Hydraulic full transplanting machine equipment state regulation method and system based on industrial design

Abstract

This invention discloses a method and system for controlling the state of a fully hydraulic rice transplanter based on industrial design, relating to the field of agricultural rice transplanter technology. The method includes acquiring the initial state of the transplanter and collecting environmental data from the working field; determining the initial entry state of the transplanter based on the environmental data and the initial state of the transplanter. This invention determines whether the transplanter meets operational requirements such as planting depth and position in the working field by considering the initial state of the transplanter and the influence of environmental factors. It then enables fully hydraulic dynamic adjustment based on the transplanter's entry posture and the field environment to adapt to changes in the paddy field environment, ensuring the reliability of agricultural operations. This effectively solves the shortcomings of existing technologies where rice transplanters cannot adaptively control their operation in complex paddy field environments.

Description

Technical Field

[0001] This invention relates to the field of agricultural rice transplanter technology, and in particular to a method and system for controlling the status of a fully hydraulic rice transplanter based on industrial design. Background Technology

[0002] Traditional rice transplanters mainly rely on mechanical or semi-hydraulic systems, and their control precision is limited by fixed parameters. They are difficult to adapt to complex changes in the paddy field environment (such as soil moisture and hardness), and are often limited by low efficiency, heavy weight, and insufficient durability in humid and corrosive paddy field environments. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing rice transplanters in adapting to complex paddy field environments, and to propose a method and system for controlling the status of a fully hydraulic rice transplanter based on industrial design.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] In its first aspect, this invention provides a method for controlling the status of a fully hydraulic rice transplanter based on industrial design, comprising:

[0006] Obtain the initial state of the rice transplanter and collect environmental data information of the farmland where it is operating;

[0007] Based on the environmental data of the farmland and the initial state of the rice transplanter, determine the initial entry state of the rice transplanter into the field.

[0008] Based on the initial entry status of the rice transplanter into the field, the farmland is gridded to obtain the initial execution information of the rice transplanter;

[0009] The rice transplanter performs the transplanting action according to the initial execution information of the rice transplanter, and obtains the initial real-time feedback of the rice transplanter;

[0010] By adopting an action optimization strategy, the initial execution information of the rice transplanter is optimized based on the initial real-time feedback of the rice transplanter, thereby obtaining the agricultural machinery control information of the rice transplanter;

[0011] The initial state of the rice transplanter is adjusted based on the agricultural machinery control information of the rice transplanter.

[0012] In one feasible approach, the method for obtaining the initial execution information of the rice transplanter includes:

[0013] Collect point cloud data of the farmland to be operated, and extract the outline of the farmland to obtain the operation outline information of the farmland.

[0014] The operation outline information of the farmland is processed into a grid, and the operation path of the rice transplanter is determined by combining the initial entry state of the rice transplanter into the field.

[0015] Based on the initial entry status of the rice transplanter into the field and combined with environmental data of the farmland, the initial execution information of the rice transplanter is determined.

[0016] In one feasible approach, the method for determining the initial execution information of the rice transplanter further includes:

[0017] Based on the initial state of the rice transplanter, determine the initial field entry state vector of the rice transplanter;

[0018] Collect environmental data of the farmland and combine it with the initial entry state vector of the rice transplanter to determine the initial entry posture of the rice transplanter.

[0019] Based on the requirements for farmland operations, determine the standard reference information for the farmland to be operated;

[0020] Based on the standard reference information of the farmland and in combination with the initial entry posture of the rice transplanter, determine the initial state control information of the rice transplanter;

[0021] Based on the initial state control information of the rice transplanter and in conjunction with the working path of the rice transplanter, the initial execution action of the rice transplanter is determined.

[0022] In one feasible approach, the method for optimizing the initial execution information of the rice transplanter includes:

[0023] Assume the initial real-time feedback data of the rice transplanter includes: transplanting depth. Rice planting spacing Hydraulic pressure and the depth of water in the farmland Then calculate the deviation. for:

[0024] Formula 1;

[0025] In Equation 1, , , , These are, respectively, standard rice planting depth, standard rice planting spacing, standard hydraulic pressure, and standard farmland water depth. This is the hydraulic pressure deviation balance weighting coefficient. This is the balance weighting coefficient for farmland water depth deviation;

[0026] Based on Equation 1, an action optimization strategy is adopted for optimization, and the optimized execution parameters are calculated. :

[0027] Formula 2;

[0028] In Equation 2, This represents the deviation value at the current moment. To eliminate the steady-state error coefficient, To predict the trend of deviation change To optimize the control ratio coefficient, To optimize the integral coefficient, To optimize the differential coefficients;

[0029] Based on the optimized execution parameters It updates and obtains agricultural machinery control information for rice transplanters, and optimizes and controls the status of rice transplanters.

[0030] In one feasible approach, the method for regulating the initial state of the rice transplanter includes:

[0031] Adjust the control parameters of the rice transplanter based on the agricultural machinery control information of the rice transplanter;

[0032] Real-time monitoring of water depth and rice transplanter attitude angle in agricultural operations to determine the current real-time state vector of the rice transplanter;

[0033] Based on the current real-time state vector of the rice transplanter and the standard reference information of the working farmland, the state control instructions for the rice transplanter are generated.

[0034] The rice transplanter's entry posture and transplanting depth are dynamically adjusted according to the status control commands of the rice transplanter.

[0035] One feasible solution also includes:

[0036] Let the current real-time state vector of the rice transplanter be... for:

[0037] Formula 3;

[0038] In Equation 3, Here are the coordinates of the rice transplanter's position in the farmland. For the angle of entry into the field, For the water depth of the farmland, This refers to the planting depth;

[0039] Based on the current real-time state vector of the rice transplanter and the standard reference information of the working field, and combined with the agricultural machinery control information of the rice transplanter, the rice transplanter's field entry posture and transplanting depth are dynamically adjusted.

[0040] In a second aspect, the present invention also provides a state control system for a fully hydraulic rice transplanter based on industrial design. The control system employs a state control method for a fully hydraulic rice transplanter based on industrial design as described in any of the first aspects. The control system further includes:

[0041] The data sensing module is used to collect environmental data information of the farmland and status data information of the rice transplanter.

[0042] The data processing module processes the environmental data of the farmland and the status data of the rice transplanter to obtain the environmental information of the farmland and the status information of the rice transplanter.

[0043] The data analysis module is interactively connected to the data processing module. The data analysis module analyzes the environmental information of the farmland and the status information of the rice transplanter to obtain agricultural machinery control information.

[0044] A communication interaction module, which is used for remote data transmission and cloud analysis;

[0045] An execution control module is included, which performs state optimization control based on agricultural machinery regulation information.

[0046] The beneficial effects of this invention are as follows:

[0047] This invention determines whether a rice transplanter meets operational requirements such as planting depth and position in the field based on its initial state and environmental factors. It then performs fully hydraulic dynamic adjustments based on the transplanter's entry posture and the field environment to adapt to changes in the paddy field environment, ensuring reliable operation. This effectively solves the problem of existing technologies where rice transplanters cannot adaptively adjust their operation in complex paddy field environments. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall process of a fully hydraulic rice transplanter equipment status control method based on industrial design provided in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of a terraced field for a method of controlling the status of a fully hydraulic rice transplanter based on industrial design, provided in an embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of terraced field point cloud acquisition for a method of controlling the status of a fully hydraulic rice transplanter based on industrial design, provided in an embodiment of the present invention. Detailed Implementation

[0051] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0055] Reference Figures 1 to 3In this embodiment, to address the shortcomings of existing rice transplanters that cannot adaptively adjust their operation in complex paddy field environments, this invention provides a fully hydraulic rice transplanter status control method based on industrial design. This method enables dynamic full-hydraulic adjustment based on the transplanter's entry posture and the farmland environment to adapt to changes in the paddy field environment and ensure the reliability of farmland operations. Specifically, in its first aspect, this invention provides a fully hydraulic rice transplanter status control method based on industrial design, comprising: adding a sensing unit to the transplanter itself; using the sensing unit to collect data from the transplanter's full hydraulic system (e.g., hydraulic pressure, vibration frequency, flow rate) to obtain the transplanter's initial state; and simultaneously collecting environmental data information of the working farmland (e.g., water depth, area size) to provide effective reference for subsequent path planning. Then, based on the environmental data of the working field and the initial state of the rice transplanter, the initial entry state of the transplanter can be determined. That is, the initial entry state of the transplanter can be considered based on the water depth of the working field and the transplanter's own attitude angle, providing a valid reference for subsequent attitude adjustments. To facilitate subsequent planning of the transplanter's working path, the working field can be pre-gridized based on the transplanter's initial entry state. This allows for the determination of the transplanting position and path, as well as the adjustment of the transplanter's state, thereby obtaining the transplanter's initial execution information. Then, the rice transplanter can execute the transplanting action according to its initial execution information, obtaining initial real-time feedback. That is, based on the initial execution information, real-time feedback on the working field can be obtained. Then, an action optimization strategy can be adopted to optimize the initial execution information of the rice transplanter based on the initial real-time feedback, obtaining agricultural machinery control information for the rice transplanter. Subsequently, the initial state of the rice transplanter can be controlled based on the agricultural machinery control information. In this embodiment, the rice transplanter can be dynamically adjusted using full hydraulic pressure according to its entry posture into the field and the field environment to adapt to changes in the paddy field environment and ensure the reliability of farmland operations.

[0056] In this embodiment, to facilitate understanding of how to obtain initial execution information based on the initial field entry state of the rice transplanter, the following explanation is provided. Specifically, the method for obtaining the initial execution information of the rice transplanter includes:

[0057] Reference Figure 2 and Figure 3As shown, point cloud data of the farmland can be collected using a LiDAR sensor to generate a set of three-dimensional coordinate points. Simultaneously, the farmland contour can be extracted to obtain the farmland's operational contour information. Electronic fences can then be set up within the subsequent action range of the rice transplanter to prevent transplanting outside the field and to facilitate subsequent transplanting path planning. Specifically, the operational contour information of the farmland can be gridded, and combined with the initial entry state of the rice transplanter, the transplanter's operational path can be determined; thus, an initial path point sequence can be generated in the gridded map. Then, based on the initial entry state of the rice transplanter into the field and combined with the environmental data of the working farmland, the initial execution information of the rice transplanter is determined. It should be noted that in this embodiment, the area range of the electronic fence can be adjusted according to the actual situation. For terraced fields of different gradients, continuous transplanting interval units can be set. That is, in practical application, working farmland belonging to the same gradient can be considered as the same transplanting interval unit block, and transplanting work can be carried out at the same gradient. In other words, the above control method is applicable to both plain farmland and terraced field operations. When transplanting rice in plain farmland, single electronic fence intervals can be set for transplanting. In terraced field operations, continuous cross-field transplanting can be carried out according to the gradient direction of multiple working farmlands with the same water source. That is, in actual work, transition zones can be set in working farmlands of different gradients. The rice transplanter changes position in the transition zone between different gradient working farmlands, and after the change, manual replanting of seedlings can be carried out in the transition zone according to the actual situation.

[0058] To facilitate understanding of how the control method can be applied to plains and terraced fields, the method for determining the initial execution information of the rice transplanter further includes: determining the initial field entry state vector of the rice transplanter based on its initial state; that is, constructing the initial field entry state vector based on the initial state of the rice transplanter.

[0059] ,

[0060] in, , , , , These parameters are the initial hydraulic pressure, initial flow rate, initial vibration frequency, initial travel speed, and initial attitude angle of the rice transplanter. Then, combined with environmental data from the working field (such as water depth and soil hardness), the initial entry posture of the transplanter is determined. Based on the field operation requirements (such as planting depth), standard reference information for the working field is determined. Then, based on the standard reference information and the initial entry posture of the transplanter, the initial state control information of the transplanter is determined. Finally, based on the initial state control information and the transplanter's operating path, the initial execution action of the transplanter is determined. In other words, based on the initial state of the transplanter and the influence of environmental factors in the working field, it can be determined in advance whether the transplanter meets the operational requirements of the working field, such as planting depth and planting position. Adjustments can then be made according to the actual situation.

[0061] In this embodiment, in order to achieve dynamic optimization and control of the rice transplanter's transplanting status in the working field, the following description is provided. Specifically, the method for optimizing the initial execution information of the rice transplanter includes:

[0062] Assume the initial real-time feedback data of the rice transplanter includes: transplanting depth. Rice planting spacing Hydraulic pressure and the depth of water in the farmland Then the deviation can be calculated based on the Euclidean norm. for:

[0063] Formula 1;

[0064] In Equation 1, , , , These are, respectively, standard rice planting depth, standard rice planting spacing, standard hydraulic pressure, and standard farmland water depth. This is the hydraulic pressure deviation balance weighting coefficient. This is the weighting coefficient for balancing water depth deviations in farmland; for example, in paddy field operations with large water depth fluctuations, it can be increased. To highlight the contribution of water depth to deviation; in hard-soil farmland, it can increase This emphasizes the importance of hydraulic pressure to ensure that the rice transplanter can perform the transplanting action stably.

[0065] Based on Equation 1, an action optimization strategy is adopted for optimization, and the optimized execution parameters are calculated. :

[0066] Formula 2;

[0067] In Equation 2, This represents the deviation value at the current moment. To eliminate the steady-state error coefficient, To predict the trend of deviation changes and enhance the speed of regulation response, To optimize the control ratio coefficient, To optimize the integral coefficient, To optimize the differential coefficients;

[0068] Based on the optimized execution parameters The system updates and obtains agricultural machinery control information for the rice transplanter, and optimizes and controls the status of the rice transplanter according to the required adjustment ratio.

[0069] To facilitate understanding of how to optimize and adjust the rice transplanter using execution parameters, the following example is provided. It is assumed that the standard reference information for the working farmland and the initial real-time feedback data of the rice transplanter are shown in Table 1 below. It is also assumed that... , :

[0070] Table 1

[0071]

[0072] The deviation value can be obtained according to Table 1 and Equation 1. If the deviation value is higher than the preset value, it indicates that the current operating state of the rice transplanter deviates from the standard state and needs to be optimized and adjusted. The specific optimization and adjustment are as follows:

[0073] Let Equation 2 be , , Assuming we are currently at the initial optimization moment, and the integral and differential terms are temporarily approximated as 0 (which can be calculated later using historical data), then we can obtain the following based on Equation 2:

[0074]

[0075] Therefore, the above can be considered as Adjust the following ratios according to the actual situation (assuming the hydraulic pressure adjustment ratio is 0.4, the transplanting depth adjustment ratio is -0.3 (representing a negative value to decrease transplanting depth, and a positive value to increase it), and the transplanting spacing is -0.2 (representing a positive value to increase it) and substitute them into the transplanting depth. Rice planting spacing Hydraulic pressure and the depth of water in the farmland Adjustments are made during the adjustment process. It should be noted that the hydraulic pressure can be adjusted within the range of the hydraulic system. After optimization based on the above adjustments, the rice transplanter performs subsequent transplanting work according to its operating path. Simultaneously, sampling is required to dynamically adjust the transplanter's state.

[0076] In this embodiment, to further optimize the control effect of the rice transplanter, the control method further includes: based on the aforementioned deflection value and deviation change trend, selectively adjusting the control proportional coefficient and the optimization differential coefficient to achieve further optimization. To facilitate understanding of how this further optimization is achieved, the following explanation is provided; specifically, a fuzzy rule can be defined as: if... Larger and When it is positive, then increase and reduce This involves using fuzzy rule-based methods to convert the agricultural machinery control information of rice transplanters into more precise control gain values, thereby reducing erroneous responses in special circumstances.

[0077] In this embodiment, in order to regulate the rice transplanter based on the feedback from its initial state, the method for regulating the initial state of the rice transplanter includes: determining the full hydraulic dynamic parameter regulation content of the rice transplanter according to the aforementioned action optimization strategy, that is, adjusting the control parameters of the rice transplanter (such as adjusting hydraulic pressure, flow rate, etc.) according to the agricultural machinery regulation information of the rice transplanter; at this time, the water depth and the attitude angle of the rice transplanter in the working field can be monitored in real time to determine the current real-time state vector of the rice transplanter; that is, the control parameters of the rice transplanter can be adjusted according to the agricultural machinery regulation information of the rice transplanter, and the attitude of the rice transplanter after the control parameters are adjusted is collected simultaneously to determine the current real-time state vector of the rice transplanter; then, based on the current real-time state vector of the rice transplanter and the standard reference information of the working field (such as the required depth and transplanting angle of the working field), a state regulation command for the rice transplanter is generated; then, the rice transplanter can dynamically adjust its field entry attitude and transplanting depth according to the state regulation command.

[0078] Here, we can define the current real-time state vector of the rice transplanter. for:

[0079] Formula 3;

[0080] In Equation 3, Here are the coordinates of the rice transplanter's position in the farmland. For the angle of entry into the field, For the water depth of the farmland, This refers to the planting depth;

[0081] Then, based on the current real-time state vector of the rice transplanter and the standard reference information of the working farmland, and combined with the agricultural machinery control information of the rice transplanter, the rice transplanter's field entry posture and transplanting depth are dynamically adjusted.

[0082] In the above, the state control of the rice transplanter is based on the environment of the farmland and the posture of the transplanter itself. Due to the motion optimization strategy described above, To optimize the control proportional coefficient, it can quickly adjust the hydraulic pressure or flow rate according to the magnitude of the deviation. If it is too large, it will lead to a large increase in pressure, thereby increasing energy consumption. To optimize the integral coefficients, it aims to eliminate steady-state error, but... Excessive pressure may lead to continuous adjustments in pressure or flow, increasing pump uptime and thus energy consumption. To optimize the derivative coefficients for smoothing control actions, but Improper settings may cause pressure oscillations, leading to frequent start-stop of the hydraulic pump and increased ineffective energy consumption. In the aforementioned motion optimization strategy, this may result in increased ineffective energy consumption of the rice transplanter. Therefore, this invention also provides a state control method for a fully hydraulic rice transplanter based on industrial design. This method optimizes and controls the initial execution of the rice transplanter according to the motion optimization strategy, and further considers the factors inherent to the rice transplanter itself to dynamically control its state. Specifically, the control method further includes: obtaining the initial execution energy consumption of the rice transplanter based on its initial execution information; obtaining the motion optimization energy consumption of the rice transplanter based on its agricultural machinery control information; dynamically analyzing the initial execution energy consumption and the motion optimization energy consumption of the rice transplanter to determine its design control information; and performing design control on the rice transplanter based on its design control information. In this embodiment, the initial execution energy consumption and the optimized action energy consumption of the rice transplanter can be obtained by collecting data on the situation of the rice transplanter before and after the action optimization strategy. This provides a valid reference for the subsequent industrial design of the rice transplanter. For example, the configuration of the rice transplanter can be adjusted (such as using lightweight materials such as basalt fiber to assemble the rice transplanter to reduce its weight, or using a high-efficiency pump (such as a variable displacement piston pump) to reduce the total hydraulic energy consumption of the rice transplanter).

[0083] For example, let's assume that the hydraulic pressure of the rice transplanter, after being optimized and adjusted using the optimization parameters in the motion optimization strategy, is as follows:

[0084] ;

[0085] Then it can be calculated according to the energy consumption formula:

[0086] ;

[0087] In the formula, The hydraulic pressure is optimized using the motion optimization strategy. Here is the hydraulic flow rate, and here is the sampling period. For efficiency, the configuration of the rice transplanter can be readjusted based on the above energy consumption comparison.

[0088] Furthermore, in the above-described control method, the control method can also be based on the action optimization strategy. and Based on this, a secondary regulation strategy is implemented. Specifically, the regulation method further includes:

[0089] like Then increase This allows for rapid power output response, enabling stable rice planting actions in soils of varying hardness and ensuring planting efficiency.

[0090] like Then increase To reduce pressure fluctuations and minimize ineffective energy consumption;

[0091] like Frequent oscillations reduce This is to achieve smooth control of hydraulic power output and reduce oscillation and ineffective energy consumption.

[0092] Based on the above energy consumption data, while ensuring transplanting accuracy, secondary actions can be optimized to reduce energy consumption. To reduce sudden stress changes; set The upper limit is set to prevent excessive pressure buildup in the rice transplanter over a long period, and the pressure is dynamically reduced. This reduces oscillations and ineffective energy consumption.

[0093] In addition, in this embodiment, to ensure that the rice transplanter can transplant rice seedlings normally, the control method further includes: when the farmland has soft soil, the pressure can be reduced. Reduce pressure increments; on hard ground, increase This ensures that the rice transplanter can perform the transplanting action normally.

[0094] In a second aspect, this invention also provides a state control system for a fully hydraulic rice transplanter based on industrial design. The system employs a state control method for a fully hydraulic rice transplanter based on industrial design as described in any of the first aspects. The system further includes: a data sensing module, a data processing module, a data analysis module, a communication interaction module, and an execution control module. The sensing module collects environmental data information from the working field and state data information from the rice transplanter. The data processing module processes the environmental data information from the working field and the state data information from the rice transplanter to obtain environmental information from the working field and state information from the rice transplanter. The data analysis module is interactively connected to the data processing module and analyzes the environmental information from the working field and the state information from the rice transplanter to obtain agricultural machinery control information. The communication interaction module is used for remote data transmission and cloud analysis. The execution control module performs state optimization control based on the agricultural machinery control information. In this embodiment, the control system uses a data sensing module to sense and collect data on the environmental conditions of the farmland and the condition of the rice transplanter itself. This data is then processed by the data processing module and analyzed by the data analysis and communication interaction modules. Finally, the execution control module regulates the state of the rice transplanter (including but not limited to: full hydraulic control parameter adjustment, transplanter posture adjustment, and transplanting depth adjustment), enabling dynamic control of the transplanter. This effectively solves the problem in existing technologies where rice transplanters cannot adaptively adjust their operation in complex paddy field environments.

[0095] In some implementations, the control system can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0096] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), etc.

[0097] A third aspect of the present invention provides a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements a method for controlling the state of a fully hydraulic rice transplanter based on industrial design as described in any one of the first aspects. The computer-readable medium in this embodiment can be written in one or more programming languages ​​or a combination thereof to perform computer program code for carrying out operations of some embodiments of the present disclosure. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on a user's computer, partially on a user's computer, as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0099] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0100] A fourth aspect of the present invention provides an electronic device, comprising: one or more processors; a storage device storing one or more programs thereon; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement a state control method for a fully hydraulic rice transplanter based on industrial design as described in the first aspect. The computer-readable medium may be included in the electronic device or may exist independently, i.e., not assembled into the electronic device. The computer-readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to implement the state control method for a fully hydraulic rice transplanter based on industrial design as described in the first aspect.

[0101] The fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements a method for controlling the state of a fully hydraulic rice transplanter based on industrial design as described in the first aspect.

[0102] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for controlling the status of a fully hydraulic rice transplanter based on industrial design, characterized in that, include: Obtain the initial state of the rice transplanter and collect environmental data information of the farmland where it is operating; Based on the environmental data of the farmland and the initial state of the rice transplanter, determine the initial entry state of the rice transplanter into the field. Based on the initial entry status of the rice transplanter into the field, the farmland is gridded to obtain the initial execution information of the rice transplanter; The rice transplanter performs the transplanting action according to the initial execution information of the rice transplanter, and obtains the initial real-time feedback of the rice transplanter; By adopting an action optimization strategy, the initial execution information of the rice transplanter is optimized based on the initial real-time feedback of the rice transplanter, thereby obtaining the agricultural machinery control information of the rice transplanter; The method for optimizing the initial execution information of the rice transplanter includes: Assume the initial real-time feedback data of the rice transplanter includes: transplanting depth. Rice planting spacing Hydraulic pressure and the depth of water in the farmland Then calculate the deviation. for: Formula 1; In Equation 1, , , , These are, respectively, standard rice planting depth, standard rice planting spacing, standard hydraulic pressure, and standard farmland water depth. This is the hydraulic pressure deviation balance weighting coefficient. This refers to the balance weighting coefficient for farmland water depth deviation; Based on Equation 1, an action optimization strategy is adopted for optimization, and the optimized execution parameters are calculated. : Formula 2; In Equation 2, This represents the deviation value at the current moment. To eliminate the steady-state error coefficient, To predict the trend of deviation change To optimize the control ratio coefficient, To optimize the integral coefficient, To optimize the differential coefficients; Based on the optimized execution parameters Update and obtain agricultural machinery control information for rice transplanters, and optimize and control the status of rice transplanters; The initial state of the rice transplanter is adjusted based on the agricultural machinery control information of the rice transplanter.

2. The method for controlling the status of a fully hydraulic rice transplanter based on industrial design according to claim 1, characterized in that, The method for obtaining the initial execution information of the rice transplanter includes: Collect point cloud data of the farmland to be operated, and extract the outline of the farmland to obtain the operation outline information of the farmland. The operation outline information of the farmland is processed into a grid, and the operation path of the rice transplanter is determined by combining the initial entry state of the rice transplanter into the field. Based on the initial entry status of the rice transplanter into the field and combined with environmental data of the farmland, the initial execution information of the rice transplanter is determined.

3. The method for controlling the status of a fully hydraulic rice transplanter based on industrial design according to claim 2, characterized in that, The method for determining the initial execution information of the rice transplanter further includes: Based on the initial state of the rice transplanter, determine the initial field entry state vector of the rice transplanter; Collect environmental data of the farmland and combine it with the initial entry state vector of the rice transplanter to determine the initial entry posture of the rice transplanter. Based on the requirements for farmland operations, determine the standard reference information for the farmland to be operated; Based on the standard reference information of the farmland and in combination with the initial entry posture of the rice transplanter, determine the initial state control information of the rice transplanter; Based on the initial state control information of the rice transplanter and in conjunction with the working path of the rice transplanter, the initial execution action of the rice transplanter is determined.

4. The method for controlling the status of a fully hydraulic rice transplanter based on industrial design according to claim 3, characterized in that, The method for regulating the initial state of the rice transplanter includes: Adjust the control parameters of the rice transplanter based on the agricultural machinery control information of the rice transplanter; Real-time monitoring of water depth and rice transplanter attitude angle in agricultural operations to determine the current real-time state vector of the rice transplanter; Based on the current real-time state vector of the rice transplanter and the standard reference information of the working farmland, the state control instructions for the rice transplanter are generated. The rice transplanter's entry posture and transplanting depth are dynamically adjusted according to the status control commands of the rice transplanter.

5. The method for controlling the status of a fully hydraulic rice transplanter based on industrial design according to claim 4, characterized in that, Also includes: Let the current real-time state vector of the rice transplanter be... for: Formula 3; In Equation 3, Here are the coordinates of the rice transplanter's position in the farmland. For the angle of entry into the field, For the water depth of the farmland, This refers to the planting depth; Based on the current real-time state vector of the rice transplanter and the standard reference information of the working field, and combined with the agricultural machinery control information of the rice transplanter, the rice transplanter's field entry posture and transplanting depth are dynamically adjusted.

6. A state control system for a fully hydraulic rice transplanter based on industrial design, characterized in that, The control system employs a fully hydraulic rice transplanter equipment status control method based on industrial design as described in any one of claims 1 to 5, and the control system further includes: The data sensing module is used to collect environmental data information of the farmland and status data information of the rice transplanter. The data processing module processes the environmental data of the farmland and the status data of the rice transplanter to obtain the environmental information of the farmland and the status information of the rice transplanter. The data analysis module is interactively connected to the data processing module. The data analysis module analyzes the environmental information of the farmland and the status information of the rice transplanter to obtain agricultural machinery control information. A communication interaction module, which is used for remote data transmission and cloud analysis; An execution control module is included, which performs state optimization control based on agricultural machinery regulation information.

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