plant spacing adjustment controls planting density and basic seedling count, ensuring yield and preventing the crushing of rice stubble by the track during the first harvest of ratooning rice. This invention fills the gap in the domestic market for adjustable wide and narrow row rice transplanters based on the principle of integrating agricultural machinery and agronomy. This invention has significant practical and promotional value, contributing to increased production and income from ratooning rice and ensuring my country's food security. Attached Figure Description

[0022] Figure 1 This is an isometric schematic diagram of the overall structure of an embodiment of the electrically driven variable row spacing rice transplanter described in this invention.

[0023] Figure 2 yes Figure 1 The diagram shows the main view and a close-up view of the rice transplanter. Figure 2 (b) is the front view of the rice transplanter. Figure 2 (a) is Figure 2 (b) A magnified view of the area at point I.

[0024] Figure 3 These are isometric views and partial enlarged views of the frame portion described in this invention, wherein... Figure 3 (a) is an isometric view of the frame section. Figure 3 (b) is Figure 3 (a) A magnified view of the area at point J. Figure 3 (c) is Figure 3 (a) A magnified view of the area at point K.

[0025] Figure 4 This is a side view of the rice transplanter described in this invention.

[0026] Figure 5 This is a schematic diagram of the plug-in type seedling box baffle structure of the seedling box described in this invention.

[0027] Figure 6 This is a flowchart of one embodiment of the control method of the present invention.

[0028] Figure 7 This is a schematic diagram of the motion relationship during the operation of the rice transplanter of the present invention, used to illustrate the coordinated control principle of forward speed, seedling claw rotation speed and plant spacing.

[0029] Figure 8 This is a schematic diagram of the lateral reciprocating motion of the seedling box described in this invention, used to illustrate the relationship between its motion mode and row spacing.

[0030] In the diagram: 1. Seedling box, 2. Frame, 3. Power system, 4. Sliding transplanting mechanism, 101. Box body, 102. Plug-in seedling box baffle, 103. Fixing hole, 104. Seedling inlet, 201. Seedling box support, 202. Second electric push rod, 203. Electric push rod base, 204. Supporting longitudinal beam, 205. Supporting crossbeam, 206. Guide rail, 301. Motor, 302. Motor support, 303. Hexagonal transmission shaft, 401. Rotary box, 402. Seedling claw, 403. Transplanting mechanism support beam, 404. Planting hexagonal shaft, 405. Positioning pin, 406. Positioning hole, 407. First electric push rod, 408. Sliding base, 409. Fastening bolt, 410. Transmission sprocket. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Figure 1 and 2 The image shows a preferred embodiment of the electrically driven variable row spacing rice transplanter of the present invention. The electrically driven variable row spacing rice transplanter includes a seedling box 1, a frame 2, multiple transplanting units, a power system 3, a row spacing adjustment actuator, a seedling box drive mechanism, and a control system. The seedling box 1 is installed on the frame 2; The rice transplanting unit can be movably installed on the frame 2. Each rice transplanting unit includes a seedling claw 402 and a planting transmission mechanism that drives the seedling claw 402 to move. The power system 3 is connected to the planting transmission mechanism and is used to provide power to the planting transmission mechanism; The row spacing adjustment actuator is connected to the rice transplanting unit and is used to drive each rice transplanting unit to move independently on the frame 2; The seedling box drive mechanism is connected to the seedling box 1 and is used to drive the seedling box 1 to reciprocate in the lateral direction; The control system is electrically connected to the row spacing adjustment actuator, the seedling box drive mechanism, and the power system 3, respectively; the control system is configured as follows: The system receives target row spacing and target plant spacing parameters and controls the row spacing adjustment actuator to position each transplanting unit to a preset position corresponding to the target row spacing. Based on the target plant spacing and the actual forward speed of the rice transplanter, the power system 3 is controlled to adjust the rotation speed of the planting transmission mechanism to achieve the target plant spacing.

[0035] like Figure 2-5As shown, the seedling box 1 includes a box body 101 and multiple pluggable seedling box baffles 102; the box body 101 serves as the main structure, and the upper part of the box body 101 is provided with a linear array of fixing holes 103; the pluggable seedling box baffles 102 have fixing ends that are adapted to the fixing holes 103. By selectively inserting the fixing ends into different fixing holes 103, the pluggable seedling box baffles 102 are fixed on the box body 101 in an attitude perpendicular to the bottom of the box body 101, thereby dividing the interior of the box body 101 into multiple variable seedling placement spaces; the bottom of the box body 101 is provided with multiple seedling extraction ports 104; by changing the position of the pluggable seedling box baffles 102 in the fixing holes 103, the placement position of the regenerated rice seedlings is adjusted to adapt to different row spacings for transplanting.

[0036] like Figure 2-4 As shown, Figure 2 (b) is the front view of the rice transplanter. Figure 2 (a) is Figure 2 (b) A magnified view of a section at point I. Figure 3 (a) is an isometric view of the frame section. Figure 3 (b) is Figure 3 (a) A magnified view of the area at point J. Figure 3 (c) is Figure 3 (a) A partial enlarged view of point K. The frame 2 includes a supporting longitudinal beam 204, a supporting cross beam 205, a guide rail 206, a seedling box bracket 201, a second electric push rod 202, and an electric push rod base 203; The frame 2 includes at least two parallel support longitudinal beams 204, and a support crossbeam 205 is connected to the support longitudinal beams 204. The supporting crossbeam 205 is connected to the rice transplanting unit and serves as the moving track for the rice transplanting unit. The seedling box support 201 is slidably connected to the supporting longitudinal beam 204 via the guide rail 206, and the seedling box 1 is fixed on the seedling box support 201; The second electric push rod 202 is a seedling box drive mechanism. The telescopic end of the second electric push rod 202 is hinged to the seedling box bracket 201, and its fixed end is installed on the support longitudinal beam 204 through the electric push rod base 203.

[0037] The seedling box bracket 201 supports the seedling box 1 and retains the original hydraulic lifting attachment point of the rice transplanter. The reciprocating motion of the seedling box 1 is driven by a pair of second electric push rods 202. The stroke of the reciprocating motion of the seedling box 1 is determined by the stroke of the second electric push rods 202.

[0038] The seedling box support 201 is ensured to move laterally under the limitation of the guide rail 206. The guide rail 206 is welded to the supporting longitudinal beam 201, and lubricating oil is added inside the guide rail 206 to reduce friction.

[0039] In one specific embodiment of the present invention, the spacing between the seedling picking openings 104 is 2cm. When installing the electric push rod base 203, an initial coordinate is set, and the initial position corresponds to the position of the seedling picking opening 104. The displacement of the second electric push rod 202 is limited to a multiple of 2cm each time by the PLC program.

[0040] In one specific embodiment of the present invention, the bottom of the seedling box 1 is equipped with a multi-channel seedling taking port 104. In accordance with the agronomic requirements of ratooning rice planting, each seedling taking port 104 is spaced 1cm apart, so that when the row spacing of the rice transplanter is adjusted, the seedling claw 402 can correspond to the position of the seedling taking port 104.

[0041] like Figure 2-4 As shown, the power system 3 includes a motor 301, a motor bracket 302, and a transmission hexagonal shaft 303; The motor 301 is mounted on the motor bracket 302, which is mounted on the support longitudinal beam 204. The output end of the motor 301 is connected to the transmission hexagonal shaft 303, which passes through the support longitudinal beam 204 and is supported by it. The transmission hexagonal shaft 303 has a nested bearing 207 on its outside, which is mounted on the support longitudinal beam 204. The transmission hexagonal shaft 303 is connected to the seedling claw 402 through the planting transmission mechanism, which drives the seedling claw 402 to rotate.

[0042] like Figure 2-4 As shown, the rice transplanting unit is a sliding rice transplanting mechanism 4; the sliding rice transplanting mechanism 4 includes a rice transplanting mechanism support beam 403, a sliding base 408, fastening bolts 409, a transmission sprocket 410, a first electric push rod 407, a planting hexagonal shaft 404, a rotary box 401, and a seedling claw 402. The sliding base 408 is nested on the support beam 205 and can move along the support beam 205. It has threaded holes around its perimeter and can be fixedly connected to the support beam 205 by tightening the fastening bolts 409. The bottom end of the first electric push rod 407 is fixed on the sliding base 408, and its telescopic end is connected to the rice transplanting mechanism support beam 403. The extension and retraction of the first electric push rod 407 drives the rice transplanting mechanism support beam 403 and the components installed on it to move as a whole. The planting hexagonal shaft 404 is rotatably mounted on the support beam 403 of the rice transplanting mechanism, and a plurality of positioning holes 406 are opened on its upper part along the axial direction. At least two of the rotary boxes 401 are mounted on the planting hexagonal shaft 404 and are located on the lateral sides of the rice transplanting mechanism support beam 403. Each rotary box 401 is provided with a seedling claw 402. By changing the relative positions of the two rotary boxes 401 on the planting hexagonal shaft 404 and using the positioning pin 405 inserted into the corresponding positioning hole 406 for limiting, the distance between the two seedling claws 402 in the same sliding seedling transplanting mechanism 4 can be adjusted. The rotary box 401, the planting hexagonal shaft 404, and the transmission sprocket 410 form a planting transmission mechanism; the transmission sprocket 410 is installed at the end of the planting hexagonal shaft 404 and is connected to the drive sprocket on the transmission hexagonal shaft 303 via a chain, thereby transmitting power from the transmission hexagonal shaft 303 to the planting hexagonal shaft 404; when the planting hexagonal shaft 404 rotates, it drives the rotary box 401 and the seedling claw 402 to move.

[0043] The initial installation position of each rice transplanting unit is determined by the installation position of the sliding base 408 on the support beam 205. During installation, the sliding base 408 can be positioned on the support beam 205 according to the required overall row spacing layout and fixed by tightening the fastening bolts 409 around it.

[0044] By rationally setting the positions of each sliding base 408 on the supporting beam 205, this rice transplanter can achieve equal row spacing rice transplanting operations, as well as wide and narrow row rice transplanting operations with a row spacing of 0-60cm. When used as a regular equal row spacing rice transplanter, its minimum transplanting row spacing is determined by the distance between the two seedling claws 402 inside the single-component transplanting mechanism.

[0045] The distance between the two seedling claws 402 inside the same seedling transplanting mechanism 4 is adjusted by adjusting the relative positions of the two rotary boxes 401 on the planting hexagonal shaft 404. Multiple sets of positioning holes 406 are provided along the axial direction on the planting hexagonal shaft 404. By inserting positioning pins 405 into the corresponding positioning holes 406, the rotary boxes 401 can be positioned and fixed, thereby achieving precise adjustment and limiting of the distance between the two seedling claws 402.

[0046] The planting power of the rice transplanter is provided by the transmission hexagonal shaft 303, which runs through multiple sliding rice transplanting mechanisms 4 and can continuously transmit power when each mechanism moves along the support beam 205, ensuring the normal operation of the rotary box 401 and the seedling claw 402.

[0047] The transmission hexagonal shaft 303 is supported on the support longitudinal beam 204 by bearings 207 to reduce friction and improve transmission efficiency. A seedling box bracket 201 is fixed on the upper part of the support longitudinal beam 204 for installing and supporting the seedling box 1.

[0048] The power of the transmission hexagonal shaft 303 comes from the motor 301. The motor 301 is fixed to the support beam 204 through the motor bracket 302, and its output end is connected to the transmission hexagonal shaft 303.

[0049] The rice transplanter uses an electronic control system that can automatically adjust the speed of motor 301 and the reciprocating speed of seedling box 1 according to the preset row spacing and the forward speed of the rice transplanter, thereby achieving precise rice transplanting at different row spacings.

[0050] The sliding rice transplanting mechanism 4 is a modular, independent unit. Preferably, the entire machine can be configured with 3 to 5 sets of this mechanism to achieve simultaneous planting of 6 to 10 rows of rice. The distance between the two seedling claws 402 inside each set of mechanism can be adjusted independently. Different mechanisms can also be set with different seedling claw distances and can be flexibly combined according to agronomic requirements. The control system includes an on-board controller, a GNSS system, and a speed sensor. The GNSS system is used to acquire the actual forward speed information of the rice transplanter in real time; after the installed GNSS system is replaced with an electric steering wheel, it has the potential to be transformed into an electric unmanned rice transplanter. The speed sensor is used to obtain the rotational angular velocity of the rear wheel of the rice transplanter in real time. and the rotational angular velocity of the main shaft of the seedling claw in the planting transmission mechanism. ; The vehicle controller is electrically connected to the GNSS system, the speed sensor, the power system 3, and the lane spacing adjustment actuator, respectively; the vehicle controller is configured to receive signals from the GNSS system and the speed sensor. To achieve the target plant spacing.

[0051] This rice transplanter adopts a fully electric drive system: the seedling box 1 is supported by the seedling box bracket 201 and driven by the second electric push rod 202 to achieve lateral reciprocating motion; the power of the seedling separating mechanism 4 is provided by the motor 301. The whole machine retains the hydraulic lifting mechanism attachment points of existing rice transplanters to ensure compatibility with mainstream tractors.

[0052] Line spacing adjustment can be achieved through the following four aspects working together: Manually adjust the position of the plug-in seedling box baffle 102 to change the seedling distribution width; The lateral position of the sliding rice transplanting mechanism 4 on the crossbeam is adjusted by the row spacing adjustment actuator; The stroke of the second electric push rod 202 is set to match the reciprocating motion range of the seedling box; The spacing between a pair of seedling claws 402 within the same rice transplanting mechanism is adjusted by using the positioning pin 405.

[0053] Plant spacing control employs a closed-loop automatic adjustment: rotation signals are collected in real time by a rear wheel speed sensor and a speed sensor at the planting hexagonal shaft 404. The control system performs speed matching calculations and dynamically adjusts the planting frequency. Simultaneously, the actual forward speed measured by the GNSS system is used to compensate for rear wheel slippage, effectively eliminating plant spacing errors caused by wheel slippage and ensuring plant spacing stability.

[0054] A control method for a electrically driven rice transplanter with variable plant spacing includes the following steps: The control system acquires the target row spacing and target plant spacing parameters. Based on the target row spacing, it controls the row spacing adjustment actuator to drive each transplanting unit to move to the target position on the frame 2. Based on the target plant spacing and the actual forward speed of the transplanter, it controls the power system 3 to adjust the rotation speed of the planting transmission mechanism to achieve the target plant spacing.

[0055] The steps of the control system to adjust the rotational speed of the planting transmission mechanism based on the target plant spacing and the actual forward speed include: The rotational angular velocity of the rear wheel of the rice transplanter is obtained by a speed sensor. ; The actual forward speed of the rice transplanter was obtained through the GNSS system. ; According to the formula Calculate the slippage correction factor, where, The radius of the rear wheel; Based on the target plant spacing With formula Calculate the target angular velocity of the main shaft of the seedling claw in the planting transmission mechanism. ,in, This represents the effective number of plants per revolution of the seedling claw turntable; Adjust the output of the power system 3 to achieve the measured angular velocity of the seedling claw spindle. Approaching the target angular velocity .

[0056] The control method for the electrically driven variable row spacing rice transplanter further includes the following steps: Based on the minimum row spacing in the target row spacing, the stroke of the seedling box drive mechanism is adjusted to control the distance of a single reciprocating motion of the seedling box 1, and the distance between each pair of seedling claws 402 is adjusted.

[0057] The target row spacing is set based on the principle of planting and harvesting on the same track. The wide row spacing and narrow row spacing for transplanting are determined according to the track width, track gauge and header width of the predetermined model of harvester.

[0058] like Figure 6 As shown, the control flow of the electrically driven variable row spacing rice transplanter of the present invention is as follows: Path planning and mechanism configuration: Based on the agronomic requirements of the plot to be transplanted, the operation path is planned to determine the number of rows for each transplanting operation, and the corresponding number of sliding transplanting mechanisms 4 are selected based on the required number of rows.

[0059] Automatic row spacing adjustment: The vehicle controller controls each row spacing adjustment actuator (first electric push rod 407) to drive each sliding rice transplanting mechanism 4 to move along the support beam 205 to the preset position, ensuring that each seedling claw 402 is precisely aligned with the corresponding seedling picking port 104 at the bottom of the seedling box 1.

[0060] Adjustment of seedling box baffle and claw distance: According to the minimum row spacing in the operation row spacing plan, manually adjust the position of the plug-in seedling box baffle 102 on the upper part of the seedling box 1 so that the placement area of ​​the seedling mat matches the seedling picking position of the seedling claw 402; at the same time, by adjusting the relative position of the two rotary boxes 401 in the same transplanting mechanism on the planting hexagonal shaft 404, the spacing of each pair of seedling claws 402 is set.

[0061] Automatic plant spacing control: During operation, speed sensors installed on the rear wheel and main shaft of the rice transplanter collect the rotational angular velocity in real time. and Based on the angular velocity signal and the target plant spacing, the vehicle-mounted controller calculates and adjusts the rotational speed of the planting transmission mechanism in real time according to the plant spacing control model to achieve precise control of the plant spacing.

[0062] Speed ​​correction and compensation: The actual forward speed of the rice transplanter is continuously monitored through the vehicle-mounted Beidou satellite positioning system. When the system detects that the speed signal is distorted due to rear wheel slippage, it automatically uses Beidou positioning speed data to correct and compensate for the wheel speed measurement value, ensuring that the plant spacing control accuracy is not affected by ground slippage and maintaining stable plant spacing.

[0063] Operation execution and monitoring: The system continuously monitors the data from each sensor and coordinates and controls the forward speed, planting frequency, and lateral movement of the seedling box until all transplanting operations are completed.

[0064] like Figure 7 and Figure 8 As shown, the linear velocity of the rice transplanter during operation is... The rear wheel radius is The angular velocity of the rear wheel is The radius of the seedling claw joint circle is The rotational angular velocity of the seedling claw is Its tangential linear velocity is The single stroke of the lateral reciprocating motion of the seedling box is , and the lateral motion speed is . See Table 1 for the correspondence between terms and symbols.

[0065] Relationship between speed and plant spacing (based on rotation speed sensor) The theoretical forward speed of a rice transplanter can be expressed as: Formula 1 in, This is a slippage correction factor, the value of which is obtained from the GNSS / IMU measured speed. The ratio of the speed derived from the wheel speed is determined as follows: Formula 2 To suppress measurement noise, the instantaneous slip coefficient was... Perform first-order low-pass filtering: Formula 3 Planting frequency The relationship with plant spacing is as follows: Formula 4 Formula 5 Substituting Equation 1 into Equation 5, we obtain the observable plant spacing expression based entirely on the rotation speed signal: Formula 6 Lateral reciprocating motion (relationship with line spacing) Single lateral displacement of seedling box 1 It equals the minimum row spacing, and also equals the standard width of the seedbed. The lateral stepping cycle is... Lateral stepping is triggered only when the current row's longitudinal operation is completed and the seedling claw is within the phase-allowed window. It remains constant within the same work area; when the minimum row spacing changes, it is updated during area switching. and .

[0066] Based on the principle of planting and harvesting on the same track, the required row spacing is determined before operation according to the track width, track gauge, and header width of the harvester, and the corresponding number of sliding rice transplanting mechanisms 4 and their initial positions are selected accordingly. After the row spacing is set, during the movement of the rice transplanter, the rotational speed data of the rear wheel and the main shaft of the seedling claw are collected in real time by the speed sensor, and the speed matching and plant spacing are automatically controlled according to Equation 6.

[0067] When operating on muddy or slippery terrain, the rear wheels of the rice transplanter may spin freely, causing the calculated forward speed based on wheel speed to be higher than the actual value. In this case, the system checks and corrects the wheel speed measurement value using the actual forward speed measured by GNSS / IMU, thereby maintaining the accuracy of plant spacing control.

[0068] Based on the principle of simultaneous planting and harvesting, in order to achieve zero compaction during the first harvest of ratooning rice and ensure the yield of the second harvest, a corresponding rice planting row spacing scheme needs to be designed according to the structural parameters of the harvester. Taking the Wode Xuanlong 4LZ-E4.0 ratooning rice harvester as an example, its track width is 28 cm, track gauge is 108 cm, and the header width is 2.4 m with a symmetrical structure.

[0069] Based on this, a corresponding wide-narrow row transplanting scheme can be formulated as follows: 30 cm–50 cm–20 cm–20 cm–20 cm–20 cm–50 cm–30 cm. This scheme sets up four narrow rows with a spacing of 20 cm in the middle area of ​​the transplanter to ensure a basic number of seedlings per unit area; symmetrical 50 cm wide rows are set on both sides as the walking path for the harvester's tracks, effectively avoiding crushing the rice stubble. This layout not only meets the agronomical requirement of "planting and harvesting on the same track," but the wide rows also help improve field ventilation and light penetration, maximizing marginal effects and improving rice quality.

[0070] Based on the aforementioned wide and narrow row planting scheme, the following section elaborates on the working principle and adjustment process of the electrically driven variable row spacing rice transplanter described in this invention.

[0071] Based on the minimum row spacing of 20 cm determined by the planting plan, seedlings of the corresponding width of 20 cm need to be pre-cultivated. Correspondingly, four sets of sliding seedling-separating mechanisms 4 are selected on the rice transplanter. Each set of mechanisms is equipped with a pair of seedling claws 402, with their spacing preset to 20 cm and 30 cm respectively, to adapt to the requirements of wide and narrow row arrangement.

[0072] Before installation, each set of sliding rice transplanting mechanisms 4 is internally adjusted: by moving the positions of the two rotary boxes 401 on the planting hexagonal shaft 404, the distance between them is adjusted to the set value, and the positioning pins 405 are inserted into the corresponding positioning holes 406 on the planting hexagonal shaft 404 to fix the relative positions of the rotary boxes 401.

[0073] Subsequently, the four sets of sliding rice transplanting mechanisms 4 are installed on the support beam 205 via their sliding bases 408. Based on the target row spacing layout, the installation positions of each mechanism on the support beam 205 are initially determined, and the sliding bases 408 are temporarily fixed by tightening the fastening bolts 409. The bottom end of the electric push rod 407 of each set is fixed to the sliding base 408, and the top end is connected to the support beam 403 of the rice transplanting mechanism.

[0074] Based on the planting row spacing scheme (30 cm–50 cm–20 cm–20 cm–20 cm–50 cm–30 cm) determined by the harvester parameters, the extension and retraction of each electric push rod 407 is precisely controlled by the control system in the cab, driving each rice transplanting mechanism to move along the support beam 205 to the target working position, thereby realizing the preset wide and narrow row configuration.

[0075] Power is provided by motor 301, which is fixed to the supporting longitudinal beam 204 via motor bracket 302. Its output end drives transmission hexagonal shaft 303. Transmission hexagonal shaft 303 is supported on the supporting longitudinal beam 204 via bearing 207. It can continuously transmit power to the transmission sprocket 410 inside it when the positions of each transplanting mechanism change, thereby driving the planting hexagonal shaft 404, rotary box 401 and seedling claw 402 to complete the planting action.

[0076] The seedling box 1 is mounted on the upper part of the supporting longitudinal beam 204 via a seedling box bracket 201. Its reciprocating motion is driven by a second electric push rod 202, one end of which is hinged to the seedling box bracket 201, and the other end is fixed to an electric push rod base 203 welded to the side of the supporting longitudinal beam 204. The seedling box bracket 201 slides in conjunction with the guide rail 206 to ensure the accuracy and stability of its lateral movement.

[0077] The bottom of the seedling box 1 is equipped with a multi-channel seedling picking port 104, with a spacing of 2 cm between each port. This design ensures that when the sliding rice transplanting mechanism 4 moves to different row spacing positions, the seedling claw 402 can still accurately align with the seedling picking port to pick up the seedlings.

[0078] After the position adjustment of the seedling transplanting mechanism is completed, the position of the plug-in seedling box baffle 102 on the upper part of the seedling box 1 is manually adjusted so that the placement area of ​​the seedling mat matches the seedling picking position of the seedling claw 402, ensuring that when the seedling box 1 moves to the extreme position, the edge of the seedling mat can be aligned with the working trajectory of the corresponding seedling claw 402.

[0079] The actual operating parameters were substituted into the speed matching control strategy for verification. The forward speed of the rice transplanter was set. Rear wheel radius The reciprocating distance of the seedling box Effective planting number Slip coefficient .

[0080] Substituting the given parameters into equations (1)-(6) yields the following results: Rear wheel angular velocity:

[0081] Angular velocity of the seedling claw spindle:

[0082] Planting frequency:

[0083] Theoretical plant spacing:

[0084] The relationship between lateral reciprocating motion and row spacing is as follows: Single trip of seedling box It equals the minimum row spacing (i.e., the width of the seedbed). Let the single step time be... Then the lateral velocity is: Lateral stepping is triggered only when "the longitudinal operation in this row is completed and the seedling claw phase is within the allowable window"; within the plot Maintain a constant spacing. Update when the minimum row spacing changes during a plot switch. and .

[0085] When the harvester model is changed, for example, when using the Wode Ruilong Premium Edition PRO4LZ-8.0EZ(Q) combine harvester (track width 50cm, track gauge 125cm, header width 2.2m), the planting plan can be adjusted as follows: An eight-row layout of 20cm-60cm-20cm-20cm-20cm-60cm-20cm.

[0086] When performing standard equidistant planting: A sliding rice transplanting mechanism 4 with three sets of seedling claws spaced 30cm apart is selected, and the distance between the sets is set to 30cm, which can realize six rows of equal spacing for rice transplanting. A sliding rice transplanting mechanism 4 with six sets of seedling claws spaced 20cm apart is selected, and the distance between the sets is set to 20cm, which can realize the transplanting of twelve rows of equal spacing.

[0087] This invention is an improvement on the existing high-speed rice transplanter. The reciprocating motion of the seedling box 1 is driven by an electric push rod 202, which eliminates the complex mechanical reversing mechanism in the traditional high-speed rice transplanter and makes the stroke of the seedling box adjustable. The position of each transplanting unit is automatically adjusted by the row spacing adjustment actuator, so as to realize the independent adjustment of wide row spacing and narrow row spacing.

[0088] To achieve precise control of plant spacing, speed sensors are installed at the rear wheel and the planting hexagonal shaft 404 of the rice transplanter to monitor the forward speed and planting speed in real time, and adjust them through the control system. At the same time, the actual forward speed is obtained with the help of the Beidou satellite positioning system to compensate for slippage of the wheel speed measurement value, effectively eliminating the plant spacing error caused by changes in ground conditions.

[0089] When the electrically driven variable row spacing rice transplanter of the present invention is in operation, the target row spacing is set by the control system, and the row spacing adjustment actuator is driven to adjust each transplanting unit to the corresponding seedling picking port 104 position. Furthermore, in conjunction with the position adjustment of the plug-in seedling box baffle 102, the spacing setting of the seedling claws 402 and the setting of the reciprocating stroke of the seedling box 1, the precise configuration of the target row spacing is achieved.

[0090] This invention relates to an upgraded rice transplanter based on existing equal-row spacing models. Key operating components are electrically driven, featuring a simple structure, convenient adjustment, and precise control. It is suitable for wide-narrow row rice planting patterns that integrate agricultural machinery and agronomy. By reserving wide rows as a path for the harvester's tracks, it effectively avoids crushing during the first harvest of ratooning rice, thus increasing the yield of the second season and promoting increased production and income for ratooning rice, providing technical support for my country's food security production.

[0091] Table 1. Terminology and Symbols

Claims

1. An electrically driven variable row spacing rice transplanter, characterized by, The device comprises a seedling box (1), a machine frame (2), multiple seedling dividing and transplanting units, a power system (3), a row spacing adjustment actuator, a seedling box driving mechanism and a control system. The seedling box (1) is installed on the machine frame (2). The seedling dividing and transplanting units are movably installed on the machine frame (2), each comprising a seedling gripper (402) and a transplanting transmission mechanism for driving the seedling gripper (402) to move. The power system (3) is connected with the transplanting transmission mechanism and used for providing power for the transplanting transmission mechanism. The row spacing adjustment actuator is connected with the seedling dividing and transplanting units and used for driving each seedling dividing and transplanting unit to move independently on the machine frame (2). The seedling box driving mechanism is connected with the seedling box (1) and used for driving the seedling box (1) to move reciprocally in the transverse direction. The control system is electrically connected with the row spacing adjustment actuator, the seedling box driving mechanism and the power system (3) respectively, and is configured to: receive target row spacing and target plant spacing parameters, control the row spacing adjustment actuator to act, so as to position each seedling dividing and transplanting unit to a preset position corresponding to the target row spacing, and control the power system (3) to adjust the rotating speed of the transplanting transmission mechanism based on the target plant spacing and the actual advancing speed of the seedling transplanting machine, so as to achieve the target plant spacing.

2. The electrically powered variable hill drop planter of claim 1, wherein, The seedling box (1) comprises a box body (101) and multiple plug-in seedling box baffles (102). The box body (101) serves as a main structure, and a plurality of fixed holes (103) are linearly arranged on the upper portion of the box body (101). The plug-in seedling box baffles (102) have fixed ends matched with the fixed holes (103), and the plug-in seedling box baffles (102) are fixed on the box body (101) in a posture perpendicular to the bottom of the box body (101) by selectively inserting the fixed ends into different fixed holes (103), so as to divide the inside of the box body (101) into multiple variable seedling placing spaces. A plurality of seedling taking openings (104) are arranged on the bottom of the box body (101).

3. The electrically powered variable hill drop planter of claim 1, wherein, The machine frame (2) comprises support longitudinal beams (204), support transverse beams (205), guide rails (206), a seedling box support (201), a second electric push rod (202) and an electric push rod base (203). The machine frame (2) comprises at least two parallel support longitudinal beams (204), and the support transverse beams (205) are connected to the support longitudinal beams (204). The support transverse beams (205) are connected with the seedling dividing and transplanting units and serve as moving tracks of the seedling dividing and transplanting units. The seedling box support (201) is slidably connected with the support longitudinal beams (204) through the guide rails (206), and the seedling box (1) is fixed on the seedling box support (201). The second electric push rod (202) is the seedling box driving mechanism, the extension end of the second electric push rod (202) is hingedly connected with the seedling box support (201), and the fixed end of the second electric push rod (202) is installed on the support longitudinal beams (204) through the electric push rod base (203).

4. The electrically powered variable hill drop planter of claim 3, wherein, The power system (3) comprises a motor (301), a motor support (302) and a transmission hexagonal shaft (303). The motor (301) is installed on a motor support (302), and the motor support (302) is installed on a support longitudinal beam (204); the output end of the motor (301) is connected with a transmission hex shaft (303), the transmission hex shaft (303) passes through the support longitudinal beam (204) and is supported by the support longitudinal beam (204), the transmission hex shaft (303) is externally nested with a bearing (207), and the bearing (207) is installed on the support longitudinal beam (204); the transmission hex shaft (303) is connected with a seedling gripper (402) through a planting transmission mechanism, and drives the seedling gripper (402) to rotate.

5. The electrically powered variable hill drop planter of claim 4, wherein, The seedling separating and transplanting unit is a sliding type seedling separating and transplanting mechanism (4); the sliding type seedling separating and transplanting mechanism (4) comprises a seedling separating and transplanting mechanism support beam (403), a sliding base (408), a fastening bolt (409), a transmission sprocket (410), a first electric push rod (407), a planting hex shaft (404), a rotary box (401) and a seedling gripper (402); The sliding base (408) is nested on the support cross beam (205) and can move along the support cross beam (205), threaded holes are formed around the sliding base (408), and the sliding base (408) can be fixedly connected with the support cross beam (205) by rotating and tightening the fastening bolt (409); The bottom end of the first electric push rod (407) is fixed to the sliding base (408), and the telescopic end is connected with the seedling separating and transplanting mechanism support beam (403); the first electric push rod (407) drives the seedling separating and transplanting mechanism support beam (403) and the components mounted thereon to move as a whole by telescoping; The planting hex shaft (404) is rotatably arranged on the seedling separating and transplanting mechanism support beam (403), and a plurality of positioning holes (406) are formed in the upper portion of the planting hex shaft (404) in the axial direction; At least two rotary boxes (401) are sleeved on the planting hex shaft (404) and are separately arranged on the transverse sides of the seedling separating and transplanting mechanism support beam (403); the seedling gripper (402) is arranged on each rotary box (401); The spacing between the two seedling grippers (402) in the same sliding type seedling separating and transplanting mechanism (4) is adjusted by changing the relative positions of the two rotary boxes (401) on the planting hex shaft (404) and inserting the positioning pin (405) into the corresponding positioning hole (406) to limit the position. The rotary box (401), the planting hex shaft (404) and the transmission sprocket (410) form a planting transmission mechanism; the transmission sprocket (410) is installed at the end of the planting hex shaft (404) and is connected with the driving sprocket on the transmission hex shaft (303) through a chain, so that power is transmitted from the transmission hex shaft (303) to the planting hex shaft (404); when the planting hex shaft (404) rotates, the rotary box (401) and the seedling gripper (402) are driven to move.

6. The electrically powered variable hill drop planter of claim 1, wherein, The control system comprises a vehicle-mounted controller, a GNSS system and a rotational speed sensor; The GNSS system is used to acquire actual forward speed information of the rice transplanter in real time; The rotation speed sensor is used to acquire the rotation angular velocity of the rear wheel of the rice transplanter in real time and the rotation angular velocity of the main shaft of the seedling gripper in the transplanting transmission mechanism ; The vehicle-mounted controller is electrically connected with the GNSS system, the rotation speed sensor, the power system (3) and the row distance adjusting actuator respectively; the vehicle-mounted controller is configured to receive data of the GNSS system and the rotation speed sensor, control the row distance adjusting actuator to act based on the received target row distance and target plant distance parameters, so as to position each sub-transplanting unit to a preset position corresponding to the target row distance; control the power system (3) to adjust the rotation angular velocity of the seedling gripper main shaft of the planting transmission mechanism based on the target plant distance and the actual forward speed of the transplanter, so as to achieve the target plant distance. ​ 7. A control method of the electrically-driven variable row spacing rice transplanter according to any one of claims 1 to 6, characterized by, The method comprises the following steps: The control system acquires target row spacing and target plant spacing parameters, controls the row spacing adjusting actuator to act based on the target row spacing, to drive each sub-seedling unit to move to a target position on the machine frame (2), and controls the power system (3) to adjust the rotational speed of the planting transmission mechanism based on the target plant spacing and the actual forward speed of the seedling planting machine, to achieve the target plant spacing.

8. The control method of the electrically-driven variable plant spacing rice transplanter according to claim 7, characterized by, The step of adjusting the rotational speed of the planting transmission mechanism based on the target plant spacing and the actual forward speed by the control system comprises: The rotational angular velocity of the rear wheel of the rice transplanter is acquired by a rotational speed sensor ; Obtaining actual forward speed of transplanter by GNSS system ; The slip correction factor is calculated according to the formula wherein, is the rear wheel radius; According to the target plant distance With the formula ), the target angular velocity of the seedling gripper main shaft in the planting transmission mechanism is calculated Wherein, The effective planting number per revolution of the seedling gripper turntable; adjusting the output of the power system (3) so that the measured angular velocity ω2 of the seedling gripper main shaft approaches the target angular velocity .

9. The control method of the electrically-driven variable plant spacing rice transplanter according to claim 7, characterized by, Further comprising the following steps: Adjust the stroke of the seedling box driving mechanism according to the minimum row spacing in the target row spacing, to control the distance of single reciprocating motion of the seedling box (1), and to adjust the distance between each pair of seedling claws (402).

10. The control method of the electrically-driven variable plant spacing rice transplanter according to claim 7, characterized by, The setting of the target row spacing is based on the same-track principle of seed collection, and the wide-row row spacing and narrow-row row spacing of seedling planting are determined according to the track width, track spacing and header width of a predetermined model of a harvester.

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