CN112740878A - Control system and method for single-person operated rice transplanter - Google Patents
Control system and method for single-person operated rice transplanter Download PDFInfo
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- CN112740878A CN112740878A CN202011589904.4A CN202011589904A CN112740878A CN 112740878 A CN112740878 A CN 112740878A CN 202011589904 A CN202011589904 A CN 202011589904A CN 112740878 A CN112740878 A CN 112740878A
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- transplanter
- automatic driving
- rice transplanter
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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Abstract
The invention discloses a control system and a method of a single-person operated rice transplanter, wherein the control system comprises the following steps: the Beidou navigation automatic driving system comprises a receiver, a steering wheel steering motor, a display terminal and 4G/5G antenna modules, wherein the receiver is installed right above a cab of the rice transplanter, the steering wheel steering motor is connected with the steering wheel of the rice transplanter, the 4G/5G antenna modules are installed on two sides of the receiver, the display terminal is installed on the side face of the cab of the rice transplanter, and the Beidou navigation automatic driving system further comprises a detection module and a control module. The invention reduces the personnel cost, does not need to hire a full-time driver, and the driver can realize high-precision rice transplanting operation only by simple rice transplanting machine operation. When the transplanter is in an automatic driving state, a driver can also realize the seedling feeding without stopping the machine; the operating efficiency is improved, 1-2 individual loads and space can be saved by automatic driving, and the seedling adding times during parking can be reduced.
Description
Technical Field
The invention relates to the technical field of rice transplanters, in particular to a control system and a control method of a single-person operated rice transplanter.
Background
A rice transplanter is an agricultural machine for planting rice seedlings into rice fields. When planting, firstly, a mechanical claw takes out a plurality of rice seedlings from a seedbed and plants the soil in a field, and in order to keep the angle between the seedbed and the ground at a right angle, the front end of the mechanical claw must adopt an elliptic action curve when moving. The motion is completed by a planetary mechanism of a rotary or deformation gear, and the advancing engine can drive the motion machines at the same time. The rice transplanter must have anti-slip wheels and a floating design when moving on the soil. If the seedlings are cut into pieces, the rice seedlings are taken out from a specific seedling box and then planted in a mechanical mode.
At present, the traditional transplanter has the following defects:
1. the operation mode of the traditional transplanter is that 2-3 people get on the transplanter simultaneously, the operation is divided into 1 person to be responsible for driving, and the rest persons are responsible for feeding seedlings on a seedling tray;
2. the traditional rice transplanter is manually driven, and has higher requirement on the operation level of a driver of an agricultural machine;
3. the labor cost is high when the transplanter operates;
4. the high-operation level agricultural machinery driver can not guarantee the high-precision transplanting operation requirement (not straight running) in long-distance long-time driving operation, and repeated or omitted operation of the land is easy to occur, so that the rice yield is reduced;
5. the transplanter has a small body and limited loading capacity, and the more people are loaded, the fewer seedling trays can be loaded, so that the actual operation efficiency of the transplanter is reduced; the same operation area, the times of adding seedlings when the machine is parked on the shore are more, the operation time is long, and the fuel consumption of agricultural materials is large. Therefore, a new technical solution needs to be provided.
Disclosure of Invention
The invention aims to provide a control system and a control method of a single-person operated rice transplanter, which solve the problems in the prior art that:
1. the operation mode of the traditional transplanter is that 2-3 people get on the transplanter simultaneously, the operation is divided into 1 person to be responsible for driving, and the rest persons are responsible for feeding seedlings on a seedling tray;
2. the traditional rice transplanter is manually driven, and has higher requirement on the operation level of a driver of an agricultural machine;
3. the labor cost is high when the transplanter operates;
4. the high-operation level agricultural machinery driver can not guarantee the high-precision transplanting operation requirement (not straight running) in long-distance long-time driving operation, and repeated or omitted operation of the land is easy to occur, so that the rice yield is reduced;
5. the transplanter has a small body and limited loading capacity, and the more people are loaded, the fewer seedling trays can be loaded, so that the actual operation efficiency of the transplanter is reduced; the same operation area, the times of adding seedlings when the machine is parked on the shore, the operation time is long, and the fuel consumption of agricultural materials is large.
In order to achieve the purpose, the invention provides the following technical scheme: a control system and method for a single-person operated rice transplanter comprises: the Beidou navigation automatic driving system comprises a receiver, a steering wheel steering motor, a display terminal and 4G/5G antenna modules, wherein the receiver is installed right above a cab of the rice transplanter, the steering wheel steering motor is connected with the steering wheel of the rice transplanter, the 4G/5G antenna modules are installed on two sides of the receiver, the display terminal is installed on the side face of the cab of the rice transplanter, and the Beidou navigation automatic driving system further comprises a detection module and a control module.
As a preferred embodiment of the present invention, the detection module includes a big dipper high precision positioning module, an inertial measurement sensor, and a magnetometer.
In a preferred embodiment of the present invention, the control module includes a longitudinal control module and a transverse control module, and the control module is connected to the steering motor.
In a preferred embodiment of the present invention, the side surfaces of the longitudinal control module and the lateral control module are connected with a patrol positioning module.
As a preferred embodiment of the present invention, the receiver includes therein an RTK single antenna, a six-axis gyroscope, an electronic compass, and a controller.
As a preferred embodiment of the present invention, the operation method comprises the steps of:
step 1: the problem of reducing the number of operators of agricultural machinery during rice transplanting operation is solved by modifying the function of a Beidou navigation automatic driving system of the traditional rice transplanter, so that the optimization target of the operation of operating the rice transplanter by one person is realized;
step 2: the Beidou navigation automatic driving system realizes the auxiliary linear running function of the transplanter by receiving the satellite navigation RTK differential signal and controlling the transplanter steering system so as to achieve the purposes of liberating the transplanter driver, realizing the non-stop seedling tray seedling supplementing operation in the transplanting operation process of the transplanter and realizing the operation of the transplanter by one person;
and step 3: the automatic driving system major system of big dipper navigation constitutes, and the receiver, steering wheel steering motor, display terminal and 4G 5G antenna module constitute. The receiver mainly integrates the components of an RTK single antenna, a six-axis gyroscope, an electronic compass and a controller, and has the main functions of being responsible for the logic control operation of the whole system, receiving RTK satellite signals, maintaining the posture stability of a vehicle body and distinguishing the advancing direction of the vehicle; the steering wheel motor is an actuating mechanism of a steering system of the rice transplanter and mainly has the function of being responsible for controlling the direction of the vehicle; the display terminal is a human-computer interaction interface and receives foundation differential data of the 4G mobile signals, so that navigation accuracy is controlled to be +/-2.5 cm.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention reduces the personnel cost, does not need to hire a full-time driver, and the driver can realize high-precision rice transplanting operation only by simple rice transplanting machine operation. When the transplanter is in an automatic driving state, a driver can also realize the seedling feeding without stopping the machine; the operating efficiency is improved, 1-2 individual loads and space can be saved by automatic driving, and seedlings can be loaded more, so that the number of times of seedling feeding during parking is reduced;
(2) the invention improves the operation precision, can automatically align the operation binding line when the automatic driving system is used for transplanting rice seedlings, and can not generate repeated operation on the same land and omission. The automatic driving system can accurately operate, and the vehicle running distance is shortest, so that the rice transplanting time and the consumption of fuel oil and agricultural materials are greatly saved. Automatic alignment and uniform planting are realized, and later-period plant protection, fertilization and other operations are facilitated;
(3) the invention increases the yield, can automatically and accurately align the operation combination line when the automatic driving system is used for transplanting rice seedlings, does not have repeated operation in the same block, does not have omission, and can multicast the area; the accurate cross-connection ensures sufficient ventilation and sunlight, improves the lodging resistance of the seedlings and is beneficial to the growth of crops; the accurate cross-over can ensure the absorption of the nutrients of the crops and is beneficial to the growth of the crops.
Drawings
FIG. 1 is a schematic view of the installation of the rice transplanter apparatus of the present invention;
FIG. 2 is a schematic flow chart of the Beidou navigation automatic driving system of the invention;
FIG. 3 is a schematic flow diagram of a detection module according to the present invention;
FIG. 4 is a flow chart of a control module according to the present invention.
In the figure: 1. a steering wheel steering motor; 2. a display terminal; 3. a receiver; 4. 4G/5G antenna module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a control system and method for a single-person operated rice transplanter comprises: the Beidou navigation automatic driving system comprises a receiver 3, a steering wheel steering motor 1, a display terminal 2 and 4G/5G antenna modules 4, wherein the receiver 3 is installed right above a cab of the rice transplanter, the steering wheel steering motor 1 is connected with the steering wheel of the rice transplanter, the 4G/5G antenna modules 4 are installed on two sides of the receiver 3, the display terminal 2 is installed on the side face of the cab of the rice transplanter, the Beidou navigation automatic driving system further comprises a detection module and a control module, when the automatic driving system is used for rice transplanting operation, an operation combination line can be automatically aligned, repeated operation of the same block can not occur, and omission can not occur. The automatic driving system can accurately operate, and the vehicle running distance is shortest, so that the rice transplanting time and the consumption of fuel oil and agricultural materials are greatly saved. Automatic alignment and uniform planting are realized, the post-stage plant protection, fertilization and other operations are facilitated, when an automatic driving system is used for transplanting rice seedlings, the operation combination line can be automatically and accurately aligned, repeated operation on the same land can be avoided, omission can be avoided, and multicast area can be realized; the accurate cross-connection ensures sufficient ventilation and sunlight, improves the lodging resistance of the seedlings and is beneficial to the growth of crops; the accurate cross-over can ensure the absorption of the nutrients of the crops and is beneficial to the growth of the crops.
In a further improvement, as shown in fig. 3, the detection module includes a big dipper high precision positioning module, an inertial measurement sensor and a magnetometer, and the detection module detects the land parcel to be operated on the spot to obtain accurate land parcel information.
In a further improvement, as shown in fig. 4, the control module includes a longitudinal control module and a transverse control module, the control module is connected with the steering wheel steering motor 1, and the control module is used for controlling the automatic planting device to ensure the planting accuracy.
In a further improvement, as shown in fig. 4, the side surfaces of the longitudinal control module and the transverse control module are connected with a patrol positioning module, and the patrol positioning module positions the transplanter to ensure the accuracy of the advancing route.
Further improved, as shown in fig. 2: the receiver 3 comprises an RTK single antenna, a six-axis gyroscope, an electronic compass and a controller, and has the main functions of being responsible for the logic control operation of the whole system, receiving RTK satellite signals, maintaining the stable posture of a vehicle body and distinguishing the advancing direction of the vehicle.
Further improved, as shown in fig. 1-3: the operation method comprises the following steps:
step 1: the problem of reducing the number of operators of agricultural machinery during rice transplanting operation is solved by modifying the function of a Beidou navigation automatic driving system of the traditional rice transplanter, so that the optimization target of the operation of operating the rice transplanter by one person is realized;
step 2: the Beidou navigation automatic driving system realizes the auxiliary linear running function of the transplanter by receiving the satellite navigation RTK differential signal and controlling the transplanter steering system so as to achieve the purposes of liberating the transplanter driver, realizing the non-stop seedling tray seedling supplementing operation in the transplanting operation process of the transplanter and realizing the operation of the transplanter by one person;
and step 3: the automatic driving system major system of big dipper navigation constitutes, and the receiver, steering wheel steering motor, display terminal and 4G 5G antenna module constitute. The receiver mainly integrates the components of an RTK single antenna, a six-axis gyroscope, an electronic compass and a controller, and has the main functions of being responsible for the logic control operation of the whole system, receiving RTK satellite signals, maintaining the posture stability of a vehicle body and distinguishing the advancing direction of the vehicle; the steering wheel motor is an actuating mechanism of a steering system of the rice transplanter and mainly has the function of being responsible for controlling the direction of the vehicle; the display terminal is a human-computer interaction interface and receives foundation differential data of the 4G mobile signals, so that navigation accuracy is controlled to be +/-2.5 cm.
The invention reduces the personnel cost, does not need to hire a full-time driver, and the driver can realize high-precision rice transplanting operation only by simple rice transplanting machine operation. When the transplanter is in an automatic driving state, a driver can also realize the seedling feeding without stopping the machine; the operating efficiency is improved, 1-2 individual loads and space can be saved by automatic driving, and seedlings can be loaded more, so that the number of times of seedling feeding during parking is reduced; when the automatic driving system is used for transplanting rice seedlings, the automatic driving system can automatically align the operation combination line, and repeated operation on the same land and omission do not occur. The automatic driving system can accurately work, and the running distance of the vehicle is shortest, so that the rice transplanting time and the consumption of fuel oil and agricultural materials are greatly saved; automatic alignment and uniform planting are realized, the later-stage plant protection, fertilization and other operations are facilitated, and the operation precision is improved; when the automatic driving system is used for transplanting rice seedlings, the automatic driving system can automatically and accurately align the operation combination line, the repeated operation of the same block can not occur, omission can not occur, and the area can be multicast; the accurate cross-connection ensures sufficient ventilation and sunlight, improves the lodging resistance of the seedlings and is beneficial to the growth of crops; the accurate cross-over can ensure the absorption of crop nutrients, is beneficial to the growth of crops and increases the yield.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A control system of a single-person operated rice transplanter is characterized in that: the method comprises the following steps: beidou navigation automatic driving system, Beidou navigation automatic driving system includes receiver (3), steering wheel steering motor (1), display terminal (2) and 4G/5G antenna module (4), receiver (3) are installed directly over the driver's cabin of transplanter, steering wheel steering motor (1) are connected with the steering wheel of transplanter, 4G/5G antenna module (4) are installed in the both sides of receiver (3), display terminal (2) are installed in the driver's cabin side of transplanter, Beidou navigation automatic driving system still includes detection module and control module.
2. The control system of a single-person operated rice transplanter according to claim 1, wherein: the detection module comprises a Beidou high-precision positioning module, an inertial measurement sensor and a magnetometer.
3. The control system of a single-person operated rice transplanter according to claim 2, wherein: the control module comprises a longitudinal control module and a transverse control module, and the control module is connected with the steering motor (1) of the steering wheel.
4. The control system of a single-person operated rice transplanter according to claim 3, wherein: and the side surfaces of the longitudinal control module and the transverse control module are connected with a patrol positioning module.
5. The control system of a single-person operated rice transplanter according to claim 1, wherein: the receiver (3) comprises an RTK single antenna, a six-axis gyroscope, an electronic compass and a controller.
6. A method of operating a rice transplanter as claimed in claim 1, wherein: the operation method comprises the following steps:
step 1: the problem of reducing the number of operators of agricultural machinery during rice transplanting operation is solved by modifying the function of a Beidou navigation automatic driving system of the traditional rice transplanter, so that the optimization target of the operation of operating the rice transplanter by one person is realized;
step 2: the Beidou navigation automatic driving system realizes the auxiliary linear running function of the transplanter by receiving the satellite navigation RTK differential signal and controlling the transplanter steering system so as to achieve the purposes of liberating the transplanter driver, realizing the non-stop seedling tray seedling supplementing operation in the transplanting operation process of the transplanter and realizing the operation of the transplanter by one person;
and step 3: the automatic driving system major system of big dipper navigation constitutes, and the receiver, steering wheel steering motor, display terminal and 4G 5G antenna module constitute. The receiver mainly integrates the components of an RTK single antenna, a six-axis gyroscope, an electronic compass and a controller, and has the main functions of being responsible for the logic control operation of the whole system, receiving RTK satellite signals, maintaining the posture stability of a vehicle body and distinguishing the advancing direction of the vehicle; the steering wheel motor is an actuating mechanism of a steering system of the rice transplanter and mainly has the function of being responsible for controlling the direction of the vehicle; the display terminal is a human-computer interaction interface and receives foundation differential data of the 4G mobile signals, so that navigation accuracy is controlled to be +/-2.5 cm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011589904.4A CN112740878A (en) | 2020-12-29 | 2020-12-29 | Control system and method for single-person operated rice transplanter |
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| CN202011589904.4A CN112740878A (en) | 2020-12-29 | 2020-12-29 | Control system and method for single-person operated rice transplanter |
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| JP2016010336A (en) * | 2014-06-27 | 2016-01-21 | 株式会社クボタ | Planting and sowing type field working machine |
| CN106892009A (en) * | 2017-02-13 | 2017-06-27 | 黄伟 | A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation and its control method |
| JP2018171073A (en) * | 2018-07-12 | 2018-11-08 | 株式会社クボタ | Field work machine |
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| CN111201867A (en) * | 2020-03-04 | 2020-05-29 | 上海联适导航技术有限公司 | Unmanned transplanter based on Beidou navigation and positioning system |
| CN111216708A (en) * | 2020-01-13 | 2020-06-02 | 上海华测导航技术股份有限公司 | Vehicle navigation guidance system and vehicle |
| CN112130172A (en) * | 2020-09-23 | 2020-12-25 | 江苏海洋大学 | 5G intelligent Beidou satellite integrated foundation enhancement station |
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2020
- 2020-12-29 CN CN202011589904.4A patent/CN112740878A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202121788U (en) * | 2011-03-25 | 2012-01-18 | 马骥 | Communication position monitoring system based on GPS and base station positioning |
| JP2016010336A (en) * | 2014-06-27 | 2016-01-21 | 株式会社クボタ | Planting and sowing type field working machine |
| CN106892009A (en) * | 2017-02-13 | 2017-06-27 | 黄伟 | A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation and its control method |
| JP2018171073A (en) * | 2018-07-12 | 2018-11-08 | 株式会社クボタ | Field work machine |
| CN110262525A (en) * | 2019-08-15 | 2019-09-20 | 雷沃重工股份有限公司 | Self-navigation control loop and method for farm machinery |
| CN111216708A (en) * | 2020-01-13 | 2020-06-02 | 上海华测导航技术股份有限公司 | Vehicle navigation guidance system and vehicle |
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| CN112130172A (en) * | 2020-09-23 | 2020-12-25 | 江苏海洋大学 | 5G intelligent Beidou satellite integrated foundation enhancement station |
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