CN109757164B - Rice transplanting system and rice transplanting method thereof - Google Patents
Rice transplanting system and rice transplanting method thereof Download PDFInfo
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- CN109757164B CN109757164B CN201910048378.1A CN201910048378A CN109757164B CN 109757164 B CN109757164 B CN 109757164B CN 201910048378 A CN201910048378 A CN 201910048378A CN 109757164 B CN109757164 B CN 109757164B
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Abstract
The invention provides a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting system comprises at least two high-speed rice transplanting machines and a position acquisition module, wherein the position acquisition module is connected with all the high-speed rice transplanting machines in a control and communication way, and when one of the high-speed rice transplanting machines transplants rice, the position acquisition module acquires rice transplanting relay information of the high-speed rice transplanting machines and transmits the rice transplanting relay information to the other high-speed rice transplanting machine to control the other high-speed rice transplanting machine to continuously complete rice transplanting work in the relay position.
Description
Technical Field
The invention relates to a rice transplanting system, in particular to a rice transplanting system and a rice transplanting method thereof.
Background
The rice is the grain crop with the largest planting area, the highest yield per unit and the highest total output in China, the rice production is well grabbed, and the rice production has a very important influence on the aim of recovering and developing the grain production. And the mechanization of rice production is vigorously developed, so that the farming season can be effectively strived, the influence of natural disasters can be resisted, the planting area can be ensured and enlarged, the rice yield can be improved, and the production cost can be saved. However, the rice mechanical harvesting level in China is only about 20 percent at present, the mechanized planting level is not yet 6 percent, the regional development is unbalanced, and the difference between the regional development and the development of rice production is huge.
At present, the mechanized planting of rice is an important part, and the transplanting part is completed by a transplanter. The high-speed rice transplanter has huge development prospect, and the rice transplanting efficiency is improved, so that the whole rice is harvested and improved. The high-speed transplanter is used for large-area farmlands, and the transplanting effect is obvious.
During the transplanting process, the high-speed transplanter also has some problems, one of which is that when the high-speed transplanter transplants seedlings in a large-area farmland, only half of the seedlings are transplanted or the seedlings are used up in the midway, and at the moment, the high-speed transplanter is controlled to return to reload the seedlings or another high-speed transplanter is sent to transplant the seedlings, so that the time or space is delayed, and the integral transplanting efficiency of the farmland can be caused.
Disclosure of Invention
One main advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting system is capable of setting rice transplanting relay information, when one of the high-speed rice transplanting machines stops rice transplanting in the middle of rice transplanting, i.e., in a rice transplanting position, the rice transplanting relay information is set in the relay position, and the rice transplanting relay information will prompt the other high-speed rice transplanting machine to continue rice transplanting.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the setting timing of the rice transplanting force information is when a rice seedling box of the high speed rice transplanting machine is empty and during the rice transplanting.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the setting timing of the rice transplanting relay information is when the high speed rice transplanter fails to continue rice transplanting during rice transplanting.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, in which the high speed rice transplanter can record the current position when the seedling box is empty and generate the rice transplanting relay information.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, in which the high speed rice transplanting machine can record the current position and generate the rice transplanting force information when a fault occurs.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting relay information is transmitted by a flag set at the relay position, and the transmission mode is to transmit position information to another high-speed rice transplanting machine through the flag to indicate the current position at which rice transplanting needs to be continued.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting relay information is transmitted through a flag set at the relay position, and the high speed rice transplanter can actively recognize and acquire the information transmitted by the flag, thereby controlling the high speed rice transplanter to travel to the previous relay position of the high speed rice transplanter.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, in which the marker disposed at the relay position can be recovered by the high-speed rice transplanting machine for the next use.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting system of the present invention can predict a relay position point of the high speed rice transplanter during rice transplanting, and control another high speed rice transplanter to travel to the relay position point in advance for continuous rice transplanting.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, in which a prediction mode is to acquire a past working path and relay position of the high speed rice transplanter so as to predict a rice transplanting relay position in a current rice transplanting operation.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, in which a prediction mode is to acquire a combination of a remaining amount of a seedling box of a current high-speed rice transplanting machine and a current rice transplanting travel route to predict a position of a rice transplanting force in a current rice transplanting operation.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein when a plurality of pieces of rice transplanting force information are present, the rice transplanting system can calculate according to the plurality of pieces of rice transplanting force information to obtain a better rice transplanting route, so that the rice transplanting system can more efficiently complete rice transplanting.
Another advantage of the present invention is to provide a rice transplanting system and a rice transplanting method thereof, wherein the rice transplanting system predicts the rice transplanting positions of a plurality of high speed rice transplanting machines according to the farmland to be transplanted and the number of rice transplanting at the beginning of rice transplanting operation, and simultaneously controls the plurality of high speed rice transplanting machines to relay the operation.
Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.
In accordance with one aspect of the present invention, the foregoing and other objects and advantages are achieved by a rice transplanting system comprising:
at least two high-speed rice transplanters; and
and the position acquisition module is in control connection with all the high-speed rice transplanting machines in a communication way, and acquires the transplanting relay information of one high-speed rice transplanting machine in the transplanting process of the other high-speed rice transplanting machine and transmits the transplanting relay information to the other high-speed rice transplanting machine so as to control the other high-speed rice transplanting machine to continuously complete the transplanting work in the relay position.
According to one embodiment of the invention, the position acquiring module comprises a mark, and the mark records the current position to generate the transplanting force information.
According to one embodiment of the invention, the high-speed rice transplanter comprises a seedling box and a rice transplanting device, wherein the rice transplanting device is controllably connected with the seedling box, the seedling box has a planting sequence, the mark is arranged at the end of the planting sequence of the seedling box, and the rice transplanting device plants the mark in the seedling box after seedlings in the seedling box are completely planted.
According to one embodiment of the invention, the high-speed rice transplanter comprises a rice transplanting device, the marks are arranged in the rice transplanting device, and the rice transplanting device can control the marks to transplant seeds. When the seedlings in the seedling box are completely planted, the rice transplanting device plants the marks.
According to one embodiment of the invention, the high-speed rice transplanter comprises a fault detection device which is connected with the rice transplanting device in a communication mode, and when the fault detection device detects the detection information, the rice transplanting device transplants the marks.
According to one embodiment of the invention, the position acquiring module further comprises an information receiving and sending device, the information receiving and sending device is arranged on the high-speed rice transplanter, the mark can send the rice transplanting relay information, and the information receiving and sending device receives the rice transplanting relay information and sends the information to the information receiving and sending device of another high-speed rice transplanter.
According to one embodiment of the invention, the position acquisition module further comprises an information acquisition device, the information acquisition device is arranged on the high-speed rice transplanter and is connected with the mark in a communication mode, and the information acquisition device can acquire the rice transplanting force information of another high-speed rice transplanter.
According to one embodiment of the invention, the position acquisition module further comprises a mark recovery device, the mark recovery device is arranged on the high-speed transplanter, and the mark recovery device can recover the mark.
According to one embodiment of the invention, the high-speed rice transplanter comprises a seedling box, wherein the position acquisition module comprises an information processing unit, an information receiving and sending unit and a position recording unit, the information processing unit is communicatively connected with the seedling box and the position recording unit, the position recording unit is arranged on the high-speed rice transplanter to acquire the current position of the high-speed rice transplanter, when the seedling box generates a completion message, the information processing unit receives the completion message to control the position recording unit to record the current position information to form the rice transplanting relay information, and the information receiving and sending unit receives the rice transplanting relay information to transmit to another high-speed rice transplanter.
According to one embodiment of the invention, the high-speed rice transplanter further comprises a rice transplanting detection device, when the rice transplanting detection device detects and generates fault information, the information processing unit receives the fault information and controls the position recording unit to record current position information so as to form the rice transplanting relay information, and the information receiving and sending unit receives the rice transplanting relay information so as to transmit the rice transplanting relay information to another high-speed rice transplanter.
According to one embodiment of the invention, the position acquisition module further comprises a distance calculation unit, the distance calculation unit is connected with all the high-speed rice transplanting machines in a communication mode, the distance calculation unit acquires the position information of each high-speed rice transplanting machine, the distance calculation unit is connected with the information receiving and sending unit in a communication mode, when the rice transplanting relay information needs to be transmitted, the distance calculation unit calculates the high-speed rice transplanting machine in the closest distance, and the information receiving and sending unit receives the rice transplanting relay information to transmit the rice transplanting relay information to another high-speed rice transplanting machine in the closest distance.
According to one embodiment of the invention, the position acquiring module comprises a position predicting device, the position predicting device can predict and generate the transplanting relay information of the high-speed rice transplanter, and the transplanting relay information is transmitted to another high-speed rice transplanter to control another high-speed rice transplanter to continuously complete the transplanting work in the relay position.
According to one embodiment of the invention, the position predicting device comprises a position acquiring module, an information processing module and an information receiving and sending module, the position acquiring module is arranged on the high-speed rice transplanter to acquire the position information of the high-speed rice transplanter, the information processing module is connected with the high-speed rice transplanter and the position acquiring module in a communication mode to acquire the data information of the high-speed rice transplanter so as to predict and generate the rice transplanting relay information, and the information receiving and sending module receives the rice transplanting relay information and transmits the rice transplanting relay information to another high-speed rice transplanter.
According to one embodiment of the invention, the high-speed rice transplanter is provided with a seedling box, the information processing module is connected with the seedling box in a communication mode, when the seedling box reaches a preset allowance, the information processing module is triggered to control the position acquisition module to acquire the position information of the high-speed rice transplanter, and the information processing module predicts the predicted mileage of the high-speed rice transplanter so as to form the rice transplanting relay information.
According to one embodiment of the invention, the information processing module comprises a predicted mileage unit, the predicted mileage unit acquires seedling consumption information of the high-speed rice transplanter, the predicted mileage unit combines the seedling consumption information and the seedling box allowance information to obtain predicted mileage, and the information processing module combines the predicted mileage and current position information of the high-speed rice transplanter to form the rice transplanting relay information.
According to one embodiment of the invention, the high-speed rice transplanter is provided with a rice transplanting device, the information processing module comprises a predicted mileage unit, the predicted mileage unit acquires the rice transplanting speed of the rice transplanting device of the high-speed rice transplanter, the predicted mileage unit combines the rice transplanting speed and the rice seedling box allowance information to acquire the remaining travel time and further combines the travel speed of the high-speed rice transplanter to obtain the predicted mileage, and the information processing module combines the predicted mileage and the current position information of the high-speed rice transplanter to form the rice transplanting relay information.
According to another aspect of the present invention, there is further provided a method of transplanting rice seedlings, comprising:
(a) generating transplanting relay information in the transplanting process of the high-speed transplanter;
(b) indicating a transplanting relay position to transmit to another high-speed transplanter; and
(c) driving the other high-speed rice transplanter to the rice transplanting relay position and continuously completing the rice transplanting work.
According to one of the embodiments of the present invention, in the step (a): and transplanting a mark, wherein the mark generates transplanting force information.
According to one of the embodiments of the present invention, the mark is provided at the end of the seedling planting order of the seedling box, and the mark is planted by the planting device when the seedlings of the seedling box are planted in the seedling planting order and the seedlings are completely planted.
According to one embodiment of the invention, the mark is arranged in the transplanting device, when the high-speed transplanting machine fails and cannot continue transplanting, the high-speed transplanting machine generates fault information, the transplanting device performs transplanting of the mark, and the mark generates transplanting force information.
According to one embodiment of the present invention, between the step (a) and the step (b), the rice transplanting method further comprises the steps of: and calculating to obtain the other high-speed rice transplanter with the closest distance to the current high-speed rice transplanter.
According to one embodiment of the invention, in step (b): and the other high-speed rice transplanter actively acquires the rice transplanting relay information of the mark S.
According to one embodiment of the invention, in step (b): the marker transmits the information of the transplanting relay, and the other high-speed rice transplanter receives the information of the transplanting relay.
According to one embodiment of the present invention, in the step (a): and in the transplanting process of the high-speed transplanter, when the high-speed transplanter generates a completion message, the high-speed transplanter records the current position message to further generate a transplanting relay message.
According to one of the embodiments of the present invention, in the step (a): in the transplanting process of the high-speed transplanter, when the high-speed transplanter generates fault information, the high-speed transplanter records the current position information so as to generate transplanting relay information.
According to one of the embodiments of the present invention, in the step (a): and predicting and generating transplanting relay information when the seedling allowance of the seedling box reaches a preset allowance proportion in the transplanting process of the high-speed transplanter.
According to one embodiment of the present invention, in the above step, the method further comprises the steps of:
acquiring current position information of the high-speed rice transplanter and position information of the farmland;
predicting and generating remaining mileage information; and
and predicting and generating transplanting relay information by combining the current position information of the high-speed rice transplanter, the position information of the farmland and the remaining mileage information.
According to one embodiment of the invention, in the above step: and acquiring the running speed of the high-speed rice transplanter and the rice seedling consumption speed of the rice seedling box, predicting and generating the remaining mileage information.
According to one embodiment of the invention, in the above step: and acquiring the running speed of the high-speed rice transplanter and the planting speed of the rice transplanting device, predicting and generating the remaining mileage information.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a system diagram of a first embodiment of the present invention.
FIG. 3 is a schematic view of a first embodiment of the marker of the present invention.
FIG. 4 is a schematic view of a second embodiment of the marker of the present invention.
FIG. 5 shows two kinds of connections between the high-speed rice transplanter and the information on the transplanting force generated by the marker
The method is as follows.
FIG. 6 is a schematic view of the recovery operation of the tag.
Fig. 7 is a schematic diagram of a second embodiment of the present invention.
Fig. 8 is a schematic flow chart of a second embodiment of the present invention.
Fig. 9 is another flow chart of the second embodiment of the present invention.
Fig. 10 is a schematic diagram of a distance calculation unit of the present invention.
FIG. 11 is a schematic flow chart of a third embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
The invention provides a high-speed rice transplanter which is used for completing rice transplanting operation of a farmland, and in one embodiment of the invention, the high-speed rice transplanter is provided with a seedling box and a rice transplanting device, the seedling box is used for storing a certain amount of rice seedlings, and the seedling box is connected with the rice transplanting device so that the rice transplanting device can obtain the rice seedlings in the seedling box and transplant the rice seedlings in the farmland.
It can be understood that the transplanting speed of the transplanting device can be adjusted, and the transplanting speed of the transplanting device is matched with the current running speed of the high-speed transplanting machine, that is, the faster the running speed is, the faster the transplanting speed is, and the slower the running speed is, the slower the transplanting speed is, in order to ensure that the spacing distance between every two seedlings is the same.
As shown in fig. 1, the present invention provides a rice transplanting system, which comprises a plurality of high speed rice transplanting machines, wherein when one of the high speed rice transplanting machines stops transplanting rice during the rice transplanting process, the rice transplanting system immediately generates a rice transplanting relay information at the last rice transplanting position of the high speed rice transplanting machine, and transmits the rice transplanting relay information to another high speed rice transplanting machine, so as to control the high speed rice transplanting machine to finish the running at the position indicated by the rice transplanting relay information, so as to continue the unfinished rice transplanting operation of the previous high speed rice transplanting machine.
Generally, the number of seedlings stored in the high speed rice transplanter is limited, and when the high speed rice transplanter is required to plant a field with a large area or a complicated topography, shortage of seedlings or failure of the high speed rice transplanter is easily caused, and therefore, the rice transplanter cannot continue to plant rice under these circumstances, and thus another high speed rice transplanter is required to travel to the original position to complete rice transplanting. Moreover, since some farmlands have a large area, if a position requiring relay is not determined in time, another high-speed rice transplanter tends to cause energy waste and a reduction in the overall planting efficiency.
As shown in fig. 2, the present invention provides a first embodiment. In this embodiment, the rice transplanting system comprises a plurality of high-speed rice transplanting machines 10 and a position acquiring module 20, wherein the position acquiring module 20 is used for acquiring the rice transplanting position of another high-speed rice transplanting machine 10 in the rice transplanting process, the position acquiring module 20 comprises a mark S and an information receiving device 21, the mark S can send current position information, and the information receiving device 21 can receive the current position information sent by the mark S. The high-speed rice transplanter 10 has a seedling box 11 and a rice transplanting device 12, the seedling box 11 is used for storing a certain amount of rice seedlings, and the seedling box 11 and the rice transplanting device 12 are connected, so that the rice transplanting device 12 can obtain the rice seedlings in the seedling box 11 and transplant the rice seedlings in a farmland.
Specifically, the information receiving device 21 is provided in the high-speed rice transplanter 10, and when the information receiving device 21 on the high-speed rice transplanter 10 receives the current position information of the marker S, the traveling system of the high-speed rice transplanter 10 can receive the current position information to drive the high-speed rice transplanter 10 to travel to the position indicated by the current position information, and when the high-speed rice transplanter 10 reaches the current position, the rice transplanting relay operation can be started.
As shown in fig. 3, in other words, the marks S are provided in the seedling box 11. The marker S may be set at the end of the seedling planting sequence of the seedling box 11, at which time when the planting of the seedlings of the seedling box 11 proceeds to the end, naturally, the planting device 12 takes the marker S for planting. In this case, the marks S are naturally planted by the planting device 12 at a position where the planting force position is the position after the seedlings in the seedling box 11 are all planted. Therefore, in this embodiment, the information of the transplanting force is the information of the current position of the mark S.
For example, one of the high-speed rice transplanter 10 starts to transplant rice, and in one of the positions, the high-speed rice transplanter 10 stops transplanting rice, at this time, the high-speed rice transplanter 10 inserts a mark S at the current position, and the current position of the mark S is the current position of the transplanting force. That is, the planting position of the marker S is the planting force position. Therefore, in this embodiment, the information of the transplanting force is implemented as the information of the current position of a marker S.
It should be noted that the high-speed rice transplanter 10 stops transplanting rice seedlings in two ways: one is that the seedlings in the seedling box 11 of the high-speed transplanter 10 are completely planted; the other is that the high-speed rice transplanter 10 currently malfunctions in the current position. It should be noted that a positioning device is built in the mark S, and the positioning device can position the current position of the mark S, so that the mark S can generate current position information.
The invention further provides another implementation of the first embodiment. In the first case, as shown in fig. 4, when all the seedlings in the seedling box 11 of the high-speed rice transplanter 10 are planted, the seedling box 11 can provide a mark S, and the mark S is planted by the rice transplanter 12 at the current rice transplanting relay position, that is, the position of the mark S is the rice transplanting relay position. It will be understood that the marker S is inserted into the field only after the seedlings in the seedling box 11 are all planted.
In the second case, the high speed rice transplanter 10 malfunctions during the transplanting process, and at this time, the high speed rice transplanter 10 cannot perform the transplanting work. The marker S disposed at the end of the seedling planting sequence of the seedling box 11 cannot be normally planted, and thus, the marker S may be separately disposed in the seedling planting device 12 to wait for planting.
It can be understood that when the high-speed rice transplanter 10 fails and cannot continue to complete the rice transplanting operation, the high-speed rice transplanter 10 generates fault information, the fault information is transmitted to the rice transplanting device 12, and the rice transplanting device 12 can acquire the fault information to transplant the marks S. Specifically, the high-speed rice transplanter 10 is provided with a fault detection device 13, the fault detection device 13 is used for detecting the fault condition of the high-speed rice transplanter 10, when the high-speed rice transplanter 10 is in the condition that the rice transplanting cannot be continued, the fault detection device 13 generates fault information, the fault detection device 13 is connected with the rice transplanter 12 in a communication mode, and the rice transplanter 2 acquires the fault information, processes and executes the operation of transplanting the marks S.
It should be noted that, when the high-speed rice transplanter 10 fails, the high-speed rice transplanter 10 cannot continue to complete rice transplanting or even advance, and at this time, another high-speed rice transplanter 10 is required to continue to complete rice transplanting operation.
As shown in fig. 5, the first way of transmitting and receiving the information on the transplanting force generated by the marker S by the high-speed rice transplanter is explained in the above embodiment. When the marker S is planted at a certain position in the field, the marker S can send out a transplanting force information, which is transmitted to another high-speed rice transplanter 10. At this time, another high-speed rice transplanter 10 acquires the rice transplanting relay information generated by the mark S, and the traveling system of the high-speed rice transplanter 10 receives the rice transplanting relay information, so that the high-speed rice transplanter can be driven to travel to the rice transplanting relay position to continue the rice transplanting operation of the previous high-speed rice transplanter.
Specifically, wherein the information receiving device 21 is provided on the high-speed rice transplanter 10, the information receiving device 21 can receive the transplanting force information. Therefore, when the high-speed rice transplanter 10 receives the transplanting relay information, the high-speed rice transplanter 10 can know the specific position of the mark S, and the rice transplanting system can control the high-speed rice transplanter to travel to the position of the mark S to continuously complete the transplanting operation.
In addition, fig. 5 also illustrates a second extension and retraction manner between the high-speed rice transplanter and the rice transplanting force information generated by the marker S. When the mark S is planted at a certain position of the farmland, namely the transplanting force position. The position acquiring unit 20 further comprises an information acquiring device 22, and the information acquiring device 22 can be used for actively acquiring the position information of the mark S, i.e. obtaining the information of the transplanting force.
When another high-speed rice transplanter 10 which is about to relay starts to perform relay rice transplanting operation, the information acquisition device 22 of the high-speed rice transplanter 10 is used for acquiring the specific position information of the mark S, and controlling the high-speed rice transplanter 10 to run to the rice transplanting relay position to continue the relay rice transplanting operation. In contrast to the embodiment of fig. 4, the information acquiring device 22 actively acquires the position information of the mark S.
As shown in fig. 6, the rice transplanting system can also complete the recovery of the marks S. The position acquiring unit 20 of the rice transplanting system is further provided with a mark recycling device 23, the mark recycling device 23 is arranged on the high-speed rice transplanting machine 10, and when the high-speed rice transplanting machine 10 runs to the position of the mark S, namely the rice transplanting relay position, the mark recycling device 23 of the high-speed rice transplanting machine 10 can recycle the mark S.
In one preferred embodiment, the marks S are made of metal, and the mark recovery device 23 is provided as a magnetic recovery device capable of magnetically absorbing the marks S when the high-speed rice transplanter 10 travels at the transplanting force position, so that the marks S can be recovered for the next use. Thus, it will be appreciated that the tag recovery means 23 may be used to recover the tags S. However, it will be understood by those skilled in the art that other recycling methods can be used in the embodiments of the present invention without affecting the scope of the present invention.
As shown in fig. 7, the present invention provides a second embodiment of generating the rice transplanting force information. As shown in fig. 8-9, two flow diagrams of the present embodiment are illustrated. In this embodiment, the rice transplanting system completes the confirmation of the rice transplanting relay position by directly receiving and sending position information. In the present embodiment, the rice transplanting force information is implemented as the current position information directly transmitted by the high-speed rice transplanter 10.
Specifically, the position information module 20A of the rice transplanting system comprises an information processing unit 31 and an information receiving and sending unit 32, wherein the information receiving and sending unit 32 can send position information on one hand and receive position information on the other hand, and the information processing unit 31 is connected with the high-speed rice transplanting machine 10 in a communication mode. In the process of transplanting, when seedlings in the seedling box 11 of the high-speed rice transplanter 10 are completely transplanted, the seedling box 11 generates a completion message, the information processing unit 31 receives the completion message and immediately generates a position message, and the position message is transmitted to the information receiving and sending unit 32 and is sent to the nearby high-speed rice transplanter 10 through the information receiving and sending unit 32. And the information transmitting and receiving unit 32 of the nearby high-speed rice transplanter 10 acquires the position information, the information processing unit 31 further acquires the position information, processes and generates control information, and the control information is transmitted to the high-speed rice transplanter 10 so as to control the high-speed rice transplanter 10 to travel to the position indicated by the position information.
More specifically, the position information module 20A further includes a position recording unit 33, the information processing unit 31 is communicatively connected to the position recording unit 33, when the information processing unit 31 receives the completion information of the seedling box 11 of the high-speed rice transplanter 10, the information processing unit 31 controls the position recording unit 33 to record the current position of the high-speed rice transplanter 10 and generate current position information, and then the current position information is sent to another high-speed rice transplanter 10 through the information sending and receiving unit 32.
In the above embodiment, the information receiving and sending unit 32 is provided in the high-speed rice transplanter 10, and generates position information immediately after the seedlings of the high-speed rice transplanter 10 are all completed during the transplanting process, and the position indicated by the position information at this time is the current transplanting force position of the high-speed rice transplanter 10. Therefore, at this time, the high-speed rice transplanter 10 can leave the current transplanting relay position and continue the operation of the other high-speed rice transplanter which acquires the position information.
This example provides another implementation of the second example. The position information module 20A of the rice transplanting system comprises an information receiving and sending unit 32 and an information processing unit 31, wherein the information receiving and sending unit 32 can send position information on one hand and can also receive position information on the other hand, and the information processing unit 31 is connected with the high-speed rice transplanter 10 in a communication mode. In the transplanting process, when the high-speed rice transplanter 10 breaks down in the transplanting process, the high-speed rice transplanter 10 generates fault information, the fault information is processed by the information processing unit 31 to generate position information, and the position information is transmitted to the information receiving and sending unit 32 and is sent to the nearby high-speed rice transplanter 10 through the information receiving and sending unit 32. And the information transmitting and receiving unit 32 of the nearby high-speed rice transplanter 10 acquires the position information, the information processing unit 31 further acquires the position information, processes and generates control information, and the control information is transmitted to the high-speed rice transplanter 10 so as to control the high-speed rice transplanter 10 to travel to the position indicated by the position information.
Specifically, the position information module 20A further includes a position recording unit 33, the information processing unit 31 is communicatively connected to the position recording unit 33, when the information processing unit 31 receives the fault information of the high-speed rice transplanter 10, the information processing unit 31 controls the position recording unit 33 to record the current position of the high-speed rice transplanter 10, and generates current position information, and then sends the current position information to another high-speed rice transplanter 10 through the information sending and receiving unit 32.
In the above embodiment, the information receiving and sending unit 32 is provided in the high-speed rice transplanter 10, and when the high-speed rice transplanter 10 fails during the rice transplanting process, it generates position information immediately, and the position indicated by the position information at this time is the current rice transplanting force position of the high-speed rice transplanter 10. Therefore, at this time, the high-speed rice transplanter 10 can leave the current transplanting relay position and continue the operation of the other high-speed rice transplanter which acquires the position information.
As shown in FIG. 10, another calculation method of the high-speed rice transplanter 10 of the closest distance is shown. When the position acquiring module 20A of the rice transplanting system further includes a distance calculating unit 34, that is, the distance calculating unit 34 calculates the distance between each high-speed rice transplanter 10 and other high-speed rice transplanters 10, and obtains a closest distance. In other words, under the calculation of the distance calculation unit 34, two of the high speed rice planters 10 having the closest distance can be calculated. Therefore, when the position information generated by one of the high-speed rice transplanter 10 after the seedlings in the transplanting process are all completed is transmitted to the high-speed rice transplanter 10 with the closest distance calculated by the distance calculating unit 34.
It should be noted that the distance calculating unit is communicatively connected to the information transmitting and receiving unit 32 of each high-speed rice transplanter 10 of the rice transplanting system to obtain the current position information of each high-speed rice transplanter 10, and then calculate another high-speed rice transplanter 10 in the closest distance.
As shown in fig. 11, the present invention further provides a third embodiment of the generation of the rice transplanting force information. In such an embodiment, the rice transplanting system can predict the position of the high-speed rice transplanter when the high-speed rice transplanter does not reach the position needing relay, and drive another high-speed rice transplanter to run at the position needing relay in advance. At the moment, the high-speed rice transplanter just runs at the predicted position needing relay, and the other high-speed rice transplanter just can continuously complete rice transplanting work. It is noted that the position of the relay is a relay position predicted by the rice transplanting system, rather than a rice transplanting relay position pattern provided by the rice transplanting system as in the embodiment shown in fig. 1-10. In this embodiment, the position obtaining module 20B obtains the position by prediction, that is, the rice transplanting relay information is implemented as a predicted relay information.
Specifically, the position acquiring module 20B includes a position predicting device 40, wherein the position predicting device 40 includes a position acquiring module 41, an information processing module 42 and an information transmitting and receiving module 43, the position acquiring module 41 is used for acquiring the current position information of the high-speed rice transplanter 10, the information processing module 42 is used for acquiring the position information and the traveling information and rice transplanting information of the high-speed rice transplanter 10 and processing the information to generate predicted relay position information, and the information transmitting and receiving module 43 is used for receiving and transmitting the predicted relay position information.
It should be noted that the position obtaining module 41 is communicatively connected to the seedling box 10 of the high-speed rice transplanter 10, and when the remaining amount information of the seedling box 11 of the high-speed rice transplanter 10 reaches a predetermined remaining amount information, the position predicting device 40 of the rice transplanting system is triggered to start predicting the relay position. Preferably, the predetermined margin information may be any one of 0 to 50%, preferably, such as 20%, 25%, or 30%, and hereinafter, for the sake of description, 25% is taken as an example of the predetermined margin information and is marked in the drawings. It is understood that 25% is by way of example only and that other embodiments of the invention may be used in other proportions.
In this embodiment, before starting planting, the position information of the farmland on which the high-speed rice transplanter 10 is to plant is input to the information processing module 42, and it should be noted that the position information of the farmland includes the boundary length information of the farmland and the density information of the rice seedlings to be planted. When the remaining amount information of the seedling box reaches 25%, the position acquisition module 41 of the position prediction device 40 is triggered at this time. The position acquisition module 41 acquires the current position information of the high-speed rice transplanter 10, and the information processing module 42 continues to acquire the running information of the high-speed rice transplanter 10. Combining the above information, the information processing module 42 can process and predict the transplanting relay position of the high-speed rice transplanter 10.
Specifically, the information processing module 42 includes a mileage predicting unit 420 that predicts how many miles the remaining 25% can currently travel based on the traveling speed of the high-speed rice transplanter 10 and the seedling consumption speed of the seedling box. Another prediction method is: the mileage predicting unit predicts how many miles the current 25% of seedling allowance can travel according to the traveling speed of the high-speed rice transplanter 10 and the planting speed of the rice transplanting device. Therefore, the mileage predicting unit can predict the remaining mileage information of the high-speed rice transplanter 10 for the remaining amount of the current seedling box.
In the first prediction mode, when the residual information of the seedling box 11 of the high-speed rice transplanter 10 reaches a predetermined residual information, namely 25%, the position acquisition module 41 is triggered to acquire the current position information of the high-speed rice transplanter 10. Further, the information processing module 42 is communicatively connected to the position acquiring module 41, the information processing module 42 acquires the current position information of the high speed rice transplanter 10, the remaining mileage information, and the position information of the field, and based on the above information, the information processing module 42 processes and generates a predicted relay position information, which is transmitted to another high speed rice transplanter 10 nearby through the information transmitting module 43.
More specifically, the information processing module 42 communicatively connects the seedling box 11 and the travel system of the high-speed rice transplanter 10, and the information processing module 42 acquires seedling consumption information of the seedling box 11, which is the ratio of the traveled mileage to the number of seedlings planted therein. Therefore, when the seedling consumption information is combined with the residual information of the current seedling box 11, the transplanting mileage of the seedling box 11 under the condition of the residual information can be calculated. Furthermore, the predicted relay position information can be obtained in a predicted manner by combining the farmland position information and the current position information.
When the other high-speed rice transplanter 10 receives the predicted relay position information, the information processing module 42 processes the predicted relay position information and generates a traveling control information, the traveling control information is output to a traveling system of the high-speed rice transplanter 10, and the traveling system executes the traveling control information to drive the high-speed rice transplanter 10 to travel to the predicted relay position. Note that the predicted relay position information is processed and generated as the travel control information, and the destination thereof is the predicted relay position.
When another high-speed rice transplanter 10 reaches the predicted relay position, the information processing module 42 further generates a rice transplanting route information according to the predicted relay position, and the rice transplanting route information can be transmitted to the high-speed rice transplanter 10 to complete rice transplanting operation. And the transplanting path represented by the transplanting path information is continued from the relay prediction position to the transplanting path of the previous high-speed transplanter 10.
For example, when the remaining amount of the seedling box 11 reaches 25%, for example, 25 seedlings, the high-speed rice transplanter 10 travels 100 meters to plant 100 seedlings, and the planting distance of the remaining 25 seedlings can be calculated to be 25 meters. That is, the predicted position of the transplanting relay can be obtained by further adding 25 meters to the current position of the high-speed rice transplanter 10 and considering the position information of the whole farmland.
In another prediction mode, when the residual information of the seedling box 11 of the high-speed rice transplanter 10 reaches a predetermined residual information, namely 25%, the position acquisition module 41 is triggered to acquire the current position information of the high-speed rice transplanter 10. Further, the information processing module 42 is communicatively connected to the position acquiring module 41, the information processing module 42 acquires the current position information of the high speed rice transplanter 10, the remaining mileage information, and the position information of the field, and based on the above information, the information processing module 42 processes and generates a predicted relay position information, which is transmitted to another high speed rice transplanter 10 nearby through the information transmitting module 43.
Specifically, the information processing module 42 is communicatively connected to the planting device 12, obtains the planting speed of the planting device 12, and calculates how many miles can be planted according to the current remaining amount by combining the planting speed of the planting device 12 and the remaining amount information of the seedling box. Further, the predicted relay position information can be predicted by combining the farmland position information and the current position information.
When the other high-speed rice transplanter 10 receives the predicted relay position information, the information processing module 42 processes the predicted relay position information and generates a traveling control information, the traveling control information is output to a traveling system of the high-speed rice transplanter 10, and the traveling system executes the traveling control information to drive the high-speed rice transplanter 10 to travel to the predicted relay position. Note that the predicted relay position information is processed and generated as the travel control information, and the destination thereof is the predicted relay position.
When another high-speed rice transplanter 10 reaches the predicted relay position, the information processing module 42 further generates a rice transplanting route information according to the predicted relay position, and the rice transplanting route information can be transmitted to the high-speed rice transplanter 10 to complete rice transplanting operation. And the transplanting path represented by the transplanting path information is continued from the relay prediction position to the transplanting path of the previous high-speed transplanter 10.
For example, when the remaining amount of the seedling box 11 reaches 25%, for example, 25 seedlings, the planting speed of the seedling planting device 12 is 1 minute to plant 1 seedling, that is, the planting time of the remaining 25 seedlings needs 25 minutes, and the current driving speed of the high-speed seedling planting machine is 10 meters per minute, the predicted mileage is calculated to be 250 meters, that is, the position of the high-speed seedling planting machine 10 is further added with 25 meters while considering the position information of the whole farmland, and finally the predicted seedling planting relay position can be obtained.
According to the above embodiments, the present invention further provides a method of transplanting rice seedlings, comprising the steps of:
(A) generating a transplanting relay information in the transplanting process of the high-speed transplanter 10;
(B) the information of the transplanting relay is transmitted to another high-speed rice transplanter 10 so as to drive another high-speed rice transplanter 10 to run at the transplanting relay position indicated by the information of the transplanting relay; and
(C) the other high-speed rice transplanter 10 continuously finishes the rice transplanting work.
In one embodiment, the step (a) may be implemented as:
(A.1) in the transplanting process of the high-speed rice transplanter 10, transplanting the mark S by the high-speed rice transplanter 10, and generating the transplanting relay information by the mark S.
Preferably, the step (a.1) can also be implemented as one of the steps: the mark S is arranged at the end of the seedling transplanting sequence of the seedling box, when the seedlings of the seedling box are planted according to the seedling transplanting sequence and the seedlings are completely transplanted, the mark S is transplanted through the seedling transplanting device, and the mark S generates the seedling transplanting relay information.
Optionally, the step (a.1) may also be implemented as another step: the mark S is arranged in the seedling transplanting device, when the seedlings in the seedling box are completely transplanted, the seedling box generates a completion message and transmits the completion message to the seedling transplanting device, the seedling transplanting device executes the transplanting of the mark S, and the mark S generates the transplanting relay information or
The mark S is arranged in the transplanting device, when the high-speed transplanting machine 10 fails and cannot continue transplanting, the high-speed transplanting machine 10 generates fault information, the transplanting device executes the transplanting of the mark S, and the mark S generates the transplanting force information.
In another embodiment, the step (a) may be implemented as: (A.2) predicting and generating the transplanting relay information when the seedling residual of the seedling box reaches a preset residual proportion in the transplanting process of the high-speed transplanter 10.
It is understood that a predetermined seedling allowance proportion of the seedling box in the step (a.2) may be any one of 0 to 50%.
In the step (a.2), further comprising the steps of:
(A.2.1) acquiring current position information of the high-speed rice transplanter 10 and position information of the farmland;
(a.2.2) predicting and generating a remaining mileage information; and
(A.2.3) predicting and generating the transplanting relay information by combining the current position information of the high-speed rice transplanter 10, the position information of the farmland and the remaining mileage information.
In one embodiment, (a.2.2) is implemented as: and acquiring the running speed of the high-speed rice transplanter 10 and the rice seedling consumption speed of the rice seedling box, predicting and generating the remaining mileage information.
In another embodiment, (A.2.2) is implemented to acquire the traveling speed of the high speed rice transplanter 10 and the planting speed of the planting device, predict and generate the remaining mileage information.
In another embodiment, the (a) may be implemented as: (A.3) in the transplanting process of the high-speed rice transplanter 10, when the high-speed rice transplanter generates a completion message, the high-speed rice transplanter 10 records the current position message to further generate the transplanting relay message.
(A.4) in the transplanting process of the high-speed rice transplanter 10, when the high-speed rice transplanter generates fault information, the high-speed rice transplanter 10 records the current position information so as to generate the transplanting relay information.
Between the step (a) and the step (B), the rice transplanting method further comprises the steps of: calculating to obtain another high-speed rice transplanter which is the closest distance to the current high-speed rice transplanter 10.
In one embodiment, the step (B) is performed as the following step another high speed rice transplanter 10 actively acquires the transplanting force information of the marker S.
In another embodiment, the step 2 is implemented as the following step that the marker S transmits the transplanting force information and the other high-speed rice transplanter 10 receives the transplanting force information.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (18)
1. A rice transplanting system, comprising:
the high-speed rice transplanter comprises at least two high-speed rice transplanters, wherein each high-speed rice transplanter comprises a rice seedling box and a rice seedling transplanting device connected with the rice seedling box, the rice seedling box is used for storing a certain amount of rice seedlings, and the rice seedling transplanting devices can obtain the rice seedlings in the rice seedling box; and
and the position acquisition module is in control connection with all the high-speed rice transplanting machines in a communication way, and comprises a mark and an information receiving device, the mark is internally provided with a positioning device so as to send current position information, the information receiving device can receive the current position information sent by the mark, the mark is arranged in the seedling box, and at the end of the seedling transplanting sequence of the seedling box, the position acquisition module acquires the transplanting relay information of the high-speed rice transplanting machines in a way that the mark is transplanted in the seedling transplanting process of one high-speed rice transplanting machine and transmits the transplanting relay information to the other high-speed rice transplanting machine so as to control the other high-speed rice transplanting machine to continuously complete the transplanting work in the relay position.
2. The rice transplanting system of claim 1, wherein the high speed rice transplanting machine includes a fault detection device communicatively connected to the rice transplanting device, the rice transplanting device transplanting the marker when the fault detection device detects the detection information.
3. The rice transplanting system of claim 1, wherein the position acquiring module further comprises an information acquiring device, the information acquiring device is disposed at the high-speed rice transplanter, the information acquiring device is communicatively connected to the marker, and the information acquiring device is capable of acquiring the rice transplanting relay information of another high-speed rice transplanter.
4. The rice transplanting system of any one of claims 1 to 3, wherein the position acquiring module further comprises a marker recycling device provided on the high speed rice transplanting machine, the marker recycling device being capable of recycling the marker.
5. The rice transplanting system of claim 4, wherein the marker recovery device is a magnetic recovery device, and the marker is a metal marker, so that the marker recovery device can recover the marker by magnetically absorbing the marker.
6. A rice transplanting system, comprising:
at least two high-speed rice transplanters; and
the position acquisition module is in control connection with all the high-speed rice transplanting machines in a communication way, and when one high-speed rice transplanting machine is used for transplanting rice, the position acquisition module acquires transplanting relay information of the high-speed rice transplanting machine and transmits the transplanting relay information to the other high-speed rice transplanting machine so as to control the other high-speed rice transplanting machine to continuously complete rice transplanting work in a relay position;
the position acquiring module comprises a position predicting device, the position predicting device comprises a position acquiring module, an information processing module and an information receiving and sending module, the position acquiring module is used for acquiring current position information of the high-speed rice transplanter, the information processing module is used for acquiring the position information, running information and rice transplanting information of the high-speed rice transplanter and processing the information to generate predicted relay position information, and the information receiving and sending module is used for receiving and sending the predicted relay position information, so that the position predicting device can predict and generate the rice transplanting relay information of the high-speed rice transplanter, and the rice transplanting relay information is transmitted to another high-speed rice transplanter to control another high-speed rice transplanter to continuously complete rice transplanting work in the relay position.
7. The rice transplanting system of claim 6, wherein the high speed rice transplanter has a seedling box, the information processing module is communicatively connected to the seedling box, when the seedling box reaches a predetermined margin, the information processing module is triggered to control the position acquiring module to acquire the position information of the high speed rice transplanter, and the information processing module predicts the predicted mileage of the high speed rice transplanter to form the rice transplanting relay information.
8. The rice transplanting system of claim 7, wherein the information processing module comprises a predicted mileage unit that acquires seedling consumption information of the high speed rice transplanter, the predicted mileage unit combines the seedling consumption information with remaining amount information of the seedling box to derive a predicted mileage, and the information processing module combines the predicted mileage and current position information of the high speed rice transplanter to form the rice transplanting relay information.
9. The rice transplanting system of claim 7, wherein the high speed rice transplanter has a rice transplanting device, the information processing module comprises a predicted mileage unit, the predicted mileage unit obtains the rice transplanting speed of the rice transplanting device of the high speed rice transplanter, the predicted mileage unit combines the rice transplanting speed and the remaining amount information of the rice seedling box to obtain the remaining travel time, and further combines the travel speed of the high speed rice transplanter to obtain the predicted mileage, and the information processing module combines the predicted mileage and the current position information of the high speed rice transplanter to form the rice transplanting relay information.
10. A method of transplanting rice, comprising the steps of:
(a) generating transplanting relay information in the transplanting process of a high-speed transplanter;
(b) indicating a transplanting relay position to transmit to another high-speed transplanter; and
(c) driving the other high-speed rice transplanter to the rice transplanting relay position and continuously completing rice transplanting work;
in the step (a), when a transplanting device of the high-speed transplanter is used for transplanting vegetation and is arranged in a seedling box of the high-speed transplanter and is at the last mark of the seedling sowing sequence of the seedling box, a positioning device with built-in marks sends current position information, and the current position information forms the transplanting relay information.
11. The rice transplanting method according to claim 10, wherein the marker is provided in the rice transplanting apparatus, the high speed rice transplanting apparatus generates a failure message when the high speed rice transplanting apparatus fails to continue planting, the rice transplanting apparatus performs the planting of the marker, and the marker generates a rice transplanting force message.
12. The rice transplanting method according to claim 10 or 11, wherein between the step (a) and the step (b), the rice transplanting method further comprises the steps of: and calculating to obtain the other high-speed rice transplanter with the closest distance to the current high-speed rice transplanter.
13. The rice transplanting method according to claim 10, wherein in the step (b): and the other high-speed rice transplanter actively acquires the rice transplanting relay information of the mark.
14. The rice transplanting method according to claim 13, wherein in the step (b): the marker transmits the information of the transplanting relay, and the other high-speed rice transplanter receives the information of the transplanting relay.
15. A method of transplanting rice, comprising the steps of:
(a) generating transplanting relay information in the transplanting process of a high-speed transplanter;
(b) indicating a transplanting relay position to transmit to another high-speed transplanter; and
(c) driving the other high-speed rice transplanter to the rice transplanting relay position and continuously completing rice transplanting work;
wherein in the step (a), further comprising the steps of:
(a.1) acquiring current position information of the high-speed rice transplanter; and
(a.2) predicting the transplanting relay information according to the current position information of the high-speed transplanting machine, the running information of the high-speed transplanting machine and the transplanting information.
16. The rice transplanting method according to claim 15, wherein in the above step, further comprising the steps of:
acquiring current position information of the high-speed rice transplanter and position information of a farmland;
predicting and generating remaining mileage information; and
and predicting and generating transplanting relay information by combining the current position information of the high-speed rice transplanter, the position information of the farmland and the remaining mileage information.
17. The rice transplanting method as claimed in claim 16, wherein in the above steps, a traveling speed of the high speed rice transplanter and a seedling consumption speed of a seedling box of the high speed rice transplanter are obtained, and the remaining mileage information is predicted and generated.
18. The rice transplanting method of claim 16, wherein in the above steps, a traveling speed of the high speed rice transplanter and a planting speed of the high speed rice transplanter are acquired, and the remaining mileage information is predicted and generated.
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| JP4570398B2 (en) * | 2004-05-24 | 2010-10-27 | ヤンマー株式会社 | Rice transplanter |
| EP2931021B1 (en) * | 2012-12-17 | 2021-06-23 | The Climate Corporation | Plot placement method |
| CN103749051A (en) * | 2014-01-02 | 2014-04-30 | 常州亚美柯机械设备有限公司 | Double-take type rice transplanter with auxiliary rice seedling storing and loading device |
| CN205213336U (en) * | 2015-12-01 | 2016-05-11 | 青岛农业大学 | Potato position mark device and potato seeder |
| CN207083430U (en) * | 2017-08-29 | 2018-03-13 | 湖北理工学院 | A kind of efficiently automatic rice seedlings transplanting system |
| CN208113301U (en) * | 2017-12-25 | 2018-11-20 | 东风农业装备（襄阳）有限公司 | Intelligent transplanter and its control device with control device |
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