CN114342615A - Automatic control method, device and equipment for rice transplanter and storage medium - Google Patents
Automatic control method, device and equipment for rice transplanter and storage medium Download PDFInfo
- Publication number
- CN114342615A CN114342615A CN202111523133.3A CN202111523133A CN114342615A CN 114342615 A CN114342615 A CN 114342615A CN 202111523133 A CN202111523133 A CN 202111523133A CN 114342615 A CN114342615 A CN 114342615A
- Authority
- CN
- China
- Prior art keywords
- state
- rice transplanter
- controlling
- transplanting
- state information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 183
- 235000009566 rice Nutrition 0.000 title claims abstract description 183
- 238000000034 method Methods 0.000 title claims abstract description 76
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 182
- 230000033001 locomotion Effects 0.000 claims description 108
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transplanting Machines (AREA)
Abstract
The embodiment of the invention discloses an automatic control method, a device, equipment and a storage medium of a rice transplanter, wherein the method comprises the following steps: determining first state information and second state information of the rice transplanter; when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic; and when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic. According to the scheme, the rice transplanting operation efficiency is improved, and unmanned operation is realized.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned equipment, in particular to an automatic control method, device, equipment and storage medium for a rice transplanter.
Background
The transplanter is an agricultural machine for planting crop seedlings into a field, and when the transplanter plants the crops, the seedling is planted by the mutual cooperation of the seedling carrying table and the planting part.
When the existing rice transplanter is operated, such as a riding type high-speed rice transplanter, a driver needs to control a gear box in real time on a driving position to control the rice transplanting speed, the lifting of a rice seedling carrying platform and the clutching of a rotary box of a transplanting part, so that the rice transplanting operation with equal rows and equal distances is realized. However, this control method requires a lot of manpower and is inefficient.
Disclosure of Invention
The embodiment of the invention provides an automatic control method, device, equipment and storage medium of a rice transplanter, solves the problems of low operation efficiency and large labor consumption of rice transplanting equipment in the prior art, improves the rice transplanting operation efficiency and realizes unmanned operation.
In a first aspect, an embodiment of the present invention provides an automatic control method for a rice transplanter, including:
determining first state information and second state information of the rice transplanter;
when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic;
and when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic.
In a second aspect, an embodiment of the present invention further provides an automatic control device for a rice transplanter, including:
the state information determining module is used for determining first state information and second state information of the rice transplanter;
the first control module is used for controlling the accelerator of the accelerator device to return to zero when detecting that the first state information and the second state information meet the state switching condition, and controlling the seedling carrying table, the transplanting part and the gearbox according to a first preset control logic;
and the second control module is used for controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic when detecting that the first state information and the second state information meet the state maintaining condition.
In a third aspect, an embodiment of the present invention further provides an automatic control apparatus for a rice transplanter, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors realize the automatic control method of the rice transplanter.
In a fourth aspect, the embodiment of the invention further provides a storage medium for storing computer-executable instructions, and the computer-executable instructions are used for executing the automatic control method of the rice transplanter according to the embodiment of the invention when being executed by a computer processor.
In the embodiment of the invention, by determining the first state information and the second state information of the rice transplanter, when the first state information and the second state information are detected to meet the state switching condition, the accelerator of the accelerator device is controlled to be zero, the rice seedling carrying table, the transplanting part and the gearbox are controlled according to the first preset control logic, and when the first state information and the second state information are detected to meet the state maintaining condition, the rice seedling carrying table, the transplanting part and the gearbox are controlled according to the second preset control logic, so that the rice seedling transplanting operation efficiency is improved, the automatic control of the speed of the rice transplanter, the lifting of the rice seedling carrying table and the transplanting part is realized, and the whole-process unmanned operation is realized.
Drawings
FIG. 1 is a flow chart of an automatic control method of a rice transplanter according to an embodiment of the present invention;
FIG. 2 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention;
FIG. 3 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention;
FIG. 4 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention;
FIG. 5 is a flow chart of another automatic control method of a rice transplanter according to an embodiment of the present invention;
FIG. 6 is a flow chart of another automatic control method of a rice transplanter according to an embodiment of the present invention;
FIG. 7 is a schematic block diagram of an automatic control device of a rice transplanter according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an automatic control device of a rice transplanter according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The automatic control method of the rice transplanter provided by the embodiment of the application is described in detail through specific embodiments and application scenarios thereof with reference to the attached drawings.
Fig. 1 is a flowchart of an automatic control method for a rice transplanter according to an embodiment of the present invention, which can automatically control the rice transplanter to complete a rice transplanting task, and the method can be executed by a device with a computing function, such as a single chip microcomputer, a rice transplanter control module, and the like, and specifically includes the following steps:
step S101, determining first state information and second state information of the transplanter.
The first state information and the second state information are used for representing the movement trend state of the rice transplanter. And determining the movement trend of the rice transplanter according to the first state information and the second state information, such as the forward trend state, the backward trend state, the forward trend state to the backward trend state, the backward trend state to the forward trend state and the like of the rice transplanter.
In one embodiment, the first status information and the second status information may be control gear information of a gearbox of the rice transplanter. The gear can be a forward gear, a backward gear and a neutral gear, wherein the forward gear represents that the transplanter is in a forward trend, the backward gear represents that the transplanter is in a backward trend, and the neutral gear represents that the transplanter is in a static trend state. In another embodiment, the first state information and the second state information can also be information generated by a control signal sent by a control device of the rice transplanter, such as an advancing signal sent when the rice transplanter is identified to be required to continuously advance for rice transplanting operation; if the signal for controlling the rice transplanter to back up is identified, the signal is sent when the rice transplanter needs to back up.
And S102, when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying table, the transplanting part and the gearbox according to a first preset control logic.
Wherein, the throttle device is a device for controlling the throttle of an engine for providing power for the rice transplanter. And when the first state information and the second state information determine that the state switching conditions are met, controlling the accelerator of the accelerator device to return to zero. When the accelerator is returned to zero, the engine can not provide power for the driving device of the rice transplanter any more, and the oil supply is zero. After the accelerator is reset to zero, the seedling carrying platform, the transplanting part and the gearbox are controlled according to a first preset control logic. Wherein, the seedling carrying platform is a device for placing the seedlings to be transplanted, and the transplanting part is a mechanical device which is controlled by a machine and is used for inserting the seedlings of the seedling carrying platform into the operation area. The seedling carrying table comprises a mechanical control device to realize the ascending and descending control of the seedling carrying table according to a control signal; the inserting part can realize the control of the opening and closing of the mechanical equipment of the inserting part and the inserting speed through the integrated rotating box clutch of the inserting part. A gearbox is a mechanism used to vary the speed and torque of an engine. The first preset control logic corresponds to a set control program, and when corresponding control conditions are met, control signals are generated through the control logic to control parameters of the seedling carrying platform, the transplanting part and the gearbox.
In one embodiment, the state switching condition includes switching from a first motion state to a second motion state, a second motion state to a first motion state, a first motion state to a third motion state, and a second motion state to a third motion state. Optionally, the first motion state is a forward motion state, the second motion state is a reverse motion state, and the third motion state is a neutral state. The method is characterized in that the first state information and the second state information of the rice transplanter are determined, and when the first state information and the second state information are detected to meet the state switching condition, different control branches in a first preset control logic are executed according to different specific switching conditions of motion states, so that the control over the transplanting part, the rice seedling carrying table and the gearbox is realized.
And S103, when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying table, the transplanting part and the gearbox according to a second preset control logic.
The state maintaining condition is used for indicating that the movement of the rice transplanter keeps the same direction, such as maintaining a first movement state or maintaining a second movement state, wherein the first movement state can be a forward movement state, and the second movement state can be a backward movement state.
In one embodiment, when the current motion state of the rice transplanter is detected to meet the state maintaining condition according to the first state information and the second state information, the rice seedling carrying platform, the transplanting part and the gearbox are controlled according to a second preset control logic. Illustratively, taking the first state information and the second state information as examples, which are represented by the control gear, if it is detected that the control gear of the rice transplanter is in a forward gear and no gear switching is performed, it is determined that the state maintaining condition is satisfied, whereas if the control gear is switched from the forward gear to a reverse gear or from the reverse gear to the forward gear, the state maintaining condition is not satisfied.
According to the above, when the transplanter is controlled, the first state information and the second state information of the transplanter are determined, whether the transplanter meets the state switching condition or the state maintaining condition is judged according to the determined first state information and the second state information, if the transplanter meets the state switching condition, the accelerator of the accelerator device is controlled to be zero, then the seedling carrying table, the transplanting part and the gearbox are controlled according to the first preset control logic, and if the transplanter judges that the transplanter meets the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled according to the second preset control logic, so that the full-process automatic control of the transplanter is realized, the efficient automatic transplanting is realized, and the safe operation of the transplanter is ensured.
FIG. 2 is a flow chart of another automatic control method of the rice transplanter provided by the embodiment of the invention. When the first state information and the second state information are detected to satisfy the switching from the first motion state to the second motion state, a specific method for automatically controlling the seedling transplanting machine is provided, as shown in fig. 2, specifically comprising:
step S201, determining first state information and second state information of the transplanter.
Step S202, when the first state information and the second state information are detected to meet the condition that the first motion state is switched to the second motion state, controlling the accelerator of an accelerator device to return to zero, controlling the transplanting part to close, controlling the seedling carrying platform to ascend, and controlling the gearbox to reversely rotate.
In one embodiment, the first movement state may be a forward trend state of the rice transplanter and the second movement state may be a backward trend state of the rice transplanter. Different trend states can be determined through gear control information, for example, a forward gear represents a forward trend state, a backward gear represents a backward trend state, namely when the condition that the rice transplanter is switched from the forward trend state to the backward trend state is detected, an accelerator of a throttle valve device is controlled to return to zero, the corresponding transplanting part is controlled to be closed, the rice transplanting operation of the transplanting part is not carried out any more, after a rice seedling carrying platform is controlled to ascend, a gearbox is controlled to reverse, the forward movement direction is changed into the backward movement direction, at the moment, the control flow of the transplanting part, the rice seedling carrying platform and the gearbox is finished, and the accelerator can be correspondingly controlled to be opened, so that the engine provides power to drive the rice transplanter to move backward.
Therefore, when the movement state of the rice transplanter is switched, the rotation change of the gearbox needs to be correspondingly controlled, the accelerator is controlled to return to zero before the rotation change of the gearbox is carried out, meanwhile, the closing of the transplanting part and the lifting of the rice seedling carrying platform are ensured, the safe work of the gearbox and the transplanting part is ensured, and the damage to the farmland when the rice transplanter retreats is avoided.
FIG. 3 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention. When the first state information and the second state information are detected to satisfy the switching from the second motion state to the first motion state, a specific method for automatically controlling the seedling transplanting machine is provided, as shown in fig. 3, specifically comprising:
step S301, determining first state information and second state information of the rice transplanter.
Step S302, when the first state information and the second state information are detected to meet the condition that the second motion state is switched to the first motion state, controlling an accelerator of an accelerator to return to zero, determining whether the rice transplanter is in a rice transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate forwards, and if not, controlling the rice carrying platform to ascend and the gearbox to rotate forwards.
In one embodiment, the first movement state is a forward trend state of the rice transplanter, and the second movement state may be a backward trend state of the rice transplanter. When the situation that the rice transplanter is changed from a backward state to a forward state is detected, firstly, after the accelerator is controlled to return to zero, whether the rice transplanter is in a rice transplanting state or not is determined, wherein the rice transplanting state represents that the rice transplanter is currently in a rice transplanting operation state, namely, the rice transplanting part is controlled to obtain the rice seedlings of the rice seedling carrying platform for rice transplanting operation. At the moment, the transplanting part is controlled to be opened and the gear box is controlled to rotate forwards, namely, the rice transplanter is controlled to move forwards and start the rice transplanting operation. If the current transplanter is not in a transplanting state, such as when the current transplanter moves in a non-transplanting operation area, the seedling carrying table is controlled to ascend to avoid the phenomenon of dragging the ground, and meanwhile, the gear box is controlled to rotate forwards to control the forward movement of the transplanter by matching with the engine.
According to the method, whether the rice transplanter meets the state switching condition is judged according to the determined first state information and the determined second state information, if the rice transplanter meets the switching from the backward state to the forward state, the control accelerator is controlled to return to zero, and then whether the rice transplanter is in the rice transplanting operation is judged, so that different control logics are adopted, the steering change of the gearbox is controlled, the safe operation of the rice transplanter is ensured, and the automatic control of the whole process is realized.
FIG. 4 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention. When the first state information and the second state information are detected to satisfy the condition of switching from the first motion state to the third motion state or switching from the second motion state to the third motion state, a specific method for automatically controlling the seedling transplanting machine is provided, as shown in fig. 4, specifically comprising:
step S401, determining first state information and second state information of the transplanter.
Step S402, when the first state information and the second state information are detected to meet the condition that the first motion state is switched to the third motion state or the second motion state is switched to the third motion state, controlling an accelerator to return to zero, and controlling the transplanting part to close, the gearbox to return to zero and the seedling carrying platform to descend.
In one embodiment, the first movement state is a forward trend state of the rice transplanter, the second movement state can be a backward trend state of the rice transplanter, and the third movement state is a stationary trend state. Specifically, the switching of the first motion state to the third motion state indicates that the transplanter moves from a forward trend motion state to a static trend state; the switching of the second motion state to the third motion state indicates that the transplanter moves from a backward trend to a static trend. The control logic is that firstly, the accelerator of the accelerator device is controlled to return to zero, the transplanting part is controlled to be closed, the seedling carrying platform descends to carry out the seedling transplanting operation by opening the transplanting part again after the seedling carrying platform descends, and the corresponding gearbox at the moment returns to zero and is in a neutral gear state.
Therefore, in the working process of the rice transplanter, when the advancing and retreating processes of the rice transplanter are switched to the static trend state, the accelerator is controlled to return to zero firstly, the driving force is not provided for the moving device of the rice transplanter any more, the rice seedling carrying platform is controlled to descend at the moment so as to be used for inserting the rice seedlings of the rice seedling carrying platform into the operation area by controlling the opening of the transplanting part, the operation mode of the rice transplanter without manual control in the whole process is realized, the labor consumption is reduced, and the rice seedling transplanting operation efficiency is improved.
FIG. 5 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention. When it is detected that the first state information and the second state information satisfy the first motion state maintaining condition, a specific method for automatically controlling the seedling transplanting machine is provided, as shown in fig. 5, which specifically includes:
step S501, determining first state information and second state information of the rice transplanter.
Step S502, when the first state information and the second state information are detected to meet the requirement of maintaining a first motion state, determining whether the rice transplanter is in a rice transplanting state, if so, controlling the rice transplanting part to be started and the gearbox to rotate forwards, and if not, controlling the rice seedling carrying platform to ascend and the gearbox to rotate forwards.
In one embodiment, the first motion state is a forward trend state of the transplanter, and the second state information maintains the same as the first motion state information and is also a forward trend state. At the moment, the state maintaining condition is judged to be met, the control logic at the moment is specifically to determine whether the rice transplanter is in a rice transplanting state or not, if so, the rice transplanting part is controlled to be opened so as to realize the rice transplanting operation, and meanwhile, the maintained motion state is a forward trend state, so that the gear box is controlled to rotate forwards. If the rice transplanter is not in a transplanting state, if the rice transplanter moves in a non-operation area, the rice seedling carrying platform is controlled to ascend, the rice seedling carrying platform is prevented from dragging the ground, and the gear box is controlled to rotate forwards.
According to the method, when the movement trend state of the rice transplanter is determined to be unchanged, whether the movement trend state is in the rice transplanting operation process or not is judged, if yes, the rice transplanting part is controlled to be started to realize the rice transplanting operation, if not, the rice seedling carrying platform is ensured to be in the rising state, the gear box is correspondingly controlled to rotate forwards to provide forward moving power for the moving device of the rice transplanter in a matched mode, and the rice transplanter is ensured to be capable of safely and automatically moving in the loading operation state and the non-operation state.
FIG. 6 is a flow chart of another automatic control method of the rice transplanter according to the embodiment of the present invention. When it is detected that the first state information and the second state information satisfy the requirement of maintaining the second motion state, a specific method for automatically controlling the seedling transplanting machine is provided, as shown in fig. 6, which specifically includes:
step S601, determining first state information and second state information of the rice transplanter.
Step S602, when the first state information and the second state information are detected to meet the requirement of maintaining a second motion state, controlling the transplanting part to close and the seedling carrying table to ascend, and controlling the gearbox to reversely rotate.
In one embodiment, the second movement state is a backward trend state of the rice transplanter, and if the first state information and the second state information are determined to be the same and both represent the backward trend movement of the rice transplanter, the closing of the transplanting part and the rising of the rice seedling carrying platform are controlled, the rice transplanting operation is stopped, and the gear box is controlled to rotate reversely to move the rice transplanter backward.
Therefore, when the transplanter moves backwards, the closing of the transplanting part and the equipment safety of the seedling carrying platform are ensured, the automatic control of the movement of the transplanter is realized, the transplanting operation efficiency is improved, and the whole unmanned operation is realized.
On the basis of the technical scheme, before determining the first state information and the second state information of the rice transplanter, the method further comprises the following steps: and performing power-on calibration on the rice transplanter, wherein the power-on calibration comprises controlling the rice seedling carrying platform to ascend, closing the transplanting part and performing gearbox calibration after the rice seedling carrying platform ascends and the transplanting part closes. In the scheme, the whole-process automation control process of the transplanter is realized, and the process of power-on calibration of the transplanter is further included, and the process comprises the calibration of the transplanting part, the calibration of the seedling carrying table and the calibration process of the gearbox. Wherein, the calibration process can be the calibration of the elevation height of the seedling carrying platform, the position of the transplanting part and the like. During the calibration process, during the calibration of the gearbox, the gearbox is calibrated after the seedling carrying table is controlled to ascend and the transplanting part is controlled to close, so that the abrasion of the interpolation part and the seedling carrying table due to the sliding of the seedling transplanting machine in the gearbox calibration process is avoided.
On the basis of the technical scheme, the step of determining whether the rice transplanter is in a transplanting state comprises the following steps: determining whether to start a transplanting mode according to the detected environmental information; and when the transplanting mode is started, determining that the transplanting machine is in a transplanting state. In one embodiment, when the transplanter automatically moves, image recognition is carried out by collecting environment information, such as collected environment image information, to determine whether the transplanter is in a working area, if so, the transplanter is controlled to start a transplanting mode, otherwise, the transplanter is not started. And correspondingly judging that the rice transplanting mode is a rice transplanting state when the rice transplanting mode is started, and applying the rice transplanting mode to the first preset control logic and the second preset control logic in the rice transplanting control. Therefore, the full-automatic rice transplanting of the rice transplanter is realized, the automatic opening of a rice transplanting mode is realized, and the intelligent degree is obviously improved.
Fig. 7 is a schematic block diagram of an automatic control device of a rice transplanter, which is provided by the embodiment of the invention and is used for executing the automatic control method of the rice transplanter, and the automatic control device has corresponding functional blocks and beneficial effects of the execution method. As shown in fig. 7, the system specifically includes: a status information determination module 101, a first control module 102, and a second control module 103, wherein,
the state information determining module 101 is used for determining first state information and second state information of the rice transplanter;
the first control module 102 is used for controlling the accelerator of the accelerator device to return to zero when detecting that the first state information and the second state information meet the state switching condition, and controlling the seedling carrying table, the transplanting part and the gearbox according to a first preset control logic;
a second control module 103, configured to control the seedling carrying platform, the transplanting portion and the gearbox according to a second preset control logic when it is detected that the first state information and the second state information satisfy a state maintaining condition.
According to the scheme, the first state information and the second state information of the rice transplanter are determined; when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic; and when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic. According to the scheme, the rice transplanting operation efficiency is improved, and unmanned operation is realized.
In a possible embodiment, the state information determining module 101 is specifically configured to:
determining first state information and second state information of the rice transplanter according to the gear of a gearbox of the rice transplanter.
In one possible embodiment, the state switching condition includes at least one of switching from a first motion state to a second motion state, switching from the second motion state to the first motion state, switching from the first motion state to a third motion state, and switching from the second motion state to the third motion state.
In a possible embodiment, when it is detected that the first state information and the second state information satisfy the condition of switching from the first motion state to the second motion state, the first control module 102 is specifically configured to:
controlling the transplanting part to close and the seedling carrying platform to ascend;
and controlling the gearbox to reversely rotate.
In a possible embodiment, when it is detected that the first state information and the second state information satisfy the condition of switching from the second motion state to the first motion state, the first control module 102 is specifically configured to:
and determining whether the transplanter is in a transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate forwards, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate forwards.
In a possible embodiment, when it is detected that the first state information and the second state information satisfy the condition of switching from the first motion state to the third motion state, or switching from the second motion state to the third motion state, the first control module 102 is specifically configured to:
controlling the transplanting part to close, the gearbox to return to zero and the seedling carrying platform to descend.
In one possible embodiment, the state maintaining condition comprises maintaining a first motion state or maintaining a second motion state.
In a possible embodiment, when it is detected that the first state information and the second state information satisfy the requirement of maintaining the first motion state, the second control module 103 is specifically configured to:
and determining whether the transplanter is in a transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate forwards, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate forwards.
In a possible embodiment, when it is detected that the first state information and the second state information satisfy the requirement of maintaining the second motion state, the second control module 103 is specifically configured to:
controlling the transplanting part to close and the seedling carrying platform to ascend;
and controlling the gearbox to reversely rotate.
In one possible embodiment, the device further comprises a calibration module for performing power-on calibration on the rice transplanter before determining the first state information and the second state information of the rice transplanter, wherein the power-on calibration comprises controlling the seedling carrying platform to ascend, the transplanting part to close, and performing gearbox calibration after the seedling carrying platform ascends and the transplanting part to close.
In one possible embodiment, the first control module 102 and the second control module 103 are further configured to:
determining whether to start a transplanting mode according to the detected environmental information;
and when the transplanting mode is started, determining that the transplanting machine is in a transplanting state.
Fig. 8 is a schematic structural diagram of an automatic control device of a rice transplanter provided by an embodiment of the invention, as shown in fig. 8, the device comprises a processor 201 and a memory 202; the number of the processors 201 in the device may be one or more, and one processor 201 is taken as an example in fig. 8; the processor 201 and the memory 202 in the device may be connected by a bus or other means, and fig. 8 illustrates the connection by a bus as an example. The memory 202 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic control method of the rice transplanter in the embodiment of the present invention. The processor 201 executes various functional applications and data processing of the equipment by running software programs, instructions and modules stored in the memory 202, so that the automatic control method of the rice transplanter is realized.
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which may be stored in the form of a server application, and when executed by a computer processor, is configured to perform a method for automatically controlling a rice transplanter, the method including:
determining first state information and second state information of the rice transplanter;
when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic;
and when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (which may be an unmanned device, a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (14)
1. An automatic control method of a rice transplanter is characterized by comprising the following steps:
determining first state information and second state information of the rice transplanter;
when the first state information and the second state information are detected to meet the state switching condition, controlling the accelerator of the accelerator device to return to zero, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic;
and when the first state information and the second state information are detected to meet the state maintaining condition, controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic.
2. The automatic control method of a rice transplanter according to claim 1, wherein said determining the first status information and the second status information of the rice transplanter comprises:
determining first state information and second state information of the rice transplanter according to the gear of a gearbox of the rice transplanter.
3. The automatic control method of a rice transplanter according to claim 1, wherein the state switching condition includes at least one of switching from a first movement state to a second movement state, switching from the second movement state to the first movement state, switching from the first movement state to a third movement state, and switching from the second movement state to the third movement state.
4. The automatic control method of a rice transplanter according to claim 3, wherein when it is detected that the first status information and the second status information satisfy the switching from the first motion status to the second motion status, the controlling the seedling carrying table, the transplanting part and the gearbox according to a first preset control logic comprises:
controlling the transplanting part to close and the seedling carrying platform to ascend;
and controlling the gearbox to reversely rotate.
5. The automatic control method of a rice transplanter according to claim 3, wherein when it is detected that the first status information and the second status information satisfy the switching from the second motion status to the first motion status, the controlling the seedling carrying table, the transplanting part and the transmission according to a first preset control logic comprises:
and determining whether the transplanter is in a transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate forwards, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate forwards.
6. The automatic control method of a rice transplanter according to claim 3, wherein when it is detected that the first status information and the second status information satisfy the switching from the first movement status to the third movement status or from the second movement status to the third movement status, the controlling of the rice seedling carrying table, the transplanting part and the gearbox according to a first preset control logic comprises:
controlling the transplanting part to close, the gearbox to return to zero and the seedling carrying platform to descend.
7. The automatic control method of a rice transplanter according to claim 1, wherein the state maintaining condition comprises maintaining a first motion state or maintaining a second motion state.
8. The automatic control method of a rice transplanter according to claim 7, wherein said controlling said seedling table, said transplanting portion and said transmission case according to a second preset control logic when it is detected that said first status information and said second status information satisfy the requirement of maintaining a first movement status comprises:
and determining whether the transplanter is in a transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate forwards, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate forwards.
9. The automatic control method of a rice transplanter according to claim 7, wherein said controlling said seedling table, said transplanting portion and said transmission case according to a second preset control logic when it is detected that said first status information and said second status information satisfy the requirement of maintaining a second motion status comprises:
controlling the transplanting part to close and the seedling carrying platform to ascend;
and controlling the gearbox to reversely rotate.
10. The automatic control method of a rice transplanter according to any one of claims 1 to 9, wherein before determining the first status information and the second status information of the rice transplanter, further comprising:
and performing power-on calibration on the rice transplanter, wherein the power-on calibration comprises controlling the rice seedling carrying platform to ascend, closing the transplanting part and performing gearbox calibration after the rice seedling carrying platform ascends and the transplanting part closes.
11. The automatic control method of a rice transplanter according to claim 5 or 8, wherein said determining whether the rice transplanter is in a transplanting state comprises:
determining whether to start a transplanting mode according to the detected environmental information;
and when the transplanting mode is started, determining that the transplanting machine is in a transplanting state.
12. Transplanter automatic control device, its characterized in that includes:
the state information determining module is used for determining first state information and second state information of the rice transplanter;
the first control module is used for controlling the accelerator of the accelerator device to return to zero when detecting that the first state information and the second state information meet the state switching condition, and controlling the seedling carrying table, the transplanting part and the gearbox according to a first preset control logic;
and the second control module is used for controlling the seedling carrying platform, the transplanting part and the gearbox according to a second preset control logic when detecting that the first state information and the second state information meet the state maintaining condition.
13. Automatic control equipment of a rice transplanter, the equipment comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the automatic control method of a rice transplanter according to any one of claims 1 to 8.
14. A storage medium storing computer-executable instructions for performing the automatic control method of a rice transplanter according to any one of claims 1 to 8 when the computer-executable instructions are executed by a computer processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111523133.3A CN114342615B (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
| CN202310943890.9A CN116880304A (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111523133.3A CN114342615B (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310943890.9A Division CN116880304A (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114342615A true CN114342615A (en) | 2022-04-15 |
| CN114342615B CN114342615B (en) | 2023-08-18 |
Family
ID=81099772
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111523133.3A Active CN114342615B (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
| CN202310943890.9A Pending CN116880304A (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310943890.9A Pending CN116880304A (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114342615B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117280925A (en) * | 2023-09-18 | 2023-12-26 | 广东六力智行科技有限公司 | Rice transplanter control method, control structure and rice transplanter |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08331943A (en) * | 1995-06-09 | 1996-12-17 | Kubota Corp | Rice transplanter |
| CN102648675A (en) * | 2011-02-23 | 2012-08-29 | 井关农机株式会社 | Work vehicle |
| CN102771235A (en) * | 2011-05-09 | 2012-11-14 | 洋马株式会社 | Rice transplanter |
| CN103416138A (en) * | 2012-05-24 | 2013-12-04 | 井关农机株式会社 | Seedling transplanter |
| JP2016032474A (en) * | 2015-11-02 | 2016-03-10 | 株式会社クボタ | Sulky rice transplanter |
| JP2016086670A (en) * | 2014-10-30 | 2016-05-23 | 井関農機株式会社 | Seedling transplanting machine |
| CN107272672A (en) * | 2016-03-31 | 2017-10-20 | 株式会社久保田 | Operation Van |
| CN109729792A (en) * | 2019-01-04 | 2019-05-10 | 丰疆智慧农业股份有限公司 | Intelligent transplanter and its self shifter method |
| CN110248534A (en) * | 2017-01-30 | 2019-09-17 | 洋马株式会社 | Working truck control device |
| JP2019170212A (en) * | 2018-03-27 | 2019-10-10 | 株式会社クボタ | Rice planting machine |
| KR20190121100A (en) * | 2018-04-17 | 2019-10-25 | 대동공업주식회사 | Engine go-stop auto control system and methods of Saddle type rice transplanter and Rice transplanter containing the same |
-
2021
- 2021-12-13 CN CN202111523133.3A patent/CN114342615B/en active Active
- 2021-12-13 CN CN202310943890.9A patent/CN116880304A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08331943A (en) * | 1995-06-09 | 1996-12-17 | Kubota Corp | Rice transplanter |
| CN102648675A (en) * | 2011-02-23 | 2012-08-29 | 井关农机株式会社 | Work vehicle |
| CN102771235A (en) * | 2011-05-09 | 2012-11-14 | 洋马株式会社 | Rice transplanter |
| CN103416138A (en) * | 2012-05-24 | 2013-12-04 | 井关农机株式会社 | Seedling transplanter |
| JP2016086670A (en) * | 2014-10-30 | 2016-05-23 | 井関農機株式会社 | Seedling transplanting machine |
| JP2016032474A (en) * | 2015-11-02 | 2016-03-10 | 株式会社クボタ | Sulky rice transplanter |
| CN107272672A (en) * | 2016-03-31 | 2017-10-20 | 株式会社久保田 | Operation Van |
| CN110248534A (en) * | 2017-01-30 | 2019-09-17 | 洋马株式会社 | Working truck control device |
| JP2019170212A (en) * | 2018-03-27 | 2019-10-10 | 株式会社クボタ | Rice planting machine |
| KR20190121100A (en) * | 2018-04-17 | 2019-10-25 | 대동공업주식회사 | Engine go-stop auto control system and methods of Saddle type rice transplanter and Rice transplanter containing the same |
| CN109729792A (en) * | 2019-01-04 | 2019-05-10 | 丰疆智慧农业股份有限公司 | Intelligent transplanter and its self shifter method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117280925A (en) * | 2023-09-18 | 2023-12-26 | 广东六力智行科技有限公司 | Rice transplanter control method, control structure and rice transplanter |
| CN117280925B (en) * | 2023-09-18 | 2024-03-22 | 广东六力智行科技有限公司 | Rice transplanter control method, control structure and rice transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116880304A (en) | 2023-10-13 |
| CN114342615B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105074646B (en) | Telescoping shortcut key and editing run page group | |
| EP3342937A1 (en) | Wheel loader | |
| AU2014250851B2 (en) | Vehicle and operator guidance by pattern recognition | |
| CN114342615A (en) | Automatic control method, device and equipment for rice transplanter and storage medium | |
| CN103277503B (en) | Automatic speed changing vehicle driver forces identifying method and the identification system of downshift intention | |
| CN108167432B (en) | Self-learning detection control system and method for gear selecting and shifting mechanism | |
| US11377820B2 (en) | Automated work vehicle control system using potential fields | |
| CN103523020A (en) | Hybrid vehicle and associated control method | |
| Westerberg | Semi-automating forestry machines: motion planning, system integration, and human-machine interaction | |
| CN113646487B (en) | System including work machine, method executed by computer, method for manufacturing learned posture estimation model, and data for learning | |
| CN111828607B (en) | Loader starting and power reversing control method and system | |
| CN103958253B (en) | The method of the changed power in the PWTN of vehicle and reduction vehicle | |
| SE525770C2 (en) | A method for controlling the rotational speed of a clutch independent power take-off | |
| JP2017134747A (en) | Farm work management system | |
| CN112664646B (en) | Clutch control method, device, equipment, medium and product | |
| CN108407797A (en) | A method of the realization agricultural machinery self shifter based on deep learning | |
| EP3494332B1 (en) | Controller for controlling a vehicle driveline and method of calibrating a vehicle driveline controller | |
| US20230063004A1 (en) | System and method for control of heavy machinery | |
| CN104653760B (en) | Gear shifting control method and gear shifting control device for AMT (Automated Mechanical Transmission) and AMT | |
| US20220135036A1 (en) | System and method for work state estimation and control of self-propelled work vehicles | |
| US20220176946A1 (en) | Vehicle stop transmission control system and method | |
| CN113960921A (en) | Visual navigation control method and system for orchard tracked vehicle | |
| CN113251138A (en) | Control method and terminal for vehicle accelerator clutch | |
| CN113419525B (en) | Control method, device, equipment and storage medium for unmanned agricultural machine | |
| EP3995633A1 (en) | System and method for work state estimation and control of self-propelled work vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |