CN117280925B - Rice transplanter control method, control structure and rice transplanter - Google Patents
Rice transplanter control method, control structure and rice transplanter Download PDFInfo
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- CN117280925B CN117280925B CN202311204338.4A CN202311204338A CN117280925B CN 117280925 B CN117280925 B CN 117280925B CN 202311204338 A CN202311204338 A CN 202311204338A CN 117280925 B CN117280925 B CN 117280925B
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- 241000209094 Oryza Species 0.000 title claims abstract description 111
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 111
- 235000009566 rice Nutrition 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000012795 verification Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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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 invention discloses a control method, a control structure and a rice transplanter, wherein the rice transplanter comprises a rice transplanter control structure, a transplanting part and a transplanting clutch, the rice transplanter control structure comprises an electric push rod and an operating rod, one end of the electric push rod is provided with a chute extending along the length direction, the operating rod is movably connected in the chute, and the rice transplanter control method comprises the following steps: after the system calibration is completed, a target control mode selected by a user is acquired; when the target control mode is a manual mode, the electric push rod is controlled to stretch and retract, so that one end of the control rod is positioned in the middle of the chute; when the target control mode is an automatic mode, current position parameters of the transplanting part and current motion parameters of the transplanting machine are obtained, the required telescopic parameters of the electric push rod are determined according to the current position parameters and the current motion parameters, and the electric push rod is controlled to stretch according to the required telescopic parameters of the electric push rod so as to drive the operating lever to move, so that the transplanting part can lift and descend, and is correspondingly separated from and combined with the transplanting clutch.
Description
Technical Field
The invention relates to the field of agricultural equipment, in particular to a control method and a control structure of a rice transplanter and the rice transplanter.
Background
The existing rice transplanter has low degree of electric control, the traveling system and the rice transplanting are basically operated by manual mechanisms, the mechanical structure is complex, the operating force is large, the operation efficiency is low, the labor intensity is high, and the automatic driving operation popularization of the rice transplanter is not facilitated. The transplanting machine comprises a transplanting part and a transplanting clutch, and when the transplanting machine works to the ground, the transplanting clutch needs to be manually operated to separate the transplanting part and lift the transplanting part. When the seedling falls, the transplanting part needs to be manually operated to descend and combine with the transplanting clutch to continue transplanting operation.
With the increase of labor cost for transplanting operation and the gradual increase of the requirements of practitioners on driving comfort, the automatic driving operation system of the transplanting machine starts to have demonstration application, and the electric control transformation of transplanting of the transplanting machine is needed for the first time, but the automatic operation and the manual operation of the existing automatic transplanting machine are difficult to be simultaneously realized.
Disclosure of Invention
The invention mainly aims to provide a control method and a control structure of a rice transplanter and the rice transplanter, and aims to solve the problem that the existing automatic rice transplanter is difficult to realize automatic operation and manual operation.
In order to achieve the above object, the present invention provides a control method of a rice transplanter, the rice transplanter comprises a rice transplanter control structure, a transplanting portion and a transplanting clutch, the rice transplanter control structure comprises an electric push rod and an operating lever, one end of the electric push rod is provided with a chute extending along a length direction, and the operating lever is movably connected in the chute, the method is characterized in that the rice transplanter control method comprises the following steps:
after the system calibration is completed, a target control mode selected by a user is acquired;
when the target control mode is a manual mode, controlling the electric push rod to stretch so that one end of the control rod is positioned in the middle of the chute;
when the target control mode is an automatic mode, current position parameters of the transplanting part and current motion parameters of the transplanting machine are obtained, the demand expansion parameters of the electric push rod are determined according to the current position parameters and the current motion parameters, and the electric push rod is controlled to expand and contract according to the demand expansion parameters of the electric push rod so as to drive the operating lever to move, so that the transplanting part can lift and descend and can be correspondingly separated from and combined with the transplanting clutch.
Optionally, before the obtaining the target control mode selected by the user, the method further includes:
after entering a system calibration mode, acquiring a first current parameter of the electric push rod, and controlling the electric push rod to extend to drive the control rod to swing to the right;
acquiring a second current parameter of the electric push rod;
determining a right limit position parameter of the electric push rod according to the first current parameter and the second current parameter;
controlling the electric push rod to retract to drive the control rod to swing leftwards and move, and acquiring a third current parameter of the electric push rod again;
determining a left limit position parameter of the electric push rod according to the first current parameter and the third current parameter;
performing calibration verification according to the left limit position parameter and the right limit position parameter;
and after the calibration and verification are successful, the system calibration is completed.
Optionally, the determining the right limit position parameter of the electric putter according to the first current parameter and the second current parameter includes:
determining a first current difference value according to the first current parameter and the second current parameter;
when the first current difference value is larger than a first preset threshold value, a first voltage parameter of the electric push rod is obtained;
and determining a right limit position parameter of the electric push rod according to the first voltage parameter.
Optionally, the calibrating and verifying according to the left limit position parameter and the right limit position parameter includes:
determining a first distance value according to the left limit position parameter and the right limit position parameter;
and when the first distance value is larger than a second preset threshold value, generating calibration verification success information.
Optionally, determining the required expansion parameter of the electric putter according to the current position parameter and the current motion parameter, further includes:
acquiring left limit position parameters and right limit position parameters of the electric push rod;
acquiring a second voltage parameter of the electric push rod;
determining a current position parameter of the electric push rod according to the second voltage parameter;
determining a second distance value according to the left limit position parameter and the current position parameter;
determining a third distance value according to the right limit position parameter and the current position parameter;
and determining the required expansion parameter of the electric push rod according to the second distance value, the third distance value, the current position parameter and the current motion parameter of the rice transplanter.
Optionally, the determining the required expansion parameter of the electric putter according to the second distance value, the third distance value, the current position parameter and the current motion parameter of the rice transplanter includes:
when the current position parameter meets a first preset condition and the current motion parameter of the rice transplanter meets a second preset condition, determining a required telescopic parameter of the electric push rod as the second distance value;
and when the current motion parameters of the rice transplanter do not meet a second preset condition, determining the required telescopic parameters of the electric push rod as the third distance value.
Optionally, when the target control mode is an automatic mode, acquiring a current position parameter of the transplanting portion and a current motion parameter of the rice transplanter, determining a required expansion parameter of the electric push rod according to the current position parameter and the current motion parameter, and controlling the electric push rod to expand and contract according to the required expansion parameter of the electric push rod so as to drive the operating lever to move, so that after the transplanting portion is lifted and moved up and down and is correspondingly separated from and combined with the transplanting clutch, the method further comprises:
after the electric push rod stretches out to drive the operating rod to swing to the right, so that the transplanting part descends and the transplanting clutch is combined, controlling the electric push rod to retract, acquiring a third voltage parameter of the electric push rod, determining a current position parameter of the electric push rod according to the third voltage parameter, and controlling the electric push rod to stop running when the current position parameter meets a third preset condition;
and after the electric push rod is retracted to drive the control rod to swing left to move, so that the transplanting part is lifted and the transplanting clutch is separated, controlling the electric push rod to extend, acquiring a fourth voltage parameter of the electric push rod, determining a current position parameter of the electric push rod according to the fourth voltage parameter, and controlling the electric push rod to stop running when the current position parameter meets a fourth preset condition.
In order to achieve the above object, the present invention further provides a control structure of a rice transplanter, the control structure of a rice transplanter comprises a fixing structure, an electric push rod, a position detecting device, an operating rod and a controller, wherein the fixing structure is used for being connected with a main body of the rice transplanter, one end of the electric push rod is connected with the fixing structure, a sliding groove extending along the length direction of the electric push rod is formed in the other end of the electric push rod, the position detecting device is used for detecting the position of a transplanting part, one end of the operating rod is movably connected with the sliding groove, the operating rod can rotate around the middle of the operating rod, and the controller is electrically connected with the electric push rod and the position detecting device.
Optionally, the controller includes a memory, a processor, and a transplanter control program stored on the memory and operable on the processor, where the transplanter control program is configured to implement the transplanter control method according to any one of the above.
In addition, the invention also provides a rice transplanter, which comprises a rice transplanter body, a transplanting part, a transplanting clutch and the rice transplanter control structure.
The invention discloses a rice transplanter control method which is applied to a rice transplanter control structure, wherein the rice transplanter comprises a rice transplanter control structure, a transplanting part and a transplanting clutch, the rice transplanter control structure comprises an electric push rod and an operating rod, one end of the electric push rod is provided with a chute extending along the length direction, the operating rod is movably connected in the chute, and the rice transplanter control method comprises the following steps: after the system calibration is completed, a target control mode selected by a user is acquired; when the target control mode is a manual mode, controlling the electric push rod to stretch so that one end of the control rod is positioned in the middle of the chute; when the target control mode is an automatic mode, current position parameters of the transplanting part and current motion parameters of the transplanting machine are obtained, the demand expansion parameters of the electric push rod are determined according to the current position parameters and the current motion parameters, and the electric push rod is controlled to expand and contract according to the demand expansion parameters of the electric push rod so as to drive the operating lever to move, so that the transplanting part can lift and descend and can be correspondingly separated from and combined with the transplanting clutch. After the user starts the transplanter, the system calibration is firstly carried out, after the system calibration is finished, the user selects a target control mode, when the user selects a manual mode, the electric push rod is controlled to stretch out and draw back, so that one end of the control rod is positioned in the middle of the chute, then the user manually operates the control rod to move in the chute, so that the transplanting part moves up and down and is correspondingly separated and combined with the transplanting clutch, and when the user selects an automatic mode, the transplanter automatically finishes the lifting and lowering movement of the transplanting part and is correspondingly separated and combined with the transplanting clutch. According to the scheme, the electric push rod and the sliding groove are used for realizing the switching between the manual mode and the automatic mode, so that the problem that the existing automatic rice transplanting machine is difficult to consider automatic operation and manual operation is solved.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a control method of a rice transplanter according to the present invention;
FIG. 2 is a flow chart of a second embodiment of the control method of the rice transplanter of the present invention;
FIG. 3 is a flow chart of a third embodiment of a control method of the rice transplanter of the present invention;
FIG. 4 is a flowchart illustrating a fourth embodiment of a control method of a rice transplanter according to the present invention;
FIG. 5 is a flowchart of a fifth embodiment of a control method of a rice transplanter according to the present invention;
FIG. 6 is a flowchart showing a sixth embodiment of a control method of a rice transplanter according to the present invention;
FIG. 7 is a schematic flow chart of a seventh embodiment of a control method of a rice transplanter according to the present invention;
fig. 8 is a schematic structural view of a control structure of the rice transplanter of the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a control method and a control structure of a rice transplanter and the rice transplanter, and aims to solve the problem that the existing automatic rice transplanter is difficult to realize automatic operation and manual operation.
The invention provides a rice transplanter, which comprises a rice transplanter body, a transplanting part, a transplanting clutch and a rice transplanter control structure 100.
Referring to fig. 8, the control structure 100 of the rice transplanter may include a fixing structure 1, an electric push rod 2, a position detecting device, an operating lever 3 and a controller, wherein the fixing structure 1 is connected with the main body of the rice transplanter, one end of the electric push rod 2 is connected with the fixing structure 1, the other end is provided with a sliding groove 21 extending along the length direction of the electric push rod, the position detecting device is used for detecting the position of the transplanting portion, one end of the operating lever 3 is movably connected with the sliding groove 21, the operating lever 3 can rotate around the middle portion of the operating lever, and the controller is electrically connected with the electric push rod 2 and the position detecting device.
Further, the controller includes a memory, a processor, and a rice transplanter control program stored on the memory and operable on the processor, the rice transplanter control program configured to implement a rice transplanter control method.
It will be appreciated by those skilled in the art that the above-described structure is not limiting of the rice transplanter control structure 100, and may include more or fewer components than those described above, or certain components may be combined, or a different arrangement of components.
The control method of the rice transplanter comprises the following steps:
step S80: and after the system calibration is completed, acquiring a target control mode selected by a user.
It should be noted that, the user may select different control modes by pressing a button, and the different control modes may be represented by different color indicator lamps.
Step S90: when the target control mode is a manual mode, the electric putter 2 is controlled to be extended and contracted such that one end of the lever 3 is positioned in the middle of the chute 21.
In this embodiment, in the manual mode, one end of the lever 3 is located in the middle of the chute 21, and the user can directly operate the lever 3 to move in the chute 21.
It should be noted that, when the control system fails and the electric push rod 2 cannot be controlled to stretch or retract, in order to ensure smooth operation, in this embodiment, an emergency operation device is provided, so that one end of the operating rod 3 is located in the middle of the chute 21, and normal operation of manual mechanical operation is ensured to the greatest extent.
The emergency operation device is provided with two switches or keys for emergency forward rotation and emergency reverse rotation, and the emergency operation device directly connects a system power supply to two ends of the electric push rod 2 without a control system, so that the telescopic control of the electric push rod 2 is realized (the extension or retraction of the electric push rod 2 is realized by changing the positive electrode and the negative electrode of the power supply), and one end of the operation rod 3 is adjusted and ensured to be positioned in the middle of the chute 21, and further manual mechanical operation is performed.
Step S100: when the target control mode is an automatic mode, acquiring a current position parameter of the transplanting part and a current motion parameter of the rice transplanter, determining a required telescopic parameter of the electric push rod 2 according to the current position parameter and the current motion parameter, and controlling the electric push rod 2 to stretch and retract according to the required telescopic parameter of the electric push rod 2 so as to drive the operating lever 3 to move, so that the transplanting part moves up and down and is correspondingly separated and combined with the transplanting clutch.
It should be noted that, in this embodiment, the current position parameter of the transplanting portion may be obtained by an inclination sensor, when the transplanting portion is in a lowered position, the inclination detected by the inclination sensor is a negative inclination, and when the transplanting portion is in a raised position, the inclination detected by the inclination sensor is a positive inclination, and meanwhile, the current motion parameter of the transplanting machine may be detected by a GPS.
It should be noted that, after the lifting and lowering movement of the transplanting portion and the corresponding separation and combination with the transplanting clutch, the current position parameter of the transplanting portion and the current movement parameter of the transplanting machine may be obtained again, the required expansion parameter of the electric push rod 2 is determined according to the current position parameter and the current movement parameter, and the electric push rod 2 is controlled to expand and contract according to the required expansion parameter of the electric push rod 2, so as to drive the operating lever 3 to move, so that the lifting and lowering movement of the transplanting portion and the corresponding separation and combination with the transplanting clutch are repeated in this way, thereby completing the transplanting operation of the transplanting machine in step S100.
In this embodiment, the method for controlling a rice transplanter is applied to the control structure 100 of a rice transplanter, the rice transplanter includes a control structure 100 of the rice transplanter, a transplanting portion, and a transplanting clutch, the control structure 100 of the rice transplanter includes an electric push rod 2 and an operating lever 3, a chute 21 extending along a length direction is provided at one end of the electric push rod 2, the operating lever 3 is movably connected in the chute 21, and the method for controlling the rice transplanter includes the following steps: after the system calibration is completed, a target control mode selected by a user is acquired; when the target control mode is a manual mode, the electric push rod 2 is controlled to stretch so that one end of the control rod 3 is positioned in the middle of the chute 21; when the target control mode is an automatic mode, acquiring a current position parameter of the transplanting part and a current motion parameter of the rice transplanter, determining a required telescopic parameter of the electric push rod 2 according to the current position parameter and the current motion parameter, and controlling the electric push rod 2 to stretch and retract according to the required telescopic parameter of the electric push rod 2 so as to drive the operating lever 3 to move, so that the transplanting part moves up and down and is correspondingly separated and combined with the transplanting clutch. After the user starts the transplanter, the system calibration is performed first, after the system calibration is completed, the user selects a target control mode, when the user selects a manual mode, the electric push rod 2 is controlled to stretch and retract, so that one end of the control rod 3 is positioned in the middle of the chute 21, then the user manually operates the control rod 3 to move in the chute 21, so that the transplanting part can lift and descend and correspondingly separate and combine with the transplanting clutch, and when the user selects an automatic mode, the transplanter automatically completes the lifting and descending movement of the transplanting part and correspondingly separate and combine with the transplanting clutch. According to the scheme, the electric push rod 2 and the sliding groove 21 realize the switching between the manual mode and the automatic mode, so that the problem that the existing automatic rice transplanting machine is difficult to consider automatic operation and manual operation is solved.
Referring to fig. 2, fig. 2 is a flowchart illustrating a control method of a rice transplanter according to a second embodiment of the present invention.
Based on the above first embodiment, the control method of the rice transplanter according to this embodiment further includes, before the step S80:
step S10: after the system calibration mode is entered, a first current parameter of the electric push rod 2 is obtained, and the electric push rod 2 is controlled to extend to drive the control rod 3 to swing to the right.
It should be noted that, the user may enter the system calibration mode by pressing a button, and the first current parameter is a working current of the electric putter 2 during normal operation, which is generally 2-3A.
Step S20: a second current parameter of the electric putter 2 is obtained.
When the electric push rod 2 extends to the right limit position, the motor of the electric push rod 2 is blocked, and the second current parameter is a blocking current, which may be 7A.
Step S30: and determining the right limit position parameter of the electric push rod 2 according to the first current parameter and the second current parameter.
Step S40: and controlling the electric push rod 2 to retract to drive the control rod 3 to swing left, and acquiring a third current parameter of the electric push rod 2 again.
When the electric push rod 2 extends to the left limit position, the motor of the electric push rod 2 is blocked, and the third current parameter is also a blocking current.
Step S50: and determining the left limit position parameter of the electric push rod 2 according to the first current parameter and the third current parameter.
Step S60: and performing calibration verification according to the left limit position parameter and the right limit position parameter.
Step S70: and after the calibration and verification are successful, the system calibration is completed.
In this embodiment, after a system calibration mode is entered, a first current parameter of the electric putter 2 is obtained, the electric putter 2 is controlled to extend to drive the joystick 3 to swing to the right, then a second current parameter of the electric putter 2 is obtained, a right limit position parameter of the electric putter 2 is determined according to the first current parameter and the second current parameter, then the electric putter 2 is controlled to retract to drive the joystick 3 to swing to the left, and a third current parameter of the electric putter 2 is obtained again, and a left limit position parameter of the electric putter 2 is determined according to the first current parameter and the third current parameter, finally calibration verification is performed according to the left limit position parameter and the right limit position parameter, and after the calibration verification is successful, system calibration is completed.
Referring to fig. 3, fig. 3 is a flowchart illustrating a control method of a rice transplanter according to a third embodiment of the present invention.
Based on the above second embodiment, the control method of the rice transplanter of this embodiment includes, in the step S30:
step S31: and determining a first current difference value according to the first current parameter and the second current parameter.
Step S32: and when the first current difference value is larger than a first preset threshold value, acquiring a first voltage parameter of the electric push rod 2.
It should be noted that, the first current difference value is a difference between the first current parameter and the second current parameter, and when the first current difference value is greater than the first preset threshold value, it is indicated that the electric putter 2 is at the right limit position at this time.
Step S33: and determining the right limit position parameter of the electric push rod 2 according to the first voltage parameter.
It should be noted that, the voltage parameters and the position parameters of the electric putter 2 are in one-to-one correspondence, so that the right limit position parameter of the electric putter 2 may be determined according to the obtained first voltage parameter.
The step of determining the left limit position parameter of the electric putter 2 according to the first current parameter and the third current parameter is similar to the above steps.
In this embodiment, a first current difference value is determined according to the first current parameter and the second current parameter, then the first current difference value is determined according to the first current parameter and the second current parameter, when the first current difference value is greater than a first preset threshold value, a first voltage parameter of the electric push rod 2 is obtained, and finally a right limit position parameter of the electric push rod 2 is determined according to the first voltage parameter.
Referring to fig. 4, fig. 4 is a flowchart illustrating a fourth embodiment of a control method of a rice transplanter according to the present invention.
Based on the above second embodiment, the control method of the rice transplanter of this embodiment in step S60 includes:
step S61: and determining a first distance value according to the left limit position parameter and the right limit position parameter.
The first distance value is a difference value between the left limit position parameter and the right limit position parameter.
Step S62: and when the first distance value is larger than a second preset threshold value, generating calibration verification success information.
The second preset threshold is approximately equal to the distance between the two inner walls of the chute 21 in the length direction thereof.
When the first distance value is smaller than the second preset threshold value, the calibration check is failed, the control system automatically repeats the steps from step S10 to step S70, and if the calibration check fails again, the calibration mode is exited and the indicator lamp is controlled to prompt a fault.
In this embodiment, a first distance value is determined according to the left limit position parameter and the right limit position parameter, and when the first distance value is greater than a second preset threshold value, calibration verification success information is generated.
Referring to fig. 5, fig. 5 is a flowchart illustrating a fifth embodiment of a control method of a rice transplanter according to the present invention.
Based on the above-mentioned first embodiment, the control method of the rice transplanter according to the present embodiment further includes, before determining the required expansion parameter of the electric putter 2 according to the current position parameter and the current motion parameter in step S100:
step S102: and acquiring the left limit position parameter and the right limit position parameter of the electric push rod 2.
It should be noted that, the left limit position parameter and the right limit position parameter of the electric putter 2 may be obtained as in steps S31 to S33, or may be obtained in other manners.
Step S103: and acquiring a second voltage parameter of the electric push rod 2.
Step S104: and determining the current position parameter of the electric push rod 2 according to the second voltage parameter.
It should be noted that, because the voltage parameters of the electric push rod 2 are in one-to-one correspondence with the position parameters thereof, the current position parameters of the electric push rod 2 can be determined through the second voltage parameters.
Step S105: and determining a second distance value according to the left limit position parameter and the current position parameter.
It should be noted that the second distance value is a difference value between the left limit position parameter and the current position parameter.
Step S106: and determining a third distance value according to the right limit position parameter and the current position parameter.
It should be noted that, the third distance value is a difference value between the right limit position parameter and the current position parameter.
Step S107: and determining the required expansion parameter of the electric push rod 2 according to the second distance value, the third distance value, the current position parameter and the current motion parameter of the rice transplanter.
In this embodiment, the left limit position parameter and the right limit position parameter of the electric putter 2 are obtained first, then the second voltage parameter of the electric putter 2 is obtained, the current position parameter of the electric putter 2 is determined according to the second voltage parameter, the second distance value is determined according to the left limit position parameter and the current position parameter, the third distance value is determined according to the right limit position parameter and the current position parameter, and finally the required expansion parameter of the electric putter 2 is determined according to the second distance value, the third distance value, the current position parameter and the current motion parameter of the rice transplanter.
Referring to fig. 6, fig. 6 is a flowchart illustrating a sixth embodiment of a control method of a rice transplanter according to the present invention.
Based on the fifth embodiment, the control method of the rice transplanter of the present embodiment in the step S107 includes:
step S1071: when the current position parameter meets a first preset condition and the current motion parameter of the rice transplanter meets a second preset condition, the required telescopic parameter of the electric push rod 2 is determined to be the second distance value.
It should be noted that, the first preset condition is that the current position of the planting part is a descending position, the second preset condition is that the current motion state of the transplanting machine is a turning state, and at this time, the required expansion parameter of the electric putter 2 is determined as the second distance value, that is, the planting clutch is separated and the planting part is lifted.
Step S1072: and when the current motion parameter of the rice transplanter does not meet a second preset condition, determining the required telescopic parameter of the electric push rod 2 as the third distance value.
It should be noted that, when the current motion parameter of the rice transplanter does not meet the second preset condition, that is, the current motion state of the rice transplanter is a straight motion state, at this time, the required expansion parameter of the electric putter 2 is determined as the third distance value, that is, the transplanting portion descends and the transplanting clutch is combined.
In this embodiment, when the current position parameter meets a first preset condition and the current motion parameter of the rice transplanter meets a second preset condition, the required expansion parameter of the electric push rod 2 is determined to be the second distance value, and at this time, the transplanting clutch is separated and the transplanting part is lifted; when the current motion parameter of the rice transplanter does not meet a second preset condition, the required telescopic parameter of the electric push rod 2 is determined to be the third distance value, at the moment, the transplanting part descends and the transplanting clutch is combined.
Referring to fig. 7, fig. 7 is a flowchart illustrating a control method of a rice transplanter according to a seventh embodiment of the present invention.
Based on the above first embodiment, the control method of the rice transplanter according to the present embodiment further includes, after the step S100:
step S110: after the electric push rod 2 extends to drive the control rod 3 to swing to the right, so that the transplanting part descends and the transplanting clutch is combined, the electric push rod 2 is controlled to retract, a third voltage parameter of the electric push rod 2 is obtained, a current position parameter of the electric push rod 2 is determined according to the third voltage parameter, and when the current position parameter meets a third preset condition, the electric push rod 2 is controlled to stop running.
It should be noted that, the third preset condition is that the current position is close to the right pushing point of the electric push rod 2, and at this time, the operating rod 3 is close to the right side wall of the chute 21, and when the operating rod 3 needs to be driven to swing left, the electric push rod 2 is controlled to retract, so that the operating rod 3 is driven to swing left faster.
Step S120: and after the electric push rod 2 is retracted to drive the control rod 3 to swing left to move so that the transplanting part is lifted and the transplanting clutch is separated, controlling the electric push rod 2 to extend, acquiring a fourth voltage parameter of the electric push rod 2, determining a current position parameter of the electric push rod 2 according to the fourth voltage parameter, and controlling the electric push rod 2 to stop running when the current position parameter meets a fourth preset condition.
It should be noted that, the fourth preset condition is that the current position is close to the left pushing point of the electric push rod 2, and at this time, the operating rod 3 is close to the left side wall of the chute 21, and when the operating rod 3 needs to be driven to swing right, the electric push rod 2 is controlled to retract, so that the operating rod 3 is driven to swing right faster.
It should be noted that, when the electric push rod 2 extends to the right limit position, the electric push rod 2 is controlled to retract to drive the operating lever 3 to swing left, or when the electric push rod 2 is retracted to the left limit position, the electric push rod 2 is controlled to extend again to drive the operating lever 3 to swing right, the electric push rod 2 cannot drive the operating lever 3 to move within a section of idle stroke, the distance of the idle stroke is approximately equal to the distance of two inner side walls of the chute 21 in the length direction, and the steps S110 to S120 are used for eliminating the idle stroke.
In this embodiment, after the electric putter 2 extends to drive the lever 3 to swing to the right, so that the transplanting portion descends and the transplanting clutch is combined, the electric putter 2 is controlled to retract, a third voltage parameter of the electric putter 2 is obtained, a current position parameter of the electric putter 2 is determined according to the third voltage parameter, when the current position parameter meets a third preset condition, the electric putter 2 is controlled to stop operating, after the electric putter 2 retracts to drive the lever 3 to swing to the left, so that the transplanting portion ascends and the transplanting clutch is separated, the electric putter 2 is controlled to extend, a fourth voltage parameter of the electric putter 2 is obtained, the current position parameter of the electric putter 2 is determined according to the fourth voltage parameter, and when the current position parameter meets a fourth preset condition, the electric putter 2 is controlled to stop operating.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
Furthermore, 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 system 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 system. 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 system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
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 invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The rice transplanter comprises a rice transplanter control structure, a transplanting part and a transplanting clutch, wherein the rice transplanter control structure comprises an electric push rod and an operating rod, a chute extending along the length direction is formed in one end of the electric push rod, and the operating rod is movably connected in the chute, and the rice transplanter control method is characterized by comprising the following steps:
after the system calibration is completed, a target control mode selected by a user is acquired;
when the target control mode is a manual mode, controlling the electric push rod to stretch so that one end of the control rod is positioned in the middle of the chute;
when the target control mode is an automatic mode, acquiring a current position parameter of the transplanting part and a current motion parameter of the rice transplanter, determining a required expansion parameter of the electric push rod according to the current position parameter and the current motion parameter, and controlling the electric push rod to expand and contract according to the required expansion parameter of the electric push rod so as to drive the operating lever to move, so that the transplanting part can lift and descend and can be correspondingly separated from and combined with the transplanting clutch;
before the target control mode selected by the user is obtained, the method further comprises the following steps:
after entering a system calibration mode, acquiring a first current parameter of the electric push rod, and controlling the electric push rod to extend to drive the control rod to swing to the right;
acquiring a second current parameter of the electric push rod;
determining a right limit position parameter of the electric push rod according to the first current parameter and the second current parameter;
controlling the electric push rod to retract to drive the control rod to swing leftwards and move, and acquiring a third current parameter of the electric push rod again;
determining a left limit position parameter of the electric push rod according to the first current parameter and the third current parameter;
performing calibration verification according to the left limit position parameter and the right limit position parameter;
and after the calibration and verification are successful, the system calibration is completed.
2. The rice transplanter control method according to claim 1, wherein the determining the right limit position parameter of the electric putter based on the first current parameter and the second current parameter includes:
determining a first current difference value according to the first current parameter and the second current parameter;
when the first current difference value is larger than a first preset threshold value, a first voltage parameter of the electric push rod is obtained;
and determining a right limit position parameter of the electric push rod according to the first voltage parameter.
3. The rice transplanter control method according to claim 1, wherein the performing calibration verification according to the left limit position parameter and the right limit position parameter includes:
determining a first distance value according to the left limit position parameter and the right limit position parameter;
and when the first distance value is larger than a second preset threshold value, generating calibration verification success information.
4. The rice transplanter control method according to claim 1, wherein determining a required expansion parameter of the electric putter according to the current position parameter and the current motion parameter comprises:
acquiring left limit position parameters and right limit position parameters of the electric push rod;
acquiring a second voltage parameter of the electric push rod;
determining a current position parameter of the electric push rod according to the second voltage parameter;
determining a second distance value according to the left limit position parameter and the current position parameter;
determining a third distance value according to the right limit position parameter and the current position parameter;
and determining the required expansion parameter of the electric push rod according to the second distance value, the third distance value, the current position parameter and the current motion parameter of the rice transplanter.
5. The rice transplanter control method as in claim 4, wherein said determining a required telescoping parameter of said electric putter based on said second distance value, said third distance value, said current position parameter, and a current motion parameter of said rice transplanter, comprises:
when the current position parameter meets a first preset condition and the current motion parameter of the rice transplanter meets a second preset condition, determining a required telescopic parameter of the electric push rod as the second distance value;
and when the current motion parameters of the rice transplanter do not meet a second preset condition, determining the required telescopic parameters of the electric push rod as the third distance value.
6. The rice transplanter control method according to claim 1, wherein when the target control mode is an automatic mode, a current position parameter of the transplanting portion and a current motion parameter of the rice transplanter are obtained, a required expansion parameter of the electric putter is determined according to the current position parameter and the current motion parameter, and the electric putter is controlled to expand and contract according to the required expansion parameter of the electric putter so as to drive the operating lever to move, so that the transplanting portion moves up and down and is correspondingly separated from and combined with the transplanting clutch, and then the method further comprises:
after the electric push rod stretches out to drive the operating rod to swing to the right, so that the transplanting part descends and the transplanting clutch is combined, controlling the electric push rod to retract, acquiring a third voltage parameter of the electric push rod, determining a current position parameter of the electric push rod according to the third voltage parameter, and controlling the electric push rod to stop running when the current position parameter meets a third preset condition;
and after the electric push rod is retracted to drive the control rod to swing left to move, so that the transplanting part is lifted and the transplanting clutch is separated, controlling the electric push rod to extend, acquiring a fourth voltage parameter of the electric push rod, determining a current position parameter of the electric push rod according to the fourth voltage parameter, and controlling the electric push rod to stop running when the current position parameter meets a fourth preset condition.
7. A rice transplanter control structure, comprising:
the fixing structure is used for being connected with the rice transplanter body;
one end of the electric push rod is connected with the fixed structure, and the other end of the electric push rod is provided with a chute extending along the length direction of the electric push rod;
a position detecting device for detecting the position of the transplanting part;
one end of the control rod is movably connected with the chute, and the control rod can be rotatably arranged around the middle part of the control rod; the method comprises the steps of,
the controller is electrically connected with the electric push rod and the position detection device, and comprises a memory, a processor and a rice transplanter control program which is stored in the memory and can run on the processor, and the rice transplanter control program is configured to realize the rice transplanter control method according to any one of claims 1 to 6.
8. A rice transplanter comprising a transplanter body, a transplanting portion, a transplanting clutch, and a transplanter control structure according to claim 7.
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| CN202311204338.4A CN117280925B (en) | 2023-09-18 | 2023-09-18 | Rice transplanter control method, control structure and rice transplanter |
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| CN202311204338.4A CN117280925B (en) | 2023-09-18 | 2023-09-18 | Rice transplanter control method, control structure and rice transplanter |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08331943A (en) * | 1995-06-09 | 1996-12-17 | Kubota Corp | Rice transplanter |
| JPH10248326A (en) * | 1997-03-10 | 1998-09-22 | Kubota Corp | Rice transplanter |
| KR20060026999A (en) * | 2004-09-22 | 2006-03-27 | 대동공업주식회사 | Saddle rice transplanter |
| CN106612793A (en) * | 2017-01-10 | 2017-05-10 | 浙江小精农机制造有限公司 | Integrated control device of rice transplanter and linkage control method thereof |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN114342615A (en) * | 2021-12-13 | 2022-04-15 | 广州极飞科技股份有限公司 | Automatic control method, device and equipment for rice transplanter and storage medium |
| CN218735941U (en) * | 2022-10-31 | 2023-03-28 | 上海联适导航技术股份有限公司 | Seedling table control device of rice transplanter |
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2023
- 2023-09-18 CN CN202311204338.4A patent/CN117280925B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08331943A (en) * | 1995-06-09 | 1996-12-17 | Kubota Corp | Rice transplanter |
| JPH10248326A (en) * | 1997-03-10 | 1998-09-22 | Kubota Corp | Rice transplanter |
| KR20060026999A (en) * | 2004-09-22 | 2006-03-27 | 대동공업주식회사 | Saddle rice transplanter |
| CN106612793A (en) * | 2017-01-10 | 2017-05-10 | 浙江小精农机制造有限公司 | Integrated control device of rice transplanter and linkage control method thereof |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN114342615A (en) * | 2021-12-13 | 2022-04-15 | 广州极飞科技股份有限公司 | Automatic control method, device and equipment for rice transplanter and storage medium |
| CN218735941U (en) * | 2022-10-31 | 2023-03-28 | 上海联适导航技术股份有限公司 | Seedling table control device of rice transplanter |
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| Publication number | Publication date |
|---|---|
| CN117280925A (en) | 2023-12-26 |
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