Hydraulic control system of unmanned rice transplanter and rice transplanter

Abstract

The utility model relates to the technical field of unmanned rice transplanters, in particular to an unmanned rice transplanter hydraulic control system and a rice transplanter. The system comprises an engine, a pump, a torque amplifier, a lifting oil cylinder, an electric proportional control valve, a walking stepless speed change device, a walking gearbox, a planting stepless speed change device, a planting gearbox and an oil tank; the walking stepless speed change device and the pump are driven by the engine; the planting stepless speed change device is driven by the walking stepless speed change device; the walking gearbox is connected with the walking stepless speed change device; the planting gearbox is connected with the planting stepless speed change device; the electric proportional control valve is respectively communicated with the torque amplifier, the lifting oil cylinder and the two stepless speed change devices; and the pump and the two stepless speed change devices are communicated with the oil tank. According to the scheme that the electric proportional control valve is used for replacing an electric push rod push-pull control valve in the prior art to act, the number of intermediate links is small, the control precision is high, the operation quality is improved, the dynamic response is fast, the operation efficiency is improved, and the stability is good.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned rice transplanters, and in particular to an unmanned rice transplanter hydraulic control system and a rice transplanter. Background Art

[0002] At present, high-speed riding rice transplanters have been widely recognized by the market. However, rice transplanters generally have the disadvantages of low intelligence and high labor intensity. In particular, with the increase in labor costs, agricultural machinery cooperatives, large-scale farmers and major farms have put forward higher operating efficiency, more intelligent and labor-saving requirements for rice transplanters. Therefore, unmanned rice transplanters have come into being. However, in the hydraulic system of the current unmanned rice transplanter, the rice seedling carrier is automatically raised and lowered through an electric push rod push-pull control valve, and the transplanting gear is manually adjusted to achieve the matching of transplanting and vehicle speed to adapt to the unmanned driving system. However, the above scheme has the following problems: (1) The control accuracy and dynamic responsiveness of the electric push rod push-pull control valve structure need to be improved; (2) The transplanting gear is manually adjusted, and the stepless adjustment and real-time matching of vehicle speed and transplanting speed cannot be achieved. Utility Model Content

[0003] The purpose of this application is to provide a hydraulic control system and a rice transplanter for an unmanned rice transplanter, which to a certain extent solves the technical problems in the hydraulic system of an unmanned rice transplanter in the prior art, that the control accuracy and dynamic responsiveness of the electric push rod push-pull control valve structure need to be improved, the planting gear is manually adjusted, and stepless adjustment and real-time matching of the vehicle speed and the planting speed cannot be achieved.

[0004] The present application provides a hydraulic control system for an unmanned rice transplanter, comprising: an engine, a pump, a torque amplifier, a lifting cylinder, an electric proportional control valve, a traveling continuously variable speed change device, a traveling gearbox, a planting continuously variable speed change device, a planting gearbox and a fuel tank;

[0005] Wherein, the walking continuously variable speed device and the pump are coaxially driven by the engine; the planting continuously variable speed device is driven by the walking continuously variable speed device; the walking gearbox is connected to the walking continuously variable speed device; the planting gearbox is connected to the planting continuously variable speed device;

[0006] The electric proportional control valve is respectively connected to the torque amplifier, the lifting cylinder, the travel continuously variable speed device and the planting continuously variable speed device; the pump, the travel continuously variable speed device and the planting continuously variable speed device are also respectively connected to the oil tank.

[0007] In the above technical solution, further, the unmanned rice transplanter hydraulic control system also includes a first speed sensor, which is arranged at the output end of the traveling continuously variable transmission device and is used to detect the speed of the output end of the traveling continuously variable transmission device.

[0008] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a second speed sensor, which is arranged at the output end of the transplanting continuously variable speed device and is used to detect the speed of the output end of the transplanting continuously variable speed device.

[0009] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a first drive motor, and the first drive motor is used to drive the operation lever of the walking continuously variable transmission device.

[0010] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a second drive motor, and the second drive motor is used to drive the operation lever of the transplanting continuously variable transmission device.

[0011] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a controller, and the controller is respectively communicatively connected with the first speed sensor, the second speed sensor, the first drive motor, the second drive motor, the torque amplifier and the electric proportional control valve.

[0012] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a gearbox, and the gearbox is arranged between the walking continuously variable speed change device and the transplanting continuously variable speed change device, and is respectively connected to the two.

[0013] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes a high-pressure filter, and the high-pressure filter is arranged between the pump and the torque amplifier, and is respectively connected to the two.

[0014] In any of the above technical solutions, further, the unmanned rice transplanter hydraulic control system also includes an oil suction filter, and the oil suction filter is arranged between the pump and the oil tank, and is respectively connected to the two.

[0015] In any of the above technical solutions, further, the torque amplifier includes a first reversing valve and a driving motor, the driving motor is used to drive the valve core of the first reversing valve to move, and the driving motor is communicatively connected to the controller.

[0016] In any of the above technical solutions, further, the torque amplifier also includes a first overflow valve, and the first overflow valve is arranged on a pipeline connecting the oil inlet and the oil return port of the first reversing valve.

[0017] In any of the above technical solutions, further, the electric proportional control valve includes a second reversing valve, a first solenoid valve and a second solenoid valve, the first solenoid valve and the second solenoid valve are connected in parallel at both ends of the second reversing valve, and the first solenoid valve and the second solenoid valve are respectively communicated with the controller.

[0018] In any of the above technical solutions, further, the electric proportional control valve also includes a pressure compensator, and the pressure compensator is respectively connected to the first solenoid valve, the second solenoid valve and the second reversing valve.

[0019] In any of the above technical solutions, further, the electric proportional control valve also includes a second overflow valve, and the second overflow valve is arranged in parallel with the pressure compensator.

[0020] In any of the above technical solutions, further, the lifting cylinder is formed with a rod chamber and a rodless chamber; the electric proportional control valve is formed with a first oil inlet, a first oil return port and a first working oil port; the walking continuously variable transmission device is formed with a first oil replenishment port and a first oil drain port; the planting continuously variable transmission device is formed with a second oil replenishment port and a second oil drain port;

[0021] The first oil inlet is connected with the oil outlet of the torque amplifier; the first working oil port is connected with the rod chamber of the lifting cylinder; the first oil return port is respectively connected with the rodless chamber, the first oil replenishment port of the walking continuously variable transmission device, and the second oil replenishment port of the planting continuously variable transmission device; the first oil drain port and the second oil drain port are respectively connected with the oil tank.

[0022] The present application also provides a rice transplanter, comprising the unmanned rice transplanter hydraulic control system described in any of the above technical solutions, and thus having all the beneficial technical effects of the unmanned rice transplanter hydraulic control system, which will not be repeated here.

[0023] Compared with the prior art, the beneficial effects of this application are:

[0024] In the hydraulic control system of the unmanned rice transplanter provided in the present application, an electric proportional control valve is used to replace the electric push rod push-pull control valve action solution in the prior art. It has fewer intermediate links, high control accuracy, improved operation quality, fast dynamic response, improved operation efficiency, and better stability. In addition, due to the small number of components involved, it occupies less space.

[0025] In addition, compared with the existing solutions, the present application adds a planting continuously variable speed change device and a walking continuously variable speed change device, thereby realizing stepless adjustment and real-time matching of vehicle speed and planting speed.

[0026] In addition, in the unmanned driving mode, the speed sensor is used to obtain the output speed of the walking continuously variable speed device and the planting continuously variable speed device in real time, and the data is transmitted to the controller. The controller integrates and analyzes the data, and then controls the drive motor to adjust the variables of the continuously variable speed device through the controller, thereby realizing stepless walking speed regulation and stepless planting speed regulation, and matching the speeds of the two, ultimately achieving closed-loop control, improving work quality and efficiency, and optimizing the automatic lifting performance of the seedling platform.

[0027] In addition, under the control of the controller, the electric proportional control valve can realize automatic control of the lifting cylinder, realize automatic lifting and floating control of the rice planting platform, and is suitable for unmanned operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A schematic diagram of the structure of the hydraulic control system of the unmanned rice transplanter provided in an embodiment of the present application.

[0030] Reference numerals:

[0031] 1-engine, 2-pump, 3-high pressure filter, 4-torque amplifier, 41-first overflow valve, 42-first reversing valve, 43-steering motor, 44-drive motor, 5-electric proportional control valve, 51-stop valve, 52-second reversing valve, 53-first solenoid valve, 54-second overflow valve, 55-pressure compensator, 56-second solenoid valve, 6-lifting cylinder, 61-rod chamber, 62-rodless chamber, 7-travel continuously variable transmission, 8-planting continuously variable transmission, 9-planting gearbox, 10-oil suction filter, 11-oil tank, 12-first speed sensor, 13-second speed sensor, 14-first drive motor, 15-second drive motor, 16-travel gearbox, 17-controller. DETAILED DESCRIPTION

[0032] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0033] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the present application.

[0034] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0035] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0036] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] Refer to the following Figure 1 The present invention describes an unmanned rice transplanter hydraulic control system and a rice transplanter according to some embodiments of the present application.

[0038] Embodiment 1

[0039] See also Figure 1 As shown, the embodiment of the present application provides a hydraulic control system for an unmanned rice transplanter, comprising: an engine 1, a pump 2, a torque amplifier 4, a lifting cylinder 6, an electric proportional control valve 5, a traveling continuously variable transmission 7, a traveling gearbox 16, a planting continuously variable transmission 8, a planting gearbox 9 and a fuel tank 11;

[0040] Among them, the walking continuously variable transmission device 7 and the pump 2 are coaxially driven by the engine 1; the planting continuously variable transmission device 8 is driven by the walking continuously variable transmission device 7; the walking gearbox 16 is connected to the walking continuously variable transmission device 7, and the planting gearbox 9 is connected to the planting continuously variable transmission device 8. It can be seen that the output end of the walking continuously variable transmission device 7 is divided into two paths, one of which is connected to the walking gearbox 16, and the other is connected to the planting continuously variable transmission device 8;

[0041] The electric proportional control valve 5 is respectively connected to the torque amplifier 4, the lifting cylinder 6, the traveling continuously variable speed device 7 and the planting continuously variable speed device 8. The electric proportional control valve 5 can control the lifting cylinder 6, realize automatic lifting and floating control of the rice planting platform, and adapt to unmanned operation; the pump 2, the traveling continuously variable speed device 7 and the planting continuously variable speed device 8 are also respectively connected to the oil tank 11.

[0042] Based on the structure described above, it can be known that in the hydraulic control system of the unmanned rice transplanter provided in the present application, an electric proportional control valve 5 is used to replace the electric push rod push-pull control valve action solution in the prior art. It has fewer intermediate links, high control accuracy, improved operation quality, fast dynamic response, improved operation efficiency, and better stability. In addition, due to the small number of components involved, it occupies less space.

[0043] In addition, compared with the existing solution, the present application adds a planting continuously variable speed device 8 and a walking continuously variable speed device 7, so that the vehicle speed and the planting speed can be adjusted and matched in real time, the work quality and work efficiency are improved, and the automatic lifting performance of the seedling loading platform is optimized.

[0044] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system also includes a first speed sensor 12, which is arranged at the output end of the traveling continuously variable transmission device 7 and is used to detect the speed of the output end of the traveling continuously variable transmission device 7.

[0045] According to the structure described above, the first rotation speed sensor 12 is used to detect the rotation speed of the output end of the walking continuously variable transmission device 7 in real time, that is, to detect the rotation speed of the input end of the planting continuously variable transmission device 8 .

[0046] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system also includes a second speed sensor 13, which is arranged at the output end of the planting continuously variable transmission device 8 and is used to detect the speed of the output end of the planting continuously variable transmission device 8.

[0047] According to the structure described above, the second speed sensor 13 is used to detect the speed of the output end of the planting continuously variable transmission device 8 in real time, that is, to detect the speed of the input end of the planting gearbox 9.

[0048] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system also includes a first drive motor 14, and the first drive motor 14 is used to drive the operation lever of the travel continuously variable transmission device 7 to move.

[0049] According to the structure described above, it can be known that the first drive motor 14 can control the variable of the travel continuously variable transmission device 7 and adjust the output speed under the control of the controller 17 described below.

[0050] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system further includes a second drive motor 15, and the second drive motor 15 is used to drive the operation lever of the transplanting continuously variable transmission device 8 to move.

[0051] According to the structure described above, the second drive motor 15 can control the variable of the planting continuously variable transmission device 8 and adjust the output speed under the control of the controller 17 described below.

[0052] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system also includes a controller 17, and the controller 17 is communicatively connected to the first speed sensor 12, the second speed sensor 13, the first drive motor 14, the second drive motor 15, the torque amplifier 4 and the electric proportional control valve 5 respectively.

[0053] According to the structure described above, in the unmanned driving mode, the speed sensor is used to obtain the output speed of the walking continuously variable speed change device 7 and the planting continuously variable speed change device 8 in real time, and the data is transmitted to the controller 17. The controller 17 integrates and analyzes the data, and then controls the drive motor through the controller 17 to adjust the variables of the continuously variable speed change device, thereby realizing the walking stepless speed regulation and the planting stepless speed regulation, and matching the speeds of the two, and finally realizing closed-loop control, improving the work quality and efficiency, and optimizing the automatic lifting performance of the seedling loading platform.

[0054] In addition, under the control of the controller 17, the electric proportional control valve 5 can realize automatic control of the lifting cylinder, realize automatic lifting and floating control of the rice planting platform, and adapt to unmanned operation.

[0055] Furthermore, preferably, the controller 17 can also be communicatively connected with the engine 1, the pump 2, the travel gearbox 16 and the planting gearbox 9, etc., to control the operation of the above-mentioned equipment.

[0056] Further, preferably, the controller 17 can be selected as the agricultural machinery intelligent controller of model SPC-SFMC-X3632A.

[0057] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system further includes a high-pressure filter 3, which is disposed between the pump 2 and the torque amplifier 4 and is respectively connected to the two.

[0058] According to the structure described above, the high-pressure filter 3 is an important filtering element of the pump 2 . The high-pressure filter 3 is connected to the high-pressure outlet of the unloading valve of the pump 2 to perform fine filtering on the pressure liquid input by the pump 2 .

[0059] In this embodiment, preferably, Figure 1 As shown, the unmanned rice transplanter hydraulic control system further includes an oil suction filter 10, which is disposed between the pump 2 and the oil tank 11 and is respectively connected to the two.

[0060] According to the structure described above, the oil suction filter 10 can protect equipment, such as the oil pump 2 and hydraulic components, from wear and tear, extend the service life of the lubricating oil, and ensure the cleanliness and reuse of the engine oil.

[0061] In this embodiment, preferably, Figure 1 As shown, the lifting cylinder 6 is formed with a rod chamber 61 and a rodless chamber 62; the electric proportional control valve 5 is formed with a first oil inlet P, a first oil return port T and a first working oil port A2, and preferably, the number of the first oil return ports is two, and they are the first oil return port T1 and the first oil return port T2 respectively. Of course, it is not limited to this and can also be designed according to actual needs; the walking continuously variable transmission device 7 is formed with a first oil replenishment port and a first oil drain port; the planting continuously variable transmission device 8 is formed with a second oil replenishment port and a second oil drain port;

[0062] The first oil inlet P is connected to the oil outlet B1 of the torque amplifier 4; the first working oil port A2 is connected to the rod chamber 61 of the lifting cylinder 6;

[0063] The first oil return port, i.e., the first oil return port T1 and the first oil return port T2, are respectively connected to the rodless chamber 62, the first oil replenishment port of the traveling continuously variable transmission device 7, and the second oil replenishment port of the planting continuously variable transmission device 8. The hydraulic oil discharged through the first oil return port T1 and the first oil return port T2 of the electric proportional control valve 5 and the hydraulic oil discharged from the rodless chamber 62 of the lifting cylinder 6 can respectively enter the first oil replenishment port of the traveling continuously variable transmission device 7 and the second oil replenishment port of the planting continuously variable transmission device, that is, supply oil to the traveling continuously variable transmission device 7 and the planting continuously variable transmission device;

[0064] The first oil drain port and the second oil drain port are respectively connected to the oil tank 11, and the hydraulic oil discharged by the traveling continuously variable transmission device 7 and the planting continuously variable transmission device 8 will return to the oil tank 11 to avoid environmental pollution and can be recycled.

[0065] In this embodiment, preferably, Figure 1 As shown, the torque amplifier 4 is composed of a first relief valve 41, a first reversing valve 42, a steering motor 43 and a driving motor 44. The driving motor 44 is used to drive the valve core of the first reversing valve 42 to move, and the driving motor 44 is connected to the controller 17 for communication to realize automatic steering control when no one is driving. The first relief valve 41 is arranged on a pipeline connecting the oil inlet and the oil return port of the first reversing valve 42.

[0066] The electric proportional control valve 5 is composed of a stop valve 51, a second reversing valve 52, a first solenoid valve 53, a second relief valve 54, a pressure compensator 55 and a second solenoid valve 56. The first solenoid valve 53 and the second solenoid valve 56 are connected in parallel to the two ends of the second reversing valve 52. The first solenoid valve 53 and the second solenoid valve 56 control whether the second reversing valve 52, i.e., the cavity on both sides of the valve core of the main valve enters the oil supply, thereby forming a pressure difference, thereby driving the valve core to move. Preferably, the first solenoid valve 53 and the second solenoid valve 56 are both two-position three-way valves. The first solenoid valve 53 and the second solenoid valve 56 are respectively connected to the controller 17 for communication. The controller 17 can control the operation of the two solenoid valves to realize automatic control. In addition, preferably, the second reversing valve 52 is a five-position three-way valve. Of course, it is not limited thereto. The second reversing valve 52 and the aforementioned first solenoid valve 53 and second solenoid valve 56 can also select specific types according to actual needs.

[0067] The pressure compensator 55 is respectively connected to the first solenoid valve 53, the second solenoid valve 56 and the second reversing valve 52 to perform pressure compensation, thereby improving the stability and reliability of the pipeline system; the second relief valve 54 is arranged in parallel with the pressure compensator 55, mainly playing the role of constant pressure relief, pressure stabilization, system unloading and safety protection.

[0068] When the unmanned rice transplanter is working, the pump 2 absorbs oil from the oil tank 11 through the oil suction filter 10, and then enters the oil inlet A1 of the torque amplifier 4 after being filtered through the high-pressure filter 3. Under the control of the first reversing valve 42, the steering motor 43 is driven to output the steering torque. The magnitude of the steering torque is determined by the pressure of the first relief valve 41 and the displacement of the steering motor 43. The pressure oil enters the electric proportional control valve 5 connected in series with it through the oil outlet B1 of the torque amplifier 4. The first solenoid valve 53 and the second solenoid valve 56 control the action of the lifting cylinder 6 to realize the lifting and floating of the rice seedling platform. When the second solenoid valve 56 is energized, the pressure compensator 55 switches the function. The pilot oil flowing through the second solenoid valve 56 pushes the second reversing valve 52 to move to the right. The pressure oil enters the small chamber of the lifting cylinder 6, that is, the rod chamber 61, to realize the lifting of the rice seedling platform. It can be seen that the hydraulic control system of the unmanned rice transplanter optimizes the automatic lifting performance of the rice seedling platform.

[0069] When the first solenoid valve 53 is energized, the pilot oil flowing through the second solenoid valve 56 pushes the second reversing valve 52 to move leftward, and the small chamber of the lifting cylinder 6, that is, the rod chamber 61, is connected to the oil return port of the electric proportional control valve 5. Under the action of the deadweight of the rice seedling loading platform, the rice seedling loading platform is lowered or floated; the lifting pressure is controlled by the second overflow valve 54, and the manual lowering or floating function of the rice seedling loading platform can be realized through the stop valve 51.

[0070] In this embodiment, preferably, the aforementioned pump 2 is a gear pump, which can withstand high pressure and performs well in conveying high-viscosity, high-solid content media, and the gears and bearings of the gear pump are usually made of high-quality alloy steel and undergo special heat treatment, so that they can maintain a long service life in harsh environments. Of course, it is not limited to this, and other types of pumps can also be used, which are specifically designed according to actual needs.

[0071] Embodiment 2

[0072] Embodiment 2 of the present application also provides a rice transplanter, including the unmanned rice transplanter hydraulic control system described in the above-mentioned embodiment 1, and thus has all the beneficial technical effects of the unmanned rice transplanter hydraulic control system, and the same technical features and beneficial effects are no longer repeated.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A hydraulic control system for an unmanned rice transplanter, characterized in that: include: Engine, pump, torque amplifier, lifting cylinder, electric proportional control valve, travel continuously variable transmission, travel gearbox, planting continuously variable transmission, planting gearbox and fuel tank; Wherein, the walking continuously variable speed device and the pump are coaxially driven by the engine; the planting continuously variable speed device is driven by the walking continuously variable speed device; the walking gearbox is connected to the walking continuously variable speed device; the planting gearbox is connected to the planting continuously variable speed device; The electric proportional control valve is respectively connected to the torque amplifier, the lifting cylinder, the travel continuously variable speed device and the planting continuously variable speed device; the pump, the travel continuously variable speed device and the planting continuously variable speed device are also respectively connected to the oil tank.

2. The unmanned rice transplanter hydraulic control system according to claim 1, characterized in that: The unmanned rice transplanter hydraulic control system also includes a first rotation speed sensor, which is arranged at the output end of the traveling continuously variable transmission device and is used to detect the rotation speed of the output end of the traveling continuously variable transmission device.

3. The unmanned rice transplanter hydraulic control system according to claim 2, characterized in that: The unmanned rice transplanter hydraulic control system also includes a second speed sensor, which is arranged at the output end of the planting continuously variable speed change device and is used to detect the speed of the output end of the planting continuously variable speed change device.

4. The unmanned rice transplanter hydraulic control system according to claim 3, characterized in that: The unmanned rice transplanter hydraulic control system also includes a first drive motor, and the first drive motor is used to drive the operation lever of the walking continuously variable transmission device to move.

5. The unmanned rice transplanter hydraulic control system according to claim 4, characterized in that: The unmanned rice transplanter hydraulic control system also includes a second drive motor, and the second drive motor is used to drive the operation lever of the transplanting continuously variable transmission device.

6. The unmanned rice transplanter hydraulic control system according to claim 5, characterized in that: The unmanned rice transplanter hydraulic control system also includes a controller, and the controller is communicatively connected with the first speed sensor, the second speed sensor, the first drive motor, the second drive motor, the torque amplifier, and the electric proportional control valve respectively.

7. The unmanned rice transplanter hydraulic control system according to claim 1, characterized in that: The unmanned rice transplanter hydraulic control system further comprises a high-pressure filter, which is arranged between the pump and the torque amplifier and is respectively connected to the pump and the torque amplifier; and / or The unmanned rice transplanter hydraulic control system further comprises an oil suction filter, which is arranged between the pump and the oil tank and is respectively connected to the pump and the oil tank.

8. The unmanned rice transplanter hydraulic control system according to claim 6, characterized in that: The torque amplifier includes a first reversing valve and a driving motor, wherein the driving motor is used to drive the valve core of the first reversing valve to move, and the driving motor is communicatively connected with the controller; The torque amplifier further comprises a first overflow valve, and the first overflow valve is arranged on a pipeline connecting the oil inlet and the oil return port of the first reversing valve; and / or The electric proportional control valve comprises a second reversing valve, a first solenoid valve and a second solenoid valve, the first solenoid valve and the second solenoid valve are connected in parallel to two ends of the second reversing valve, and the first solenoid valve and the second solenoid valve are respectively connected to the controller for communication; The electric proportional control valve further includes a pressure compensator, and the pressure compensator is respectively connected to the first solenoid valve, the second solenoid valve and the second reversing valve; The electric proportional control valve also includes a second overflow valve, and the second overflow valve is arranged in parallel with the pressure compensator.

9. The unmanned rice transplanter hydraulic control system according to any one of claims 1 to 8, characterized in that: The lifting oil cylinder is formed with a rod chamber and a rodless chamber; the electric proportional control valve is formed with a first oil inlet, a first oil return port and a first working oil port; the walking continuously variable transmission is formed with a first oil replenishment port and a first oil drain port; the planting continuously variable transmission is formed with a second oil replenishment port and a second oil drain port; The first oil inlet is connected with the oil outlet of the torque amplifier; the first working oil port is connected with the rod chamber of the lifting cylinder; the first oil return port is respectively connected with the rodless chamber, the first oil replenishment port of the walking continuously variable transmission device, and the second oil replenishment port of the planting continuously variable transmission device; the first oil drain port and the second oil drain port are respectively connected with the oil tank.

10. A rice transplanter, characterized in that: The invention comprises the unmanned rice transplanter hydraulic control system according to any one of claims 1 to 9.

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