Seedling supplementing equipment and rice transplanter

Abstract

The embodiment of the utility model provides seedling supplementing equipment and a rice transplanter, and relates to the technical field of seedling supplementing. The seedling supplementing equipment comprises a seedling storage device, a seedling supplementing device and a seedling spreading device. The seedling storage device is used for storing and conveying a plurality of rolled seedlings. The seedling supplementing device is arranged at the downstream of the seedling storage device and is used for receiving the seedlings conveyed from the seedling storage device and supplementing the seedlings to the transplanting part of the rice transplanter. The seedling spreading device and the seedling supplementing device are correspondingly arranged, and the seedling spreading device is used for limiting the to-be-limited position of the seedling on the seedling supplementing device, so that the seedling is converted from a rolled state to a spread state in the conveying process on the seedling supplementing device. Thus, under the same space, due to the fact that rolled seedlings are adopted, a large number of seedlings can be stored through the seedling storage device, and under the unfolding effect of the seedling unfolding device, the unfolded seedlings can be conveyed to the planting part through the seedling supplementing device.

Description

Technical Field

[0001] The utility model relates to the technical field of seedling transplanting, in particular to a seedling transplanting device and a rice transplanter. Background Art

[0002] With the advancement of science and technology and population growth, current agricultural production faces multiple challenges, such as the slowdown in the growth rate of agricultural output, rising labor costs, and reduced land resources. In response to these challenges, agricultural mechanization has become an effective way to improve agricultural efficiency and reduce production costs. In the field of rice transplanting, the method of transplanting rice seedlings was once fully manual. Now, with the development of technology, many automated or semi-automated rice transplanters have appeared on the market, such as walk-behind rice transplanters, one-wheeled riding rice transplanters, and high-speed riding rice transplanters. In existing rice transplanters, the rice seedlings are placed in the transplanting part of the rice transplanter. When the rice seedlings in the transplanting part are used up, manual re-planting is often required, that is, the rice seedlings are manually placed in the transplanting part.

[0003] In the prior art, there are also some rice transplanters that can realize the rice seedling transplanting operation. However, since the rice seedlings as a whole take up a large space and the space on the vehicle is limited, it is not possible to store more rice seedlings in the limited space. Utility Model Content

[0004] The utility model provides a rice seedling supplementing device and a rice transplanter, which can realize the storage of a larger number of rice seedlings.

[0005] The embodiment of the present utility model can be implemented as follows:

[0006] The embodiment of the present invention provides a rice seedling transplanting device, which includes:

[0007] A seedling storage device, the seedling storage device is used to store and transport a plurality of rolled seedlings;

[0008] a seedling replenishing device, the seedling replenishing device being arranged downstream of the seedling storage device, the seedling replenishing device being used to receive the seedlings transported from the seedling storage device and replenish the seedlings to the transplanting portion of the rice transplanter; and

[0009] A seedling spreading device is provided corresponding to the seedling replenishing device, and is used to limit the position of the seedlings to be limited on the seedling replenishing device, so that the seedlings are transformed from a rolled state to an spread state during transportation on the seedling replenishing device.

[0010] Optionally, the seedling-replenishing device further includes a protective shell, and at least one of the seedling-storing device, the seedling-replenishing device and the seedling-unfolding device is arranged on the protective shell, and the protective shell is used to limit the position of the seedlings.

[0011] Optionally, the protective shell includes a bottom plate and a guard plate surrounding the bottom plate, at least one of the seedling storage device and the seedling replenishing device is arranged on the bottom plate, and the guard plate is used to limit and protect the seedlings.

[0012] Optionally, the bottom plate includes a seedling storage bottom plate, a seedling replacement bottom plate and a receiving guide plate arranged in sequence, the seedling storage bottom plate is used to set up a seedling storage device, the seedling replacement bottom plate is used to set up a seedling replacement device, the seedling storage bottom plate and the seedling replacement bottom plate are both arranged horizontally, the receiving guide plate is arranged obliquely downward relative to the seedling replacement bottom plate, the receiving guide plate is used to receive the expanded seedlings transported from the seedling replacement device, and guide the expanded seedlings to the planting part of the transplanter.

[0013] Optionally, the seedling spreading device includes a mounting member, a support member and a limiting member, the support member is connected to the mounting member, the support member is arranged along the conveying direction of the seedling filling device, the limiting member is connected to the support member, the limiting member extends in a direction at an angle to the conveying direction, and the limiting member is used to limit the position to be limited of the seedlings located on the seedling filling device, so that the seedlings are transformed from a rolled state to an spread state during the conveying process on the seedling filling device.

[0014] Optionally, at least one limiting protrusion is provided on the upstream side of the limiting member, and the limiting protrusion is used to limit the position to be limited of the seedlings located on the seedling replenishing device, so that the seedlings are transformed from a rolled state to an unfolded state during the transportation process on the seedling replenishing device.

[0015] Optionally, the seedling spreading device further includes an elastic member, which abuts against or is connected to the supporting member.

[0016] Optionally, the seedling-replacing equipment further includes a receiving guide plate, which is arranged downstream of the seedling-replacing device. The receiving guide plate is used to receive the unfolded seedlings transported from the seedling-replacing device and guide the unfolded seedlings to the planting part of the rice transplanter.

[0017] Optionally, the seedling-replacing equipment further includes a transition device, which is arranged between the seedling storage device and the seedling-replacing device and is used for transitioning the seedlings transported from the seedling storage device to the seedling-replacing device.

[0018] Optionally, the seedling replacement equipment also includes a seedling replacement sensor, a seedling lack sensor and a controller; the seedling replacement sensor is used to be installed on the planting part of the rice transplanter, and the seedling lack sensor is installed on the seedling replacement device, and the seedling replacement sensor, the seedling lack sensor, the seedling storage device and the seedling replacement device are all electrically connected to the controller; the controller is used to control the seedling replacement device based on the seedling replacement signal output by the seedling replacement sensor; and is used to control the seedling storage device based on the seedling lack signal output by the seedling lack sensor.

[0019] An embodiment of the present invention further provides a rice transplanter, which includes a planting part and the above-mentioned rice seedling-replacing device, wherein the planting part is arranged downstream of the rice seedling-replacing device and is used to receive the unfolded rice seedlings transported from the rice seedling-replacing device.

[0020] The beneficial effects of the rice seedling transplanting device and rice transplanter of the present invention include, for example:

[0021] The rice seedling replenishing device includes a rice seedling storage device, a rice seedling replenishing device and a rice seedling spreading device. The rice seedling storage device is used to store and transport a plurality of rice seedlings in a rolled state. The rice seedling replenishing device is arranged downstream of the rice seedling storage device, and is used to receive the rice seedlings transported from the rice seedling storage device, and is used to replenish rice seedlings to the transplanting part of the rice transplanter. The rice seedling spreading device is arranged corresponding to the rice seedling replenishing device, and the rice seedling spreading device is used to limit the position to be limited of the rice seedlings located on the rice seedling replenishing device, so that the rice seedlings are transformed from a rolled state to an spread state during the transportation process on the rice seedling replenishing device. In this way, under the same space, since the rice seedlings in a rolled state are used, a larger number of rice seedlings can be stored by using the rice seedling storage device, and under the expansion effect of the rice seedling spreading device, the rice seedling replenishing device can be used to transport the spread state rice seedlings to the transplanting part.

[0022] The rice transplanter includes the rice seedling-replacing device and has all the functions of the rice seedling-replacing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic structural diagram of the rice transplanter provided in this embodiment;

[0025] Figure 2 A schematic circuit diagram of the relevant components of the rice transplanter provided in this embodiment;

[0026] Figure 3 Schematic diagram of several rice seedlings provided in this embodiment;

[0027] Figure 4 One of the structural schematic diagrams of the rice seedling transplanting equipment provided in this embodiment;

[0028] Figure 5 The second structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0029] Figure 6 The third structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0030] Figure 7 The fourth structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0031] Figure 8 The fifth structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0032] Figure 9 The sixth structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0033] Figure 10 The seventh structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0034] Figure 11 The eighth structural diagram of the rice seedling transplanting equipment provided in this embodiment;

[0035] Figure 12 This is one of the schematic diagrams of the rice seedling transplanting control method provided in this embodiment;

[0036] Figure 13 This is a second schematic diagram of the rice seedling transplanting control method provided in this embodiment;

[0037] Figure 14 The third schematic diagram of the rice seedling transplanting control method provided in this embodiment;

[0038] Figure 15 This is the fourth schematic diagram of the rice seedling transplanting control method provided in this embodiment.

[0039] Icons: 1000-rice transplanter; 100-seedling replacement equipment; 10-seedling storage device; 20-seedling replacement device; 30-seedling spreading device; 31-mounting part; 32-support part; 321-hinge shaft; 33-connecting part; 34-limiting part; 341-limiting protrusion; 35-elastic part; 351-mounting column; 352-spring; 40-protective shell; 41-bottom plate; 411-seedling storage bottom plate; 412-seedling replacement bottom plate; 413-receiving guide plate; 42-guard plate; 50-transition device; 60-seedling replacement sensor; 70-seedling lack sensor; 80-controller; 200-traveling equipment; 300-transplanting part; 400-main control; 2000-seedlings; 2100-position to be limited. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0043] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0044] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0045] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention can be combined with each other.

[0046] With technological advancements and population growth, agricultural production today faces multiple challenges, including slowing agricultural output growth, rising labor costs, and shrinking land resources. To address these challenges, agricultural mechanization has become an effective way to improve agricultural efficiency and reduce production costs. Rice transplanting, once performed entirely manually, has now seen the emergence of a wide range of automated or semi-automated transplanters, including walk-behind transplanters, single-wheeled ride-on transplanters, and high-speed ride-on transplanters.

[0047] In existing rice transplanters, rice seedlings are placed in the transplanting section. When the rice seedlings in the transplanting section are used up, manual restocking is often required. In other words, the rice seedlings are manually placed back into the transplanting section. Some existing rice transplanters can also perform this restocking operation. However, due to the large space occupied by the rice seedlings, the space on the vehicle is limited, making it difficult to store more rice seedlings within the limited space.

[0048] In view of this, please refer to Figures 1-9 The rice seedling transplanting device 100 and rice transplanter 1000 provided in this embodiment can solve this technical problem. The rice seedling transplanting device 100 can store and transport rice seedlings 2000, replacing manual transplanting operations and achieving rapid and stable transport of rice seedlings 2000, thus mechanizing the transport of rice seedlings 2000 during rice transplanting.

[0049] Please refer to Figure 1 and Figure 2 The rice transplanter 1000 provided in this embodiment includes a walking device 200, a planting unit 300 installed on the walking device 200, a rice transplanting device 100 installed on the walking device 200, and a main control 400 installed on the walking device 200. The walking device 200 can be an unmanned vehicle or a robot, which can realize unmanned operation.

[0050] The walking device 200 can be electrically connected to the main control 400 to enable automated walking operations. Simultaneously, the planting unit 300 can be electrically connected to the main control 400 to enable automated rice transplanting operations. Typically, the planting unit 300 stores unfolded rice seedlings 2000 and performs transplanting of these unfolded rice seedlings. Furthermore, the rice transplanting device 100 can also be electrically connected to the main control 400 to enable automated rice transplanting operations.

[0051] Specifically, the seedling-replenishing device 100 includes a seedling-storing device 10 , a seedling-replenishing device 20 , a seedling-unfolding device 30 , a protective shell 40 , a transition device 50 , a seedling-replenishing sensor 60 , a seedling-missing sensor 70 and a controller 80 .

[0052] along Figure 1 In the direction indicated by the arrows (F1, F2, i.e., from upstream to downstream), the seedling storage device 10, the transition device 50, the seedling supplement device 20 and the planting unit 300 are sequentially arranged. It should be noted here that, throughout the text, the interpretation of "upstream" and "downstream" can be understood by those skilled in the art. Figure 1 , the left direction is downstream, and the right direction is upstream.

[0053] In this embodiment, the seedling storage device 10 is used to store and transport a plurality of rolled seedlings 2000, and its function is to provide the seedlings 2000 to the downstream supplementary device 20. The supplementary device 20 is arranged downstream of the seedling storage device 10. The supplementary device 20 is used to receive the seedlings 2000 transported from the seedling storage device 10 and to supplement the seedlings to the transplanting part 300 of the rice transplanter 1000. The seedling spreading device 30 is arranged corresponding to the supplementary device 20. The seedling spreading device 30 is used to adjust the seedlings 2000 located on the supplementary device 20 to the position to be limited 2100 ( Figure 3 The planting portion 300 is provided downstream of the replanting device 20 for receiving the replanting device 20 in the state of unfolded seedlings 2000.

[0054] In this embodiment, the seedling storage device 10 and the seedling supplement device 20 are both independent devices, that is, both have independent power drives. For example, the seedling storage device 10 includes a seedling storage conveyor belt and a seedling storage motor that drives the seedling storage conveyor belt. The seedling supplement device 20 includes a seedling supplement conveyor belt and a seedling supplement motor that drives the seedling supplement conveyor belt. The seedling storage device 10 stores the rolled seedlings 2000, and in the process of transporting the rolled seedlings 2000 to the seedling supplement device 20, the state of the seedlings 2000 is changed from the rolled state to the unfolded state, and finally the unfolded seedlings 2000 are transported to the planting part 300.

[0055] In addition, in order to better realize the transfer of the rice seedlings 2000 from the rice seedling storage device 10 to the rice seedling supplementing device 20, in this embodiment, a transition device 50 is provided between the rice seedling storage device 10 and the rice seedling supplementing device 20, and is used to transfer the rice seedlings 2000 from the rice seedling storage device 10 to the rice seedling supplementing device 20. Optionally, the transition device 50 uses an unpowered roller, and the transition device 50 is used to connect the two sections of the conveyor belt, so that the rice seedlings 2000 can be smoothly transferred from the rice seedling storage device 10 to the rice seedling supplementing device 20.

[0056] The seedling replenishing sensor 60 is used to be installed on the planting part 300 of the rice transplanter 1000 to detect whether the planting part 300 needs to be replenished. The seedling shortage sensor 70 is installed on the seedling replenishing device 20 to detect whether the seedling replenishing device 20 is missing.

[0057] The seedling storage device 10, the seedling replacement device 20, the seedling replacement sensor 60, and the seedling shortage sensor 70 are all electrically connected to the controller 80. The controller 80 is used to control the seedling replacement device 20 based on the seedling replacement signal output by the seedling replacement sensor 60; and to control the seedling storage device 10 based on the seedling shortage signal output by the seedling shortage sensor 70.

[0058] In other words, the controller 80 can automatically control the rice seedling replenishing device 20 to replenish rice seedlings based on the stock of rice seedlings 2000 on the planting part 300. In this way, when the rice seedlings 2000 on the planting part 300 are insufficient, a trigger signal is triggered to automatically replenish the rice seedlings 2000 from the rice seedling replenishing device 20.

[0059] The controller 80 can also automatically control the seedling storage device 10 to supply seedlings to the seedling supply device 20 based on the lack of seedlings 2000 on the seedling supply device 20. Ultimately, it is expected to achieve full automation and unmanned development of the rice transplanter 1000. Through such technical means, the automation, precision and intelligence of farmland production can be achieved, bringing revolutionary changes to agricultural production.

[0060] In the above description, the controller 80 can be electrically connected to the main control 400 of the rice transplanter 1000, or integrated into one.

[0061] Generally, in outdoor farmland scenarios, the replanting sensor 60 often uses a travel switch such as a micro switch (mostly mechanical), which implements detection feedback through contact triggering. Of course, the replanting sensor 60 can also be an infrared sensor, such as a photoelectric switch, which detects whether light is blocked, thereby determining whether there are rice seedlings 2000 at the corresponding position on the planting unit 300. Of course, the replanting sensor 60 can also use a gravity sensor to detect the weight of the rice seedlings 2000 on the planting unit 300, thereby determining the number of rice seedlings 2000 on the planting unit 300. When the number is lower than a preset value, it can be determined that the planting unit 300 needs to be replanted. Of course, in addition to using sensor detection, whether the planting unit 300 needs to be replanted can also be determined based on the working time of the planting unit 300. For example, based on the time required to plant a certain amount of rice seedlings 2000 and the time of the last replanting, it can be calculated whether the current planting unit 300 needs to be replanted. Therefore, there are many ways to determine whether seedling replacement is needed, and this case does not limit this.

[0062] Similarly, in the scenario of outdoor farmland, the seedling shortage sensor 70 mostly uses a travel switch such as a micro switch (mostly mechanical), and realizes detection feedback by contact triggering. Of course, the seedling shortage sensor 70 can also be an infrared sensor, such as a photoelectric switch, which detects whether the light is blocked, thereby determining whether there are seedlings missing on the seedling supplementing device 20. Of course, the seedling shortage sensor 70 can also use a gravity sensor, which detects the weight of the seedlings 2000 on the seedling supplementing device 20, thereby determining whether there are seedlings 2000 on the seedling supplementing device 20, and thus determining whether the seedling supplementing device 20 is missing. Of course, in addition to using sensor detection, determining whether there are seedlings missing can also be determined by the working time of the seedling supplementing device 20. For example, based on the transportation time required for a certain amount of seedlings 2000 to arrive at the seedling supplementing device 20, and based on the time when the seedling storage device 10 was last started due to a lack of seedlings, it can be calculated whether the current seedling supplementing device 20 is missing. Of course, the lack of seedlings can also be determined based on the driving status of the seedling-replenishing device 20. For example, if the power of the seedling-replenishing motor of the seedling-replenishing device 20 is always low or the resistance is significantly reduced, it can be determined that the seedlings are lacking. Therefore, there are many ways to determine whether the seedlings are lacking, and this case is not limited to them.

[0063] For easier understanding, please refer to Figure 3 , Figure 3 The rice seedlings 2000 in three rolled states are shown, namely A1, A2 and A3. After the rice seedlings 2000 in the rolled state pass through the rice seedling spreading device 30, they are transformed from the rolled state to the spread state. The rice seedlings 2000 in the spread state are in state B1.

[0064] Combine Figure 3 , showing three roll states, namely:

[0065] Roll state A1: folded in a U-shape. The position 2100 to be limited of the seedling 2000 is the top of the seedling 2000, which is actually one side edge of the unfolded seedling 2000.

[0066] Rolling state A2: The roll is in a circle shape, similar to a cylinder. The position 2100 of the rice seedling 2000 to be limited is the notch position of the roll, which is actually one side edge of the rice seedling 2000 in the unfolded state.

[0067] Roll state A3: The roll is in a multi-turn shape. The position 2100 of the rice seedling 2000 to be limited is the middle or lower middle position, which is actually the middle position of the rice seedling 2000 in the unfolded state.

[0068] After the positioning of the spreading device 30, the rice seedlings 2000 are finally in a spread state, that is, Figure 3 In this state, the rice transplanter 1000 can be smoothly inserted into the planting portion 300.

[0069] The rolled design can reduce the space occupied by the seedlings 2000, ensuring that more seedlings 2000 can be placed in a limited space, allowing the rice transplanter 1000 to operate in the field for a longer time without having to frequently go back and forth to replenish the seedlings 2000, reducing the number of back and forth movements, thereby improving work efficiency and greatly reducing labor intensity and labor costs.

[0070] Please refer to Figure 4-Figure 9 , the rice seedling transplanting device 100 will be described in detail below. Figure 4-Figure 9 The rolled seedlings 2000 shown in FIG. Figure 3 The roll state A1 is a rice seedling 2000 folded in a U-shape. Of course, the roll state A2, the roll state A3 or the rice seedling 2000 in other roll states are all applicable.

[0071] Generally, in order to store more rice seedlings 2000, a plurality of rolled rice seedlings 2000 are placed on the rice seedling storage device 10 in advance. Since the rice seedlings 2000 are rolled, more rice seedlings 2000 can be placed in a limited space under the same conditions. Figure 3 For example, before the rice transplanter 1000 is operated, three rice seedlings 2000 are manually placed on the rice seedling storage device 10 in a U-shaped roll, with the opening thereof facing the downstream rice seedling replenishing device 20. Of course, if the rice seedlings 2000 are of different sizes or the length of the rice seedling storage device 10 is changed, the number of rice seedlings 2000 stored in the rice seedling storage device 10 may be two, four, five, or more.

[0072] Combine Figure 5 Generally, when the planting part 300 needs to be supplemented, that is, there are no seedlings 2000 on the planting part 300, or there are only a small number of seedlings 2000, at this time, the supplementary device 20 is started, and the seedlings 2000 on the supplementary device 20 are moved along the Figure 5 The rice seedlings are transported in the direction of the middle arrow F1 and finally transported to the planting part 300 along the direction F2. When the rice seedling replenishing device 20 is lacking, that is, when there are no rice seedlings 2000 on the rice seedling replenishing device 20, the rice seedling storage device 10 is started and the rice seedlings 2000 stored on the rice seedling storage device 10 are transported in the direction of the middle arrow F1 and finally transported to the planting part 300 along the direction F2. Figure 5 The direction of arrow F1 is transported to the seedling-replenishing device 20. In this way, unmanned seedling-replenishing and continuous operation of the planting unit 300 can be achieved.

[0073] In order to facilitate the transplanting operation of the transplanting part 300, the seedling supplementing device 20 needs to transport the expanded seedlings 2000 to the transplanting part 300. In order to realize the transformation of the seedlings 2000 from a rolled state to an expanded state, in this embodiment, a seedling expansion device 30 is arranged above the seedling supplementing device 20. The seedling expansion device 30 can be called a seedling turning plate. Its main function is to flip the rolled seedlings 2000 into expanded seedlings 2000.

[0074] Specifically, combined Figure 4 and Figure 5 When the seedlings 2000 on the seedling storage device 10 are sent to the seedling replenishing device 20 through the transition device 50, the seedling replenishing conveyor belt of the seedling replenishing device 20 drives the seedlings 2000 to continue to be transported downstream, and the seedlings 2000 to be limited at the position 2100 (i.e., the upper end) will be stuck in the seedling spreading device 30, and the seedling spreading device 30 will hook the upper position of the seedlings 2000, while the seedling replenishing conveyor belt below will continue to transport the seedlings 2000 downstream, thereby slowly flattening the seedlings 2000 from the folded posture, and then the seedling replenishing device 20 will continue to send the unfolded seedlings 2000 to the downstream planting part 300 through the upper end position of the planting part 300, completing the seedling replenishing action.

[0075] Since the rice seedlings 2000 are turned over during the transport process of the rice seedling replenishing device 20, if the rice seedling storage device 10 also starts to transport the rice seedlings 2000 at this time, there may be two rice seedlings 2000 on the rice seedling replenishing device 20 at the same time, which may cause the two rice seedlings 2000 to overlap or cause material blockage. Alternatively, the rice seedlings 2000 on the rice seedling storage device 10 may collide with the rice seedlings 2000 on the rice seedling replenishing device 20.

[0076] Therefore, in order to avoid these conflicts, generally, when it is necessary to replenish the seedlings, the replenishing device 20 is started first to transport the seedlings 2000 downstream, and the seedling shortage sensor 70 detects the surface of the replenishing device 20. When it is detected that the seedlings 2000 on the replenishing device 20 are completely transported out, the seedling storage device 10 is started again, and the seedling storage device 10 transports the stored seedlings 2000 to the replenishing device 20.

[0077] For example, when all the seedlings 2000 on the seedling supplementing device 20 have entered the planting portion 300, the seedling storage device 10 can be controlled to start.

[0078] Alternatively, when the rice seedlings 2000 on the rice seedling replenishing device 20 are fully unfolded, the rice seedling storage device 10 can be controlled to start.

[0079] Alternatively, when the tail end of the rice seedlings 2000 on the rice seedling-replacing device 20 is placed on the rice seedling-replacing device 20 or on the tail end of the rice seedling-replacing device 20, the rice seedling storage device 10 can be controlled to start.

[0080] It should be noted here that, combined with Figure 5When the seedling replenishing device 20 is activated, the rice seedlings 2000 on the device 20 are transported downstream. During the process of the rice seedlings 2000 being fully expanded, the tail end of the rice seedlings 2000 may rest on the rice seedling replenishing device 20. Alternatively, due to inertia, the tail end of the rice seedlings 2000 may rest on the transition device 50 or the upstream rice seedling storage device 10. This depends on the inertia of the rice seedlings 2000 immediately after expansion, as well as the transport speed of the rice seedling replenishing device 20 and the position of the rice seedling spreading device 30.

[0081] In order to better protect the seedlings 2000 during transportation, Figure 4-Figure 9 In this embodiment, at least one of the seedling storage device 10, the seedling supplement device 20 and the seedling spreading device 30 is arranged in a protective shell 40, and the protective shell 40 is used to limit and protect the seedlings 2000.

[0082] Specifically, the rice seedling storage device 10, the rice seedling supplement device 20 and the rice seedling spreading device 30 are all integrated and mounted on the protective shell 40. This facilitates the overall installation and disassembly. Of course, it is not ruled out that some structures are integrated and mounted on the walking device 200 of the rice transplanter 1000.

[0083] The following will be combined Figure 4-Figure 9 The protective case 40 will be described in detail.

[0084] The protective shell 40 includes a bottom plate 41 and a guard plate 42 surrounding the bottom plate 41 . At least one of the seedling storage device 10 and the seedling replenishing device 20 is arranged on the bottom plate 41 . The guard plate 42 is used to limit and protect the seedlings 2000 .

[0085] Combine Figure 7 In the figure, the seedling storage device 10 and the seedling replenishing device 20 are arranged in sequence on the bottom plate 41. Specifically, a notch is formed on the bottom plate 41 (not shown in the figure). The seedling storage conveyor belt and the seedling replenishing conveyor belt corresponding to the seedling storage device 10 and the seedling replenishing device 20 are exposed through the notch, thereby receiving and conveying the seedlings 2000 located in the protective shell 40.

[0086] In this embodiment, the seedling spreading device 30 is installed on the guard plate 42. Optionally, the seedling spreading device 30 can also be installed on the bottom plate 41, or the seedling spreading device 30 can also be installed on the walking device 200 of the rice transplanter 1000.

[0087] Specifically, the bottom plate 41 includes a seedling storage bottom plate 411, a seedling replenishing bottom plate 412, and a receiving guide plate 413, which are arranged in sequence. The seedling storage bottom plate 411 is used to set the seedling storage device 10, and the seedling replenishing bottom plate 412 is used to set the seedling replenishing device 20. The seedling storage bottom plate 411 and the seedling replenishing bottom plate 412 are both arranged horizontally. The receiving guide plate 413 is arranged downwardly with respect to the seedling replenishing bottom plate 412. The receiving guide plate 413 is used to receive the expanded seedlings 2000 conveyed from the seedling replenishing device 20 and guide the expanded seedlings 2000 to the planting part 300 of the rice transplanter 1000. The direction of this guidance is the F2 direction in the figure.

[0088] It can be understood that the guard plates 42 are arranged around both sides of the seedling storage bottom plate 411, the seedling replenishing bottom plate 412 and the receiving guide plate 413. Of course, it is not ruled out that in other embodiments, some areas of the bottom plate 41 are provided with guard plates 42, while some areas are not provided with guard plates 42.

[0089] By arranging in this order, the rice seedlings 2000 can be stably transported from upstream to downstream. Optionally, the rice seedling storage base plate 411, the rice seedling replenishment base plate 412, the receiving guide plate 413 and the guard plate 42 are integrally formed to facilitate overall installation and removal.

[0090] Of course, in some embodiments, for example Figure 4 As shown in FIG, a receiving guide plate 413 is provided that is relatively independent of the protective shell 40 and is provided downstream of the rice transplanting device 20. The receiving guide plate 413 is used to receive the unfolded rice seedlings 2000 conveyed from the rice transplanting device 20 and guide the unfolded rice seedlings 2000 to the planting unit 300 of the rice transplanter 1000. The receiving guide plate 413 can be mounted on the protective shell 40 or on the planting unit 300 of the rice transplanter 1000.

[0091] In order to facilitate the detailed description of the seedling spreading device 30, please refer to Figure 5 and Figure 6 .

[0092] The rice seedling spreading device 30 includes a mounting member 31, a supporting member 32, and a limiting member 34. The mounting member 31 can be mounted on the protective shell 40, or on the walking device 200 of the rice transplanter 1000.

[0093] The support member 32 is connected to the mounting member 31 and is positioned along the conveying direction of the seedling-replenishing device 20. In other words, the support member 32 is positioned along the direction F1 in the figure. This substantially prevents the conveying of the rice seedlings 2000 from obstructing the conveying. Specifically, the support member 32 is positioned at an acute angle to the horizontal, i.e., tilted, to provide a certain degree of guidance for the rice seedlings 2000 being conveyed from upstream.

[0094] The stopper 34 is connected to the support member 32 and extends in a direction that is angled with the conveying direction. The stopper 34 is used to be arranged above the seedling-replenishing device 20. In other words, the stopper 34 can block the conveying of the seedlings 2000 on the seedling-replenishing device 20.

[0095] The angle mentioned above can be 90°, that is, vertical, or acute or obtuse. Figure 5 , the angle is obtuse. When the angle is acute, it resembles a hook-shaped structure extending upstream. Thus, the limiting member 34 can limit the position 2100 of the rice seedlings 2000 on the replanting device 20 to be limited, thereby allowing the rice seedlings 2000 to transition from a rolled state to an unrolled state during transport on the replanting device 20.

[0096] It should be noted that the mounting member 31 and the support member 32 can be integrated into an integral structure. In addition, in a certain embodiment, the mounting member 31 and the support member 32 may not be provided, and only the limiting member 34 ( Figure 8 、 Figure 9 shown, described in detail below).

[0097] Optionally, the support member 32 is provided with a hinge shaft 321, which is hinged to the mounting member 31. This allows the support member 32 to be adjusted relative to the mounting member 31. Alternatively, the hinged design allows the support member 32 and the limiting member 34 to have a tendency to move downward under the action of gravity, so that gravity can be used to press on the seedlings 2000, which helps the limiting member 34 to better block and limit the seedlings 2000.

[0098] Optionally, there are two mounting members 31, which are distributed on both sides of the support member 32, and both ends of the hinge shaft 321 are hinged to the two mounting members 31; both mounting members 31 are used to be mounted on the protective shell 40 of the rice transplanting device 100. In this way, the overall structural stability is increased.

[0099] Of course, the support member 32 and the mounting member 31 can also be integrally formed or welded and fixed. The support member 32 has a certain length, so it has a certain elasticity of up and down deformation in space. After the design is installed in place, the downstream position of the support member 32 can be made to be less than the height of the rolled seedlings 2000 from the seedling replenishing conveyor belt of the seedling replenishing device 20. In this way, after the seedlings 2000 are conveyed to the limiting member 34, the support member 32 and the limiting member 34 are allowed to have a force to press the seedlings 2000 downward as a whole, which is beneficial for the limiting member 34 to block and limit the seedlings 2000.

[0100] Optionally, the seedling spreading device 30 further includes a connecting member 33 , the supporting member 32 , the connecting member 33 and the limiting member 34 are connected in sequence, the supporting member 32 is tilted relative to the connecting member 33 , and the connecting member 33 and the limiting member 34 are vertically arranged.

[0101] Optionally, the mounting member 31, the support member 32, the connecting member 33, and the limiting member 34 are all plate-shaped structures and integrally formed. Alternatively, the support member 32, the connecting member 33, and the limiting member 34 are integrally formed by bending a flat plate, and the end of the support member 32 is hinged to the mounting member 31.

[0102] In addition, in order to facilitate the blocking of the seedlings 2000, it can also be understood that in order to facilitate the hooking of the seedlings 2000, combined with Figure 6 In this embodiment, at least one limiting protrusion 341 is provided on one side of the limiting member 34. The limiting protrusion 341 is used to limit the to-be-limited position 2100 of the seedlings 2000 located on the seedling-replacing device 20, so that the seedlings 2000 are transformed from a rolled state to an unfolded state during the transportation process on the seedling-replacing device 20.

[0103] Optionally, the limiting protrusion 341 is a sharp structure, such as a tooth structure. Alternatively, the limiting protrusion 341 is a structure with barbs. This can better block the upper half of the seedling 2000.

[0104] Figure 6 In the embodiment, the number of the limiting protrusions 341 is three, all of which are located on the upstream side of the limiting member 34. Of course, in other embodiments, the number of the limiting protrusions 341 is two, four or more.

[0105] Combine Figure 6 Optionally, the seedling spreading device 30 further includes an elastic member 35, which abuts or is connected to the support member 32. The elastic member 35 can be mounted on the protective housing 40 or directly on the walking device 200 of the rice transplanter 1000. The elastic member 35 can exert downward pressure on the rice seedlings 2000 when the rice seedlings 2000 are transported to the position of the limiting member 34.

[0106] Specifically, the elastic member 35 includes a mounting post 351 and a spring 352. One end of the mounting post 351 is connected to the spring 352, and the spring 352 is in contact with or connected to the support member 32. The mounting post 351 is used to be mounted on the protective shell 40 of the rice transplanting device 100. Alternatively, the mounting post 351 is mounted on the walking device 200 of the rice transplanter 1000.

[0107] Of course, the specific form of the elastic member 35 is not limited. For example, the elastic member 35 can be a spring installed between the support member 32 and the mounting member 31. Alternatively, the elastic member 35 can be a torsion spring installed on the hinge shaft 321 on the support member 32. In this way, the support member 32 can have a tendency to press against the rice seedlings 2000.

[0108] Please refer to Figure 8 , Figure 8 Most of the structures of the rice seedling transplanting device 100 shown are substantially the same as those of the above-mentioned rice seedling transplanting device 100, except that: Figure 8 The illustrated rice seedling spreading device 30 of the rice seedling transplanting device 100 is a vertically mounted plate. In other words, the spreading device 30 is formed entirely as a stopper 34. The spreading device 30 can be mounted on a protective housing 40 or on a walking device 200. The spreading device 30 can also convert a rolled rice seedling 2000 into an unfolded rice seedling 2000.

[0109] Please refer to Figure 9 , Figure 9 Most of the structures of the rice seedling transplanting device 100 shown are substantially the same as those of the above-mentioned rice seedling transplanting device 100, except that: Figure 9 The seedling spreading device 30 of the illustrated rice seedling replanting device 100 is an L-shaped plate. In other words, the seedling spreading device 30 is entirely formed as a stopper 34. The seedling spreading device 30 can be mounted on a protective housing 40 or on a walking device 200. The seedling spreading device 30 can also convert a rolled rice seedling 2000 into an unfolded rice seedling 2000.

[0110] It can be understood that the specific structural form of the seedling spreading device 30 is not limited, as long as it can transform the rolled seedlings 2000 into the spread seedlings.

[0111] In addition, in this embodiment, the seedling spreading device 30 is located above the seedling supplementing device 20 and is located near the downstream of the seedling supplementing device 20. In other embodiments, the seedling spreading device 30 can be located in the middle of the seedling supplementing device 20, or the seedling spreading device 30 can be set at a position near the upstream of the seedling supplementing device 20.

[0112] Please refer to Figure 10 and Figure 11 This embodiment also provides other structural forms of the rice seedling transplanting equipment 100.

[0113] Please refer to Figure 10 , Figure 10 The illustrated rice seedling-replacing device 100 includes a rice seedling storage device 10 and a rice seedling-replacing device 20 . The rice seedling storage device 10 is used to store rice seedlings 2000 and to transport rice seedlings 2000 to the rice seedling-replacing device 20 . The rice seedling-replacing device 20 is used to transport rice seedlings 2000 to the transplanting portion 300 of the rice transplanter 1000 .

[0114] Specifically, Figure 10 There are two seedling storage devices 10 shown in the figure, and both are arranged obliquely relative to the seedling supplementing device 20. The two seedling storage devices 10 are arranged side by side and spaced above the seedling supplementing device 20.

[0115] It should be noted that the rice seedling storage device 10 includes a rice seedling support plate, a rice seedling storage motor mounted on the rice seedling support plate, and a mace mounted at the bottom of the rice seedling support plate, the rice seedling storage motor and the mace being drivably connected. The rice seedling support plate is provided with metal branches to press down the rice seedlings 2000.

[0116] The weight of the rice seedlings 2000 placed on the rice seedling storage device 10 is primarily supported by the mace at its base. As will be appreciated, the rice seedlings 2000 are partially inserted into the mace, providing support. As the mace is driven to rotate, the rice seedlings 2000 pass over the mace and onto the rice seedling supplementing device 20. Optionally, the rice seedling support plate of the rice seedling storage device 10 may be provided with ribs to reduce friction with the rice seedlings.

[0117] Please refer to Figure 11 , Figure 11 Most of the structure of the rice seedling transplanting device 100 shown is similar to Figure 10 The structure of the seedling replacement equipment 100 shown is basically the same, except that the seedling storage device 10 includes a seedling supporting plate, a seedling storage motor installed on the seedling supporting plate, a seedling storage conveyor belt installed on the seedling supporting plate, and a guide plate installed on the bottom of the seedling supporting plate. The seedling supporting plate is hollowed out so that the seedling storage conveyor belt is placed in the hollow position and is driven and connected by the seedling storage motor.

[0118] The slightly curved guide plate is mainly used for carrying the weight of the rice seedling 2000. When the rice seedling 2000 needs to be sent out, the rice seedling conveyor belt moves so that the lower end of the rice seedling 2000 slides out of the guide plate and falls on the rice seedling replenishing device 20.

[0119] In summary, the rice seedling transplanting device 100 can be used to realize automatic rice seedling transplanting operations.

[0120] It should be noted that, in the process of transplanting seedlings, traditional rice transplanters generally manually move the seedlings from the seedling racks to the planting part of the rice transplanter. The labor intensity of the operators is high, and it is difficult to achieve mechanical automation.

[0121] In order to achieve effective, reasonable and automated transplanting, this embodiment provides a transplanting control method, which can achieve effective and reasonable control of the transplanting process. It can be understood that the transplanting control method can be implemented by the controller 80 mentioned above.

[0122] Please refer to Figure 12 , and combined with Figures 1-11 The seedling transplanting control method is applied to a seedling transplanting device 100, which includes a seedling storage device 10, a seedling transplanting device 20, and a seedling spreading device 30. The seedling transplanting control method includes:

[0123] S100 : When a seedling replenishing signal of the planting part 300 of the rice transplanter 1000 is obtained, the seedling replenishing device 20 is controlled to operate so that the seedling replenishing device 20 drives the seedlings 2000 to be transported to the planting part 300 .

[0124] S200 : When a rice seedling shortage signal of the rice seedling replenishing device 20 is obtained, the rice seedling storage device 10 is controlled to operate so that the rice seedlings 2000 stored on the rice seedling storage device 10 are transported toward the rice seedling replenishing device 20 .

[0125] Like this, when the transplanting part 300 needs to supplement rice seedlings, the supplementary rice seedling device 20 can convey rice seedlings 2000 to the transplanting part 300. When the supplementary rice seedling device 20 lacks rice seedlings, the rice seedling storage device 10 can convey rice seedlings 2000 to the supplementary rice seedling device 20.

[0126] It should be noted that, combined with Figures 1-9 The seedling-replacing device 100 also includes a seedling-unfolding device 30, which is arranged corresponding to the seedling-replacing device 20; in the process of the seedling-replacing device 20 driving the seedlings 2000 to be transported to the planting part 300, the seedlings 2000 are gradually unfolded from a rolled state to an unfolded state under the limiting action of the seedling-unfolding device 30 at the to-be-limited position 2100.

[0127] It should be noted that the following mainly applies to the control method of transplanting seedlings Figures 1-9 The rice seedling transplanting device 100 is shown as an example. Of course, the rice seedling transplanting control method is also applicable to Figure 10 and Figure 11 The illustrated rice seedling transplanting device 100 is also applicable to other types of rice seedling transplanting devices 100 .

[0128] It is understandable that before transplanting, the staff will fold a plurality of unfolded seedlings 2000 in half or roll them into a rolled seedling 2000 and place them on the seedling storage device 10. Optionally, in order to increase the amount of stored seedlings, a rolled seedling 2000 can also be pre-stored on the seedling supplementing device 20.

[0129] During the rice transplanting process of the rice transplanter 1000, when the rice seedling replenishment signal is triggered on the planting part 300, the rice seedling replenishment device 20 is started and the rice seedlings 2000 are transported downstream. The rice seedlings 2000 are unfolded from a rolled state to an unfolded state through the rice seedling unfolding device 30 and sent to the planting part 300.

[0130] At the same time, when the seedling replenishing sensor 60 installed at the outlet of the seedling replenishing device 20 detects that there is a lack of seedlings on the seedling replenishing device 20, the seedling storage device 10 is started to transport the stored seedlings 2000 to the seedling replenishing device 20, and then waits for the next triggering of the seedling shortage signal.

[0131] Generally, since the rolled seedlings 2000 need to be unfolded during the process of the seedling replenishing device 20 transporting the seedlings 2000 for replenishing, the timing or method of controlling the start-up of the seedling storage device 10 needs to be paid attention to. For example, it can be considered to start the seedling storage device 10 after the seedling replenishing device 20 has completely completed the seedling delivery action. In this way, the situation of the seedlings 2000 being staggered and stacked can be avoided (this will be explained in detail later).

[0132] In order to facilitate the transportation of the seedling storage device 10 and ensure that the seedlings 2000 are transported in a replenishing manner at a time, the steps of controlling the operation of the seedling storage device 10 may optionally include:

[0133] Controlling the seedling storage device 10 to transport in a step-by-step manner;

[0134] The distance of each transport is set based on the length of the rice seedling 2000. Generally, the length of the rolled rice seedling 2000 can be used as the transport distance of each step.

[0135] In other words, the rice seedling storage device 10 conveys the rice seedlings downstream in a step-by-step manner, for example, the conveying distance is the length of one rice seedling 2000. This ensures that one rice seedling 2000 is conveyed at a time. Of course, in practice, assuming the rice seedling conveyor belt of the rice seedling replenishing device 20 is sufficiently long, it is possible to convey the rice seedlings 2000 in a step-by-step manner at a time. Alternatively, the rice seedlings 2000 may be conveyed in a step-by-step manner at a time.

[0136] In addition, in order to ensure the transport efficiency and the stability of the transport of the seedlings 2000, the transport speed of the seedling replenishing device 20 and the seedling storage device 10 can be limited. For example:

[0137] Optionally, the step of controlling the operation of the seedling-replacing device 20 includes controlling the seedling-replacing device 20 to operate at a first preset conveying speed, wherein the first preset conveying speed is 0.1-0.3 m / s. In a specific implementation, the conveying speed of the seedling-replacing device 20 can be controlled to be 0.1 m / s, 0.2 m / s, 0.3 m / s, etc.

[0138] Optionally, the step of controlling the operation of the seedling storage device 10 includes controlling the seedling storage device 10 to operate at a second preset conveying speed; wherein the second preset conveying speed is 0.2-0.4 m / s. In specific implementation, the conveying speed of the seedling storage device 10 can be controlled to be 0.2 m / s, 0.3 m / s, 0.4 m / s, etc.

[0139] The speeds of the seedling replenishing device 20 and the seedling storing device 10 can be the same or different, and can be specifically set according to the length of their respective conveyor belts and the length of the seedlings 2000.

[0140] In order to better determine whether the transplanting unit 300 needs to be replanted, in this embodiment, the replanting device 100 further includes a replanting sensor 60, which is installed on the transplanting unit 300 of the rice transplanter 1000. When a replanting signal of the transplanting unit 300 is obtained, the steps of controlling the operation of the replanting device 20 include:

[0141] When a seedling transplanting signal indicating that the transplanting unit 300 has transplanted seedlings is obtained from the seedling transplanting sensor 60 , the seedling transplanting device 20 is controlled to operate.

[0142] In other words, when the transplanting unit 300 needs to be replanted, the controller 80 can control the replanting device 20 to start based on the replanting signal output by the replanting sensor 60 , thereby obtaining the seedlings 2000 from the replanting device 20 .

[0143] In addition, in order to better determine whether the seedlings are missing on the seedling-replacing device 20, in this embodiment, the seedling-replacing device 100 further includes a seedling-missing sensor 70, which is installed on the seedling-replacing device 20. When a seedling-missing signal of the seedling-replacing device 20 is obtained, the steps of controlling the operation of the seedling storage device 10 include:

[0144] When a seedling shortage signal indicating that the seedlings of the seedling replenishing device 20 are shortage is obtained from the seedling shortage sensor 70 , the seedling storage device 10 is controlled to operate.

[0145] In other words, when the rice seedling replenishing device 20 is short of rice seedlings, the controller 80 can control the rice seedling storage device 10 to start based on the rice seedling shortage signal output by the rice seedling shortage sensor 70 , thereby obtaining the rice seedlings 2000 from the rice seedling storage device 10 .

[0146] In order to avoid the phenomenon that more than two seedlings 2000 are stacked on the seedling-replenishing device 20, or more than two seedlings 2000 collide with each other, etc. Figure 13 Optionally, when the transplanting signal of the planting unit 300 is obtained, after the step of controlling the operation of the transplanting device 20, the transplanting control method further includes:

[0147] S300: Determine whether the rice seedlings 2000 on the rice seedling supplementing device 20 have been transported;

[0148] If yes, then S200 is executed, i.e., when a seedling shortage signal of the seedling replenishing device 20 is obtained, the step of controlling the operation of the seedling storage device 10 is performed;

[0149] If not, execute S400, that is, control the rice seedling storage device 10 to be disabled.

[0150] It is understandable that when there are still seedlings 2000 on the seedling-replacing device 20, the seedling storage device 10 cannot be controlled to start. If the seedling storage device 10 has been started, it should theoretically be shut down to avoid the situation where there are seedlings 2000 on the seedling-replacing device 20 while the seedling storage device 10 continues to transport seedlings 2000 to the seedling-replacing device 20.

[0151] In order to avoid the occurrence of two or more seedlings 2000 being stacked on the seedling-replenishing device 20, or the occurrence of two or more seedlings 2000 colliding with each other, etc. Figure 14 Optionally, when the transplanting signal of the planting unit 300 is obtained, after the step of controlling the operation of the transplanting device 20, the transplanting control method further includes:

[0152] S500: Determine whether the rice seedlings 2000 on the rice seedling supplementing device 20 are fully unfolded;

[0153] If yes, then S200 is executed, i.e., when a seedling shortage signal of the seedling replenishing device 20 is obtained, the step of controlling the operation of the seedling storage device 10 is performed;

[0154] If not, execute S400, that is, control the rice seedling storage device 10 to be disabled.

[0155] It can be understood that when the seedlings 2000 on the seedling-replacing device 20 have not yet been fully unfolded, the state of the seedlings 2000 may be in a rolled state, or part of it may have been unfolded and part of it may still be in a rolled state. At this time, if the seedling storage device 10 is started, it is still possible that two seedlings 2000 will appear on the seedling-replacing device 20 at the same time and conflict with each other. Therefore, the seedling storage device 10 cannot be controlled to start at this time. If the seedling storage device 10 has been started at this time, it should theoretically be shut down to avoid conflicts between the seedlings 2000 on the seedling-replacing device 20.

[0156] It should be noted that how to judge whether the seedlings 2000 on the seedling replacement device 20 are fully unfolded can be determined by installing sensors for detection, or it can be obtained based on the seedling replacement signal. For example, after the seedling replacement sensor 60 on the planting part 300 outputs the seedling replacement signal to the seedling replacement device 20 and runs for a period of time, which theoretically completes the delivery time of a seedling 2000, if the controller 80 continues to receive the seedling replacement signal, it means that the planting part 300 has not received the seedling 2000 at this time. From this perspective, it can also be explained that the seedlings 2000 may have an unfolding problem, and the machine can be stopped for inspection at this time.

[0157] In order to avoid the occurrence of two or more seedlings 2000 being stacked on the seedling-replenishing device 20, or the occurrence of two or more seedlings 2000 colliding with each other, etc. Figure 15Optionally, when the transplanting signal of the planting unit 300 is obtained, after the step of controlling the operation of the transplanting device 20, the transplanting control method further includes:

[0158] S600: Determine whether the tail end of the rice seedling 2000 on the rice seedling replacement device 20 after unfolding is placed on the rice seedling replacement device 20 or the tail end of the rice seedling replacement device 20;

[0159] If yes, then S200 is executed, i.e., when a seedling shortage signal of the seedling replenishing device 20 is obtained, the step of controlling the operation of the seedling storage device 10 is performed;

[0160] If not, execute S400, that is, control the rice seedling storage device 10 to be disabled.

[0161] It is understandable that if the tail end of the fully unfolded rice seedling 2000 on the rice seedling supplementing device 20 is still resting on the rice seedling supplementing device 20, there is still a risk of the rice seedling 2000 colliding with the rice seedling 2000 when the rice seedling storage device 10 is activated at this time. When the tail end of the rice seedling 2000 on the rice seedling supplementing device 20 is separated from the rice seedling supplementing device 20, it means that the risk of the rice seedling 2000 colliding with the rice seedling 2000 is minimized at this time, and the rice seedling supplementing device 20 can be activated at this time. Of course, if the rice seedling supplementing device 20 is conveyed normally, assuming that the tail end of the rice seedling 2000 is resting on the tail end of the rice seedling supplementing device 20 at this time, it means that it is about to leave the tail end of the rice seedling supplementing device 20 under the conveying action of the rice seedling supplementing device 20. At this time, the rice seedling storage device 10 is normally activated and basically will not cause any conflict with the rice seedling 2000 downstream.

[0162] In this embodiment, the rice seedling transplanting control method further includes:

[0163] S701: If the replanting signal continues for a first predetermined time period, outputting a seedling shortage signal indicating that the replanting device 20 is short of seedlings. In other words, if the controller 80 continues to receive the replanting signal for a long period of time, it indicates that the transplanting unit 300 has not received any replanting from the replanting device 20 for a long period of time, indicating that the replanting device 20 may be short of seedlings.

[0164] In this embodiment, the rice seedling transplanting control method further includes:

[0165] S702: If the resupply signal persists for a first predetermined duration, a blocking signal is output, indicating that the resupply device 20 is blocked. In other words, if the controller 80 continues to receive the resupply signal for an extended period, it indicates that the transplanting unit 300 is not receiving resupply from the resupply device 20, indicating a possible blockage in the resupply device 20. This means that the seedlings 2000 on the resupply device 20 are blocked and cannot be properly transported. This could be due to a problem with the deployment of one seedling 2000, or the simultaneous presence of two or more seedlings 2000 on the resupply device 20, resulting in a conflict.

[0166] In this embodiment, the rice seedling transplanting control method further includes:

[0167] S703: If the resupply signal persists for a first predetermined duration, a resupply signal is outputted, indicating that the seedling storage device 10 is short of seedlings. In other words, if the controller 80 continues to receive the resupply signal for an extended period, it indicates that the transplanting unit 300 has not received any resupply from the resupply device 20. This may indicate that there are no more seedlings 2000 in the seedling storage device 10. An alarm signal may be outputted to alert personnel that the seedling storage device 10 needs to be resupplyed.

[0168] In this embodiment, the rice seedling transplanting control method further includes:

[0169] S704: If the seedling replenishment signal persists for a first predetermined time period, a blocking signal is outputted indicating that the seedling storage device 10 is blocked. In other words, if the controller 80 continues to receive the seedling replenishment signal for a long period of time, it indicates that the transplanting unit 300 has not received any seedling replenishment from the seedling replenishment device 20. This could also be due to a blockage within the seedling storage device 10, i.e., the seedlings 2000 within the seedling storage device 10 are blocked and cannot be transported normally. This could be due to a problem with one seedling 2000 or a conflict between two or more seedlings 2000.

[0170] In this embodiment, the rice seedling transplanting control method further includes:

[0171] S705: When the seedling replenishment signal from the seedling replenishment device 20 continues for a second predetermined time period, a seedling shortage signal is outputted, indicating that the seedling storage device 10 is short of seedlings. Similarly, when the controller 80 continues to receive the seedling shortage signal for a long time, it may indicate that there are no more seedlings 2000 in the seedling storage device 10.

[0172] In this embodiment, the rice seedling transplanting control method further includes:

[0173] S706: When the seedling replenishing signal from the seedling replenishing device 20 lasts for a second preset time, a blocking signal is outputted indicating that the seedling storage device 10 is blocked. Of course, if the controller 80 continues to receive the seedling shortage signal for a long time, it may also indicate that the seedling storage device 10 is blocked.

[0174] The first preset duration in steps S701, S702, S703, S704, S705, and S706 can be 4-10 seconds, such as 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, or 10 seconds, and the second preset duration can be 5-8 seconds, such as 5 seconds, 6 seconds, 7 seconds, or 8 seconds. Of course, the first preset durations in steps S701, S702, S703, and S704 can be the same or different. The second preset durations in steps S705 and S706 can be the same or different.

[0175] In the above, when the seedling storage device 10 is blocked by material, it can be obtained by detecting the power of the seedling storage motor of the seedling storage device 10, for example, an abnormal increase in power at the moment. When the seedling replacement device 20 is blocked by material, it can be obtained by detecting the power of the seedling replacement motor of the seedling replacement device 20, for example, an abnormal increase in power at the moment.

[0176] According to a rice transplanter 1000 provided in this embodiment, the working principle of the rice transplanter 1000 is as follows:

[0177] Before the rice transplanter 1000 transplants rice seedlings in the field, the operator will lay the seedlings 2000 on the planting part 300 of the rice transplanter 1000. At the same time, some of the seedlings 2000 will be placed in a rolled form on the seedling storage device 10 of the rice transplanting equipment 100. Of course, a seedling 2000 can also be placed on the rice transplanting device 20.

[0178] During the normal rice transplanting process of the rice transplanter 1000 in the field, after the rice seedlings 2000 in the planting part 300 are transported, the rice seedling replenishing sensor 60 on the planting part 300 outputs a rice seedling replenishing signal. At this time, the controller 80 controls the rice seedling replenishing device 20 to start replenishing the rice seedlings. During the transportation of the rolled rice seedlings 2000 by the rice seedling replenishing device 20, the to-be-limited position 2100 of the rice seedlings 2000 is limited by the rice seedling spreading device 30. At this time, the part of the rice seedlings 2000 that contacts the rice seedling replenishing device 20 continues to be transported downstream, while the to-be-limited position 2100 of the rice seedlings 2000 remains stationary, so that the rice seedlings 2000 gradually transition from the rolled state to the spread state. When the rice seedlings 2000 are fully unfolded, the rice seedlings 2000 separate from the spread device 30, and are finally transported to the planting part 300 in a fully spread state.

[0179] Generally, after the rice seedlings 2000 on the rice seedling replenishing device 20 are transported, the rice seedling shortage sensor 70 on the rice seedling replenishing device 20 outputs a rice seedling shortage signal. At this time, the controller 80 controls the rice seedling storage device 10 to start the rice seedling replenishment. Generally, the rice seedling storage device 10 transports one rice seedling 2000 to the rice seedling replenishing device 20 in a step-by-step manner. After transporting the rice seedlings 2000 to the rice seedling replenishing device 20, both the rice seedling replenishing device 20 and the rice seedling storage device 10 are on standby, waiting for the next rice seedling replenishment signal or rice seedling shortage signal, and then controlling the rice seedling replenishing device 20 or the rice seedling storage device 10 to start accordingly.

[0180] The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A rice seedling transplanting device (100), characterized in that: include: A seedling storage device (10), the seedling storage device (10) being used to store and transport a plurality of rolled seedlings (2000); a rice seedling replenishing device (20), the rice seedling replenishing device (20) being arranged downstream of the rice seedling storage device (10), the rice seedling replenishing device (20) being used to receive the rice seedlings (2000) transported from the rice seedling storage device (10), and replenishing the rice seedlings to the transplanting portion (300) of the rice transplanter (1000); and A seedling spreading device (30) is provided corresponding to the seedling supplementing device (20), and the seedling spreading device (30) is used to limit the to-be-limited position (2100) of the seedling (2000) located on the seedling supplementing device (20), so that the seedling (2000) is transformed from a rolled state to an spread state during transportation on the seedling supplementing device (20).

2. The rice seedling transplanting device (100) according to claim 1, characterized in that: The rice seedling-replenishing device (100) further comprises a protective shell (40), at least one of the rice seedling-storing device (10), the rice seedling-replenishing device (20) and the rice seedling-unfolding device (30) is arranged in the protective shell (40), and the protective shell (40) is used for limiting and protecting the rice seedlings (2000).

3. The rice seedling transplanting device (100) according to claim 2, characterized in that: The protective shell (40) comprises a bottom plate (41) and a guard plate (42) arranged around the bottom plate (41); at least one of the seedling storage device (10) and the seedling replenishing device (20) is arranged on the bottom plate (41); and the guard plate (42) is used to limit and protect the seedlings (2000).

4. The rice seedling transplanting device (100) according to claim 3, characterized in that: The bottom plate (41) comprises a seedling storage bottom plate (411), a seedling replenishing bottom plate (412), and a receiving guide plate (413) which are sequentially arranged. The seedling storage bottom plate (411) is used to arrange a seedling storage device (10), and the seedling replenishing bottom plate (412) is used to arrange a seedling replenishing device (20). The seedling storage bottom plate (411) and the seedling replenishing bottom plate (412) are both arranged horizontally. The receiving guide plate (413) is arranged obliquely downward relative to the seedling replenishing bottom plate (412). The receiving guide plate (413) is used to receive the expanded seedlings (2000) transported from the seedling replenishing device (20) and guide the expanded seedlings (2000) to the transplanting part (300) of the rice transplanter (1000).

5. The rice seedling transplanting device (100) according to any one of claims 1 to 4, characterized in that: The seedling spreading device (30) comprises a mounting member (31), a supporting member (32) and a limiting member (34); the supporting member (32) is connected to the mounting member (31); the supporting member (32) is arranged along the conveying direction of the seedling-replacing device (20); the limiting member (34) is connected to the supporting member (32); the limiting member (34) extends along a direction forming an angle with the conveying direction; the limiting member (34) is used to limit the to-be-limited position (2100) of the seedling (2000) located on the seedling-replacing device (20), so that the seedling (2000) is transformed from a rolled state to an unfolded state during the conveying process on the seedling-replacing device (20).

6. The rice seedling transplanting device (100) according to claim 5, characterized in that: At least one limiting protrusion (341) is provided on the upstream side of the limiting member (34), and the limiting protrusion (341) is used to limit the to-be-limited position (2100) of the seedling (2000) located on the seedling-replacing device (20), thereby allowing the seedling (2000) to be transformed from a rolled state to an unfolded state during transportation on the seedling-replacing device (20).

7. The rice seedling transplanting device (100) according to claim 5, characterized in that: The seedling spreading device (30) further comprises an elastic member (35), wherein the elastic member (35) abuts against or is connected to the support member (32).

8. The rice seedling transplanting device (100) according to any one of claims 1 to 4, characterized in that: The rice seedling-replacing device (100) further comprises a receiving guide plate (413), which is arranged downstream of the rice seedling-replacing device (20). The receiving guide plate (413) is used to receive the unfolded rice seedlings (2000) transported from the rice seedling-replacing device (20) and guide the unfolded rice seedlings (2000) to the transplanting part (300) of the rice transplanter (1000).

9. The rice seedling transplanting device (100) according to any one of claims 1 to 4, characterized in that: The rice seedling-replacing device (100) further comprises a transition device (50), which is arranged between the rice seedling storage device (10) and the rice seedling-replacing device (20) and is used for transitioning the rice seedlings (2000) transported from the rice seedling storage device (10) to the rice seedling-replacing device (20).

10. The rice seedling transplanting device (100) according to any one of claims 1 to 4, characterized in that: The rice seedling replenishing device (100) further comprises a rice seedling replenishing sensor (60), a rice seedling shortage sensor (70) and a controller (80); the rice seedling replenishing sensor (60) is used to be installed on the transplanting part (300) of the rice transplanter (1000), the rice seedling shortage sensor (70) is installed on the rice seedling replenishing device (20), the rice seedling replenishing sensor (60), the rice seedling shortage sensor (70), the rice seedling storage device (10) and the rice seedling replenishing device (20) are all electrically connected to the controller (80); the controller (80) is used to control the rice seedling replenishing device (20) based on the rice seedling replenishing signal output by the rice seedling replenishing sensor (60); and is used to control the rice seedling storage device (10) based on the rice seedling shortage signal output by the rice seedling shortage sensor (70).

11. A rice transplanter (1000), characterized in that: The invention comprises a transplanting part (300) and the rice seedling-replacing device (100) according to any one of claims 1 to 10, wherein the transplanting part (300) is arranged downstream of the rice seedling-replacing device (20) and is used for receiving the unfolded rice seedlings (2000) transported from the rice seedling-replacing device (20).

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