CN116880304A - Automatic control method, device, equipment and storage medium for rice transplanter - Google Patents
Automatic control method, device, equipment and storage medium for rice transplanter Download PDFInfo
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- CN116880304A CN116880304A CN202310943890.9A CN202310943890A CN116880304A CN 116880304 A CN116880304 A CN 116880304A CN 202310943890 A CN202310943890 A CN 202310943890A CN 116880304 A CN116880304 A CN 116880304A
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 132
- 235000009566 rice Nutrition 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 77
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 131
- 230000033001 locomotion Effects 0.000 claims description 102
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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- 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
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- 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
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- 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]
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- 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 application 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 an accelerator device to return to zero, and controlling a seedling carrying table, a transplanting part and a gearbox according to a first preset control logic; when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled according to a second preset control logic. According to the scheme, the 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, an automatic control device, automatic control equipment and a storage medium of a rice transplanter.
Background
The seedling transplanting machine is an agricultural machine for transplanting crop seedlings into a field, and when the seedling transplanting machine is used for transplanting crops, the seedling transplanting machine is matched with the seedling carrying table and the transplanting part to realize seedling transplanting.
When the existing transplanting machine works, such as a riding type high-speed transplanting machine, a driver is required to control a gearbox in real time on a driving position to control the transplanting speed, the lifting of a seedling carrying table and the clutch of a rotating box of a transplanting part, so that equal-row equidistant transplanting operation is realized. However, this control method requires a lot of manpower and has low working efficiency.
Disclosure of Invention
The embodiment of the application provides an automatic control method, device, equipment and storage medium for a rice transplanter, which solve the problems of low operation efficiency and great labor consumption of using rice transplanting equipment in the prior art, improve the rice transplanting operation efficiency and realize unmanned operation.
In a first aspect, an embodiment of the present application provides an automatic control method for a rice transplanter, where the method includes:
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 an accelerator device to return to zero, and controlling a seedling carrying table, a transplanting part and a gearbox according to a first preset control logic;
when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled according to a second preset control logic.
In a second aspect, an embodiment of the present application further provides an automatic control device for a rice transplanter, where the device 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 throttle device to return to zero when the first state information and the second state information are detected to meet the state switching condition, and controlling the seedling carrying platform, 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 table, the transplanting part and the gearbox according to a second preset control logic when the first state information and the second state information are detected to meet the state maintaining condition.
In a third aspect, an embodiment of the present application further provides an automatic control apparatus for a rice transplanter, including:
one or more processors;
storage means 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 implement the automatic control method for the rice transplanter according to the embodiment of the application.
In a fourth aspect, embodiments of the present application further provide a storage medium storing computer-executable instructions that, when executed by a computer processor, are configured to perform the automatic control method of a rice transplanter according to the embodiments of the present application.
In the embodiment of the application, the first state information and the second state information of the seedling planting machine are determined, when the first state information and the second state information are detected to meet the state switching condition, the throttle of the throttle device is controlled to be zero, the seedling carrying table, the seedling planting part and the gearbox are controlled according to the first preset control logic, when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the seedling planting part and the gearbox are controlled according to the second preset control logic, the seedling planting operation efficiency is improved, and the speed of the seedling planting machine, the lifting of the seedling carrying table and the automatic control of the seedling planting part are realized.
Drawings
FIG. 1 is a flowchart of an automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 2 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 3 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 4 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 5 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 6 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application;
FIG. 7 is a schematic block diagram of an automatic control device for a rice transplanter according to an embodiment of the present application;
fig. 8 is a schematic structural view of an automatic control device for a rice transplanter according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are obtained by a person skilled in the art based on the embodiments of the present application, fall within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The automatic control method of the rice transplanter provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
Fig. 1 is a flowchart of an automatic control method of a rice transplanter, where the embodiment can implement automatic control of 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 rice 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 whether the rice transplanter is in a forward trend state, a backward trend state, or is switched from the forward state to the backward trend state, or is switched from the backward state to the forward trend state, and the like.
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 rice transplanter is in a forward trend, the backward gear represents that the rice transplanter is in a backward trend, and the neutral gear represents that the rice transplanter is in a static trend state. In another embodiment, the first status information and the second status information may also be information generated by a control signal sent by a control device of the rice transplanter, such as a forward signal sent when it is identified that the rice transplanter needs to continuously forward for performing a rice transplanting operation currently; such as a signal sent when it is recognized that the rice transplanter needs to reverse, to control the reverse of the rice transplanter.
And step S102, controlling the throttle device to return to zero when the first state information and the second state information are detected to meet the state switching condition, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic.
The accelerator device is a device for controlling the accelerator of an engine for providing power for the seedling transplanting machine. And when the first state information and the second state information confirm that the state switching condition is met, controlling the throttle device to return to zero. Wherein, when the throttle returns to zero, the starting power is not provided for the driving device of the rice transplanter, and the oil supply quantity is zero. After the accelerator is zeroed, the seedling carrying table, the transplanting part and the gearbox are controlled according to a first preset control logic. The seedling carrying table is a device for placing seedlings to be transplanted, and the transplanting part is a mechanical device for mechanically controlling the seedlings of the seedling carrying table to be transplanted into an operation area. The seedling carrying platform itself contains a mechanical control device to realize the ascending and descending control of the seedling carrying platform according to the control signal; the transplanting part can realize the control of the opening, closing and transplanting speed of the mechanical equipment of the transplanting part through the clutch of the integrated rotating box of the interpolation part. A gearbox is a mechanism used to vary the rotational speed and torque of an engine. When corresponding control conditions are met, control signals are generated through the control logic to control parameters of the seedling carrying table, 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, 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. Optionally, the first motion state is a forward state, the second motion state is a backward state, and the third motion state is a neutral state. Namely, through 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 conditions, different control branches in a first preset control logic are executed according to different specific motion state switching conditions, so that the control of the transplanting part, the seedling carrying platform and the gearbox is realized.
And step 103, 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.
Wherein the state maintenance condition is used for indicating that the movement of the transplanting machine 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 table, the transplanting part and the gearbox are controlled according to the second preset control logic. For example, taking the first state information and the second state information as an example, if it is detected that the control gear of the rice transplanter is in the forward gear and the shift of the gear is not performed, when it is determined that the state maintaining condition is satisfied, otherwise, if the shift is from the forward gear to the reverse gear or from the reverse gear to the forward gear, the state maintaining condition is not satisfied.
According to the method, when the seedling transplanting machine is controlled, the first state information and the second state information of the seedling transplanting machine are determined, whether the seedling transplanting machine meets the state switching condition or the state maintaining condition is judged according to the determined first state information and second state information, after the accelerator of the accelerator device is controlled to be zero if the state switching condition is met, the seedling carrying table, the transplanting part and the gearbox are controlled according to the first preset control logic, and if the accelerator is judged to be 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 whole-course automatic control of the seedling transplanting machine is realized, the efficient automatic seedling transplanting is realized, and meanwhile, the safe operation of the seedling transplanting machine equipment is ensured.
Fig. 2 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application. When the first state information and the second state information are detected to meet the requirement of switching from the first motion state to the second motion state, a specific method for automatically controlling the rice transplanter is provided, and as shown in fig. 2, the method specifically comprises the following steps:
step S201, determining first state information and second state information of the rice transplanter.
And S202, when the first state information and the second state information are detected to meet the requirement of switching from the first motion state to the second motion state, controlling an accelerator device to return to zero, controlling the transplanting part to be closed, controlling the seedling carrying platform to ascend, and controlling the gearbox to reversely rotate.
In one embodiment, the first motion state may be a forward trend state of the rice transplanter and the second motion state may be a reverse trend state of the rice transplanter. Different trend states can be determined through gear control information, the forward trend state is represented by a forward gear, the backward trend state is represented by a backward gear, namely when the situation that the transplanter is switched from the forward trend state to the backward trend state is detected, the accelerator of the accelerator device is controlled to return to zero, the corresponding transplanting part is controlled to be closed, the transplanting operation of the transplanting part is not performed any more, the seedling carrying table is controlled to ascend, the gearbox is controlled to reversely rotate so as to change the forward movement direction into the backward movement direction, and at the moment, the control flow of the transplanting part, the seedling carrying table and the gearbox is ended, the accelerator is correspondingly controlled to be opened so that the engine can provide power to drive the transplanter to move backward.
According to the above, when the transplanting machine is switched in motion state, the steering change of the gearbox is required to be controlled correspondingly, before the steering change of the gearbox is carried out, the throttle is controlled to be zero, the transplanting part is ensured to be closed and the seedling carrying table is ensured to be lifted, the safe work of the gearbox and the transplanting part is ensured, and the seedling transplanting table is ensured not to damage farmlands when the transplanting machine is retreated.
Fig. 3 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application. When the first state information and the second state information are detected to meet the requirement of switching from the second motion state to the first motion state, a specific method for automatically controlling the rice transplanter is provided, and as shown in fig. 3, the method specifically comprises the following steps:
step S301, determining first state information and second state information of the rice transplanter.
And step S302, when the first state information and the second state information are detected to meet the requirement of switching from the second motion state to the first motion state, controlling an accelerator device to return to zero, determining whether the rice transplanter is in a transplanting state, if so, controlling the transplanting part to be opened and the gearbox to rotate positively, and if not, controlling the seedling carrying platform to ascend and the gearbox to rotate positively.
In one embodiment, the first motion state is a forward trend state of the rice transplanter, and the second motion state may be a backward trend state of the rice transplanter. When the rice transplanter is detected to be changed from a backward state to a forward state, firstly, controlling an accelerator to return to zero, and then determining whether the rice transplanter is in a rice transplanting state, wherein the rice transplanting state represents the state that the rice transplanter is currently in a rice transplanting operation, namely controlling a transplanting part to obtain seedlings of a seedling carrying table, and performing rice transplanting operation. At the moment, the transplanting part is controlled to be opened, and the gearbox rotates positively, namely, the transplanting machine is controlled to move forwards and starts transplanting operation. If the current rice transplanter is not in a rice transplanting state, for example, when the current rice transplanter moves in a non-rice transplanting operation area, the rice seedling carrying table is controlled to ascend to avoid the phenomenon of mopping, and meanwhile, the gearbox is controlled to rotate forward to control the rice transplanter to move forward in cooperation with the engine.
According to the first state information and the second state information, whether the transplanter meets the state switching condition is judged, if the transplanter meets the switching from the backward state to the forward state, after the throttle is controlled to return to zero, whether the transplanter is in transplanting operation is judged, different control logics are adopted, the steering change of the gearbox is controlled, the safe operation of the transplanter is ensured, and the whole-course automatic control is realized.
Fig. 4 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application. When the first state information and the second state information are detected to meet the requirement 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 rice transplanter is provided, and as shown in fig. 4, the method specifically includes:
step S401, determining first state information and second state information of the rice transplanter.
Step S402, when it is detected that the first state information and the second state information satisfy the switching from the first motion state to the third motion state or from the second motion state to the third motion state, controlling the throttle device to return to zero, and controlling the transplanting portion to close, the gearbox to return to zero, and the seedling carrier to descend.
In one embodiment, the first motion state is a forward trend state of the rice transplanter, the second motion state may be a backward trend state of the rice transplanter, and the third motion state is a stationary trend state. Specifically, when the first motion state is switched to the third motion state, the rice transplanter is switched from the forward trend motion state to the static trend state; the switching of the second motion state to the third motion state indicates that the transplanter is switched from the backward trend motion state to the static trend state. At the moment, the control logic firstly controls the accelerator device to return to zero, controls the transplanting part to be closed, and controls the seedling carrying table to descend so as to be used for transplanting seedlings by starting the transplanting part again after the seedling carrying table descends, and correspondingly, the gearbox at the moment returns to zero and is in a neutral state.
According to the above-mentioned, in the working process of the transplanter, when the transplanter is switched to a static trend state in the advancing and retreating processes, the throttle is controlled to be zero, the driving force is not provided for the moving device of the transplanter, at the moment, the seedling carrying platform is controlled to descend for the follow-up seedling of the seedling carrying platform to be inserted into the working area through controlling the opening of the transplanting part, the whole-course operation mode of the transplanter without manual control is realized, the manpower consumption is reduced, and the transplanting working efficiency is improved.
Fig. 5 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application. When the first state information and the second state information are detected to meet the requirement of maintaining the first motion state, a specific method for automatically controlling the rice transplanter 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 it is detected that the first state information and the second state information satisfy the first motion state, 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 forward, and if not, controlling the seedling carrying platform to ascend and the gearbox to rotate forward.
In one embodiment, the first movement state is a forward trend state of the rice transplanter, and the second state information is maintained the same as the first movement state information and is also a forward trend state. At this time, the control logic at this time determines whether the transplanting machine is in a transplanting state, and if so, controls the transplanting portion to be turned on to realize transplanting operation, and at the same time, controls the gearbox to rotate forward because the maintained motion state is a forward trend state. If the seedling planting machine is not in a seedling planting state, for example, when the seedling planting machine moves in a non-operation area, the seedling carrying platform is controlled to ascend, the seedling carrying platform is prevented from mopping, and meanwhile, the gearbox is controlled to rotate positively.
According to the method, when the motion trend state of the transplanter is unchanged, whether the transplanter is in a transplanting operation process is judged, if so, the transplanting part is controlled to be started to realize transplanting operation, if not, the seedling carrying platform is ensured to be in a rising state, and the gearbox is correspondingly controlled to rotate forward to provide forward moving power for a moving device of the transplanter by matching with an engine, so that the transplanter is ensured to be capable of safely and automatically moving in carrying operation and non-operation states.
Fig. 6 is a flowchart of another automatic control method of a rice transplanter according to an embodiment of the present application. When the first state information and the second state information are detected to meet the requirement of maintaining the second motion state, a specific method for automatically controlling the rice transplanter is provided, as shown in fig. 6, which specifically includes:
step S601, determining first state information and second state information of the rice transplanter.
And step S602, when the first state information and the second state information are detected to meet the requirement of maintaining the second motion state, controlling the transplanting part to be closed and the seedling carrier to ascend, and controlling the gearbox to reversely rotate.
In one embodiment, the second motion state is a backward trend state of the rice transplanter, and if it is determined that the first state information and the second state information are the same and both represent backward trend motions of the rice transplanter, closing of the transplanting part and lifting of the seedling carrier are controlled, namely, rice transplanting operation is stopped, and meanwhile, reverse rotation of the gearbox is controlled to enable another rice transplanter to move backward.
According to the above, when the transplanting machine is in a backward movement state, the closing of the transplanting part and the safety of the seedling carrying platform are ensured, meanwhile, the automatic control of the movement of the transplanting machine is realized, the transplanting operation efficiency is improved, and the whole-course 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 carrying out power-on calibration on the rice transplanter, wherein the power-on calibration comprises the steps of controlling the lifting of the seedling carrying platform and the closing of the transplanting part, and carrying out gearbox calibration after the lifting of the seedling carrying platform and the closing of the transplanting part. In the scheme, in the whole-process automatic control process of the seedling transplanting machine, the power-on calibration process of the seedling transplanting machine is further included, and the power-on calibration process comprises the calibration of the seedling transplanting part, the calibration of the seedling carrying table and the calibration process of the gearbox. The calibration process may be to calibrate the elevation of the seedling carrier, the position of the transplanting part, etc. In the calibration process, when the gearbox is calibrated, the gearbox is calibrated after the seedling carrying table is controlled to ascend and the transplanting part is closed, so that the interpolation part and the seedling carrying table are prevented from being worn due to sliding of the transplanter in the calibration process of the gearbox.
On the basis of the technical scheme, the 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; when the transplanting mode is started, determining that the transplanting machine is in a transplanting state. In one embodiment, when the rice transplanter moves automatically, image recognition is performed by collecting environmental information, such as collected environmental image information, to determine whether the rice transplanter is in an operation area, if so, the rice transplanter is controlled to start a rice transplanting mode, and otherwise, the rice transplanter is not started. When the transplanting mode is started, the transplanting mode is correspondingly judged to be in a transplanting state, and the transplanting mode is applied to a first preset control logic and a second preset control logic in the transplanting control. Therefore, the whole-course automatic transplanting of the transplanting machine is realized, the automatic opening of the 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 used for executing the automatic control method of the rice transplanter and has the corresponding functional modules 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,
a state information determining module 101, configured to determine first state information and second state information of the rice transplanter;
the first control module 102 is configured to control an accelerator device to return to zero when detecting that the first state information and the second state information meet a state switching condition, and control the seedling carrier, the transplanting portion, and the gearbox according to a first preset control logic;
and the second control module 103 is configured to control the seedling stage, 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 meet a state maintenance 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 an accelerator device to return to zero, and controlling a seedling carrying table, a transplanting part and a gearbox according to a first preset control logic; when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled according to a second preset control logic. According to the scheme, the transplanting operation efficiency is improved, and unmanned operation is realized.
In one possible embodiment, the status information determining module 101 is specifically configured to:
and determining the first state information and the second state information of the rice transplanter according to the gear of the 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 one possible embodiment, when the first state information and the second state information are detected to satisfy the switch from the first motion state to the second motion state, the first control module 102 is specifically configured to:
controlling the transplanting part to be closed and the seedling carrying platform to ascend;
and controlling the reverse rotation of the gearbox.
In one possible embodiment, when it is detected that the first state information and the second state information satisfy the switch from the second motion state to the first motion state, the first control module 102 is specifically configured to:
and determining whether the seedling planting machine is in a seedling planting state, if so, controlling the seedling planting part to be opened and the gearbox to rotate positively, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate positively.
In one possible embodiment, when it is detected that the first state information and the second state information satisfy the switch from the first motion state to the third motion state or the switch from the second motion state to the third motion state, the first control module 102 is specifically configured to:
and controlling the transplanting part to be closed, the gearbox to return to zero and the seedling carrying table to descend.
In one possible embodiment, the state maintenance condition includes maintaining a first motion state or maintaining a second motion state.
In one possible embodiment, when the first state information and the second state information are detected to satisfy the requirement of maintaining the first motion state, the second control module 103 is specifically configured to:
and determining whether the seedling planting machine is in a seedling planting state, if so, controlling the seedling planting part to be opened and the gearbox to rotate positively, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate positively.
In one possible embodiment, when the first state information and the second state information are detected to satisfy the maintenance of the second motion state, the second control module 103 is specifically configured to:
controlling the transplanting part to be closed and the seedling carrying platform to ascend;
and controlling the reverse rotation of the gearbox.
In one possible embodiment, the device further comprises a calibration module, configured to perform power-up calibration on the rice transplanter before determining the first state information and the second state information of the rice transplanter, where the power-up calibration includes controlling the raising of the seedling carrier, closing of the transplanting portion, and performing gearbox calibration after the raising of the seedling carrier and closing of the transplanting portion.
In a 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;
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 for a rice transplanter according to an embodiment of the present application, and as shown in fig. 8, the device includes a processor 201 and a memory 202; the number of processors 201 in the device may be one or more, one processor 201 being 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, for example in fig. 8. The memory 202 is a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the automatic control method of a rice transplanter in an embodiment of the present application. The processor 201 executes various functional applications of the apparatus and data processing by executing software programs, instructions and modules stored in the memory 202, that is, implements the automatic control method of the rice transplanter.
The embodiment of the application also provides a storage medium containing computer executable instructions, which can be stored in the form of a server application, wherein the computer executable instructions are used for executing an automatic control method of a rice transplanter when being executed by a computer processor, and 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 an accelerator device to return to zero, and controlling a seedling carrying table, a transplanting part and a gearbox according to a first preset control logic;
when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be an unmanned device, a mobile phone, a computer, a server or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (14)
1. The automatic control method of the 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 an accelerator device to return to zero, and controlling a seedling carrying table, a transplanting part and a gearbox according to a first preset control logic; the state switching condition comprises switching from a first motion state or a second motion state to a third motion state, and when the first state information and the second state information are detected to meet the requirement of switching from the first motion state or the second motion state to the third motion state, the transplanting part is controlled to be closed, the gearbox is reset to zero and the seedling carrying table is controlled to descend.
2. The automatic control method of a rice transplanter according to claim 1, wherein the determining the first status information and the second status information of the rice transplanter includes:
and determining the first state information and the second state information of the rice transplanter according to the gear of the gearbox of the rice transplanter.
3. The automatic control method of a rice transplanter according to claim 1, wherein the state switching condition further includes switching from a first moving state to a second moving state or switching from the second moving state to the first moving state.
4. The automatic control method of a rice transplanter according to claim 3, wherein 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, the controlling the seedling stage, the transplanting portion, and the gearbox according to the first preset control logic includes:
controlling the transplanting part to be closed and the seedling carrying platform to ascend;
and controlling the reverse rotation of the gearbox.
5. The automatic control method of a rice transplanter according to claim 3, wherein 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, the controlling the seedling stage, the transplanting portion, and the gearbox according to the first preset control logic includes:
and determining whether the seedling planting machine is in a seedling planting state, if so, controlling the seedling planting part to be opened and the gearbox to rotate positively, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate positively.
6. The automatic control method of a rice transplanter according to claim 1, wherein the method further comprises:
when the first state information and the second state information are detected to meet the state maintaining condition, the seedling carrying table, the transplanting part and the gearbox are controlled according to a second preset control logic.
7. The automatic control method of a rice transplanter according to claim 6, wherein the state maintaining condition includes maintaining a first moving state or maintaining a second moving state.
8. The automatic control method of a rice transplanter according to claim 7, wherein when the first state information and the second state information are detected to satisfy the first moving state, the controlling the seedling stage, the transplanting portion, and the gearbox according to the second preset control logic includes:
and determining whether the seedling planting machine is in a seedling planting state, if so, controlling the seedling planting part to be opened and the gearbox to rotate positively, and if not, controlling the seedling carrying table to ascend and the gearbox to rotate positively.
9. The automatic control method of a rice transplanter according to claim 7, wherein when the first state information and the second state information are detected to satisfy the maintenance of the second moving state, the controlling the seedling stage, the transplanting portion, and the gearbox according to the second preset control logic includes:
controlling the transplanting part to be closed and the seedling carrying platform to ascend;
and controlling the reverse rotation of the gearbox.
10. The automatic control method of a rice transplanter according to any one of claims 1 to 9, further comprising, before determining the first status information and the second status information of the rice transplanter:
and carrying out power-on calibration on the rice transplanter, wherein the power-on calibration comprises the steps of controlling the lifting of the seedling carrying platform and the closing of the transplanting part, and carrying out gearbox calibration after the lifting of the seedling carrying platform and the closing of the transplanting part.
11. The automatic control method of a rice transplanter according to claim 5 or 8, wherein the determining whether the rice transplanter is in a transplanting state comprises:
determining whether to start a transplanting mode according to the detected environmental information;
when the transplanting mode is started, determining that the transplanting machine is in a transplanting state.
12. Automatic control device of transplanter, 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 throttle device to return to zero when the first state information and the second state information are detected to meet the state switching condition, and controlling the seedling carrying platform, the transplanting part and the gearbox according to a first preset control logic; the state switching condition comprises switching from a first motion state or a second motion state to a third motion state, and when the first state information and the second state information are detected to meet the requirement of switching from the first motion state or the second motion state to the third motion state, the transplanting part is controlled to be closed, the gearbox is reset to zero and the seedling carrying table is controlled to descend.
13. An automatic control apparatus for a rice transplanter, the apparatus comprising: one or more processors; storage means for storing one or more programs that, 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 11.
14. A storage medium storing computer-executable instructions for performing the rice transplanter automatic control method of any one of claims 1-11 when executed by a computer processor.
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| CN202310943890.9A CN116880304A (en) | 2021-12-13 | 2021-12-13 | Automatic control method, device, equipment and storage medium for rice transplanter |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08331943A (en) * | 1995-06-09 | 1996-12-17 | Kubota Corp | Rice transplanter |
| JP5927763B2 (en) * | 2011-02-23 | 2016-06-01 | 井関農機株式会社 | Work vehicle |
| JP5689739B2 (en) * | 2011-05-09 | 2015-03-25 | ヤンマー株式会社 | Rice transplanter |
| JP5668723B2 (en) * | 2012-05-24 | 2015-02-12 | 井関農機株式会社 | Seedling transplanter |
| JP2016086670A (en) * | 2014-10-30 | 2016-05-23 | 井関農機株式会社 | Seedling transplanting machine |
| JP6073447B2 (en) * | 2015-11-02 | 2017-02-01 | 株式会社クボタ | Ride type rice transplanter |
| JP6705686B2 (en) * | 2016-03-31 | 2020-06-03 | 株式会社クボタ | Work vehicle |
| JP6773574B2 (en) * | 2017-01-30 | 2020-10-21 | ヤンマーパワーテクノロジー株式会社 | Work vehicle control device |
| JP6979912B2 (en) * | 2018-03-27 | 2021-12-15 | 株式会社クボタ | Rice transplanter |
| 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 |
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