WO2018120752A1 - 种植机的控制方法、装置和种植机 - Google Patents

种植机的控制方法、装置和种植机 Download PDF

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Publication number
WO2018120752A1
WO2018120752A1 PCT/CN2017/092544 CN2017092544W WO2018120752A1 WO 2018120752 A1 WO2018120752 A1 WO 2018120752A1 CN 2017092544 W CN2017092544 W CN 2017092544W WO 2018120752 A1 WO2018120752 A1 WO 2018120752A1
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WIPO (PCT)
Prior art keywords
planting
planter
preset
area
row
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PCT/CN2017/092544
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English (en)
French (fr)
Inventor
陈伟
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深圳前海弘稼科技有限公司
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Application filed by 深圳前海弘稼科技有限公司 filed Critical 深圳前海弘稼科技有限公司
Publication of WO2018120752A1 publication Critical patent/WO2018120752A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • A01C7/208—Chassis; Coupling means to a tractor or the like; Lifting means; Side markers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like

Definitions

  • the invention relates to the field of agricultural technology, in particular to a control method of a planting machine, a control device for a planting machine, and a planting machine.
  • the present invention aims to solve at least one of the technical problems existing in the prior art or related art.
  • an object of the present invention is to provide a method of controlling a planter.
  • Another object of the present invention is to provide a control device for a planter.
  • Yet another object of the present invention is to provide a planting machine.
  • the present invention provides a control method for a planter for a planter, the planter includes a water tank and a discharge pipe, and the control method comprises: S102, receiving and recording planting parameters, determining planting area according to planting parameters, planting The spacing and the planting direction; S104, obtaining the advancement distance; S106, when the current advancement distance is equal to the first preset threshold, controlling the cutting tube to be inserted into the soil.
  • the planting machine by receiving and recording the planting parameters, according to the species Planting parameters determine the planting area, planting spacing and planting direction to control the planting machine to grow according to this parameter; preferably the planting machine also includes a filter net, when the user pours the seed into the planter, the filter automatically filters the unqualified seed (removed) If the seed is not full and the size is unqualified, the qualified seed passes through the conveyor belt and enters the cutting tube.
  • the cutting tube is controlled to be inserted into the soil, and the seed slides into the soil.
  • the method further includes: S108, after the discharge pipe leaves the soil, controlling the water tank to discharge water; S110, when the water discharge amount reaches a preset water discharge amount, controlling the planting machine to continue the advancement distance.
  • the water tank is controlled to release water, and the seed planting area is watered.
  • the planter is controlled to advance and the next planting is performed after the watering is completed, thereby realizing automatic Watering.
  • the method further includes: S112, accumulating and calculating the total length of the advancement distance; S114, when the total length of the current advancement distance is equal to the second preset threshold, the first row of planting ends, and the planter is controlled Steering according to the preset planting direction, starting the second row of planting; repeating S104 to S114 until the area of the planting area is equal to the preset planting area, controlling the planter to stop working; wherein, between the first row and the second row The distance is a third preset threshold.
  • the planting direction is turned to start the next row of planting, wherein the distance between the row and the row is a preset third preset threshold, and the above steps are repeatedly performed in sequence until the area of the planting area reaches the preset planting area, the planting machine stop working.
  • the planting interval includes a front-to-back spacing and a left-right spacing of the planting; wherein, the first predetermined threshold is a front-to-back spacing of the planting; and the third predetermined threshold is a planting Left and right spacing.
  • the front and rear distances of the planting are determined according to the first preset threshold value, and the left and right distances of the planting are determined according to the third preset threshold value, thereby controlling the planting machine to be planted according to the front, rear, left and right spacing of the planting.
  • the second predetermined threshold is the length of the planting area.
  • the length of the planting area is determined according to the second preset threshold, and when the total length of the planting machine forward distance is equal to the second preset threshold, the end of the planting of one row is indicated.
  • the preset planting direction is left-right-left-right.
  • the planter is controlled to turn according to the preset planting direction, a new row of planting is started, and the above planting steps are repeated, thereby completing the entire planting area. Planting until the area of the planting area reaches the preset planting area, and the planter is controlled to stop.
  • the invention also provides a control device for a planting machine, which is used for a planting machine, the planting machine comprises a water tank and a discharging tube, and the control device comprises: a receiving unit for receiving and recording the planting parameters, determining the planting area and the planting spacing according to the planting parameters. And the planting direction; the obtaining unit is configured to obtain the forward distance; and the control unit is configured to control the cutting tube to be inserted into the soil when the current entering distance is equal to the first preset threshold.
  • the planting area, the planting interval and the planting direction are determined according to the planting parameters by receiving and recording the planting parameters, so as to control the planting machine to be planted according to the parameter; preferably, the planting machine further comprises a filter net.
  • the user pours the seeds into the planter, and the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified).
  • the qualified seeds pass through the conveyor belt and enter the cutting tube.
  • the advance distance the current distance is equal to the first preset.
  • the control tube is inserted into the soil and the seeds slide down into the soil.
  • control device for the planter according to the present invention described above may further have the following additional technical features:
  • the method further includes: a control unit, configured to control the water tank to discharge water when the material discharge pipe leaves the soil; and the control unit is further configured to: when the water discharge amount reaches a preset water discharge amount, Control the planter to continue moving forward.
  • the water tank is controlled to release water, and the seed planting area is watered.
  • the planting machine is controlled to advance and the next planting is performed after the watering is completed, thereby realizing automatic Watering.
  • the method further includes: a calculating unit, configured to accumulate and calculate a total length of the forward distance; and the control unit is further configured to: when the total length of the current running distance is equal to the second preset threshold, the first After the planting is finished, the planter is controlled to turn according to the preset planting direction, and the second row of planting is started; the control unit is also used to control the planter to stop working when the area of the planting area is equal to the preset planting area; wherein, the first row The distance from the second row is a third predetermined threshold.
  • a calculating unit configured to accumulate and calculate a total length of the forward distance
  • the control unit is further configured to: when the total length of the current running distance is equal to the second preset threshold, the first After the planting is finished, the planter is controlled to turn according to the preset planting direction, and the second row of planting is started; the control unit is also used to control the planter to stop working when the area of the planting area is equal to the preset planting area; wherein, the first row The distance from the
  • the planting direction is turned to start the next row of planting, wherein the distance between the row and the row is a preset third preset threshold, and the above steps are repeatedly performed in sequence until the area of the planting area reaches the preset planting area, the planting machine stop working.
  • the planting interval includes a front-rear spacing and a left-right spacing of the planting; wherein, the first predetermined threshold is a front-to-back spacing of the planting; and the third predetermined threshold is a left-right spacing of the planting.
  • the front and rear distances of the planting are determined according to the first preset threshold value, and the left and right distances of the planting are determined according to the third preset threshold value, thereby controlling the planting machine to be planted according to the front, rear, left and right spacing of the planting.
  • the second predetermined threshold is the length of the planting area.
  • the length of the planting area is determined according to the second preset threshold, and when the total length of the planting machine forward distance is equal to the second preset threshold, the end of the planting of one row is indicated.
  • the preset planting direction is left-right-left-right.
  • the planter is controlled to turn according to the preset planting direction, a new row of planting is started, and the above planting steps are repeated, thereby completing the entire planting area. Planting until the area of the planting area reaches the preset planting Control the planter down until the area.
  • the present invention also provides a planting machine comprising the control device of the planting machine according to any one of the above technical solutions.
  • the planting parameters are received and recorded by the control device, the planting area, the planting interval and the planting direction are determined according to the planting parameters, so as to control the planting machine to be planted according to the parameter; preferably, the planting machine further comprises a filter net when the user Pour the seeds into the planter, the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified), the qualified seeds pass through the conveyor belt and enter the cutting tube, and the forward distance is obtained, and the current distance is equal to the first preset threshold.
  • the control tube is inserted into the soil, the seeds slide down into the soil.
  • a rack a seeding tank disposed in the rack for accommodating the seed; and a filter net disposed in the bottom of the seeding tank for filtering the seed; a conveyor belt, one end of the conveyor belt is disposed below the discharge opening of the seeding tank; a discharge pipe, one end opening of the discharge pipe is connected to the other end of the conveyor belt, and the other end of the discharge pipe The opening faces the ground for seeding the qualified seed; a water tank is disposed on the frame for watering; and a drive assembly is disposed on the frame for driving the frame to travel.
  • the filter seed can be filtered by the filter screen disposed in the bottom of the seeding tank, the seeding assembly connected to the discharge port of the seeding tank, and the water tank assembly and the drive assembly, and matched with appropriate control logic.
  • the intelligent planting method of automatic planting and watering integration has simple operation and good seeding effect, and the structure is simple and reasonable, and easy to implement, thereby effectively saving manpower and material resources, reducing technical cost and production cost.
  • 1a is a schematic flow chart showing a control method of a planting machine according to an embodiment of the present invention
  • FIG. 1b is a schematic flow chart showing a control method of a planting machine according to still another embodiment of the present invention.
  • FIG. 2 is a schematic flow chart showing a control method of a planting machine according to still another embodiment of the present invention.
  • Figure 3 is a schematic block diagram showing a control device of a planting machine according to an embodiment of the present invention.
  • Figure 4 is a schematic block diagram showing a control device of a planting machine according to still another embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a planting machine in accordance with an embodiment of the present invention.
  • Figure 6 is a schematic view showing the structure of a planting machine according to an embodiment of the present invention.
  • Fig. 7 is a view showing the structure of a control device for a planting machine according to an embodiment of the present invention.
  • FIG. 1a a schematic flow chart of a control method of a planting machine in an embodiment of the present invention:
  • Step 102 Receive and record planting parameters, and determine planting area, planting spacing, and planting direction according to planting parameters;
  • Step 104 Obtain a forward distance
  • step 106 when the current advance distance is equal to the first preset threshold, the lowering tube is controlled to be inserted into the soil.
  • the planting area, the planting interval and the planting direction are determined according to the planting parameters by receiving and recording the planting parameters, and the planting machine is controlled to grow according to the parameter; preferably, the planter further includes a filter net, when the user pours the seed In the planter, the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified), and the qualified seeds pass through the conveyor to enter the cutting tube, and obtain the forward distance.
  • the control is controlled.
  • the cutting tube is inserted into the soil and the seeds slide down into the soil.
  • FIG. 1b is a schematic flow chart of a control method of a planting machine in still another embodiment of the present invention:
  • Step 102 Receive and record planting parameters, and determine planting area, planting spacing, and planting direction according to planting parameters;
  • Step 104 Obtain a forward distance
  • Step 106 When the current advance distance is equal to the first preset threshold, control the cutting tube to be inserted into the soil;
  • Step 108 after the discharge pipe leaves the soil, control the water tank to discharge water;
  • step 110 when the water discharge amount reaches the preset water discharge amount, the planter is controlled to continue the advancement distance.
  • the water tank is controlled to release water, and the seed planting area is watered.
  • the planting machine is controlled to advance and the next planting is performed after the watering is completed, thereby realizing automatic Watering.
  • FIG. 2 is a schematic flow chart of a control method of a planting machine according to still another embodiment of the present invention:
  • Step 202 Receive and record planting parameters, and determine planting area, planting spacing, and planting direction according to planting parameters;
  • Step 204 Obtain a forward distance
  • Step 206 When the current advance distance is equal to the first preset threshold, control the cutting tube to be inserted into the soil;
  • Step 208 after the discharge pipe leaves the soil, control the water tank to discharge water;
  • Step 210 when the amount of water discharge reaches a preset water discharge amount, controlling the planting machine to continue to advance the forward distance;
  • Step 212 accumulating and calculating the total length of the forward distance
  • Step 214 When the total length of the current advancement distance is equal to the second preset threshold, the first row of planting ends, and the planter is controlled to perform steering according to the preset planting direction to start the second row of planting;
  • Step 216, step 204 to step 214 are repeated until the area of the planting area is equal to the preset planting area, and the planter is stopped to operate; wherein the distance between the first row and the second row is a third preset threshold.
  • the planting direction is turned to start the next row of planting, wherein the distance between the row and the row is a preset third preset threshold, and the above steps are repeatedly performed in sequence until the area of the planting area reaches the preset planting area, the planting machine stop working.
  • the planting interval includes a front-to-back spacing and a left-right spacing of the planting; wherein the first predetermined threshold is a front-to-back spacing of the planting; and the third predetermined threshold is a left-right spacing of the planting.
  • the front and rear distances of the planting are determined according to the first preset threshold value, and the left and right distances of the planting are determined according to the third preset threshold value, thereby controlling the planting machine to be planted according to the front, rear, left and right spacing of the planting.
  • the second predetermined threshold is the length of the planting area.
  • the length of the planting area is determined according to the second predetermined threshold value, and when the total length of the planting machine forward distance is equal to the second predetermined threshold, the end of the planting of one row is indicated.
  • the preset planting direction is left-right-left-right.
  • the planter is controlled to turn according to the preset planting direction, a new row of planting is started, and the above planting steps are repeated, thereby completing the entire planting area. Planting until the area of the planting area reaches the preset planting area, and the planter is controlled to stop.
  • FIG. 3 a schematic block diagram of a control device for a planting machine in one embodiment of the present invention:
  • the receiving unit 302 is configured to receive and record the planting parameters, and determine the planting area, the planting interval and the planting direction according to the planting parameters;
  • An obtaining unit 304 configured to acquire a forward distance
  • the control unit 306 is configured to control the insertion of the lower tube into the soil when the current advance distance is equal to the first preset threshold.
  • the planting machine by receiving and recording the planting parameters, determining the planting area, planting spacing and planting direction according to the planting parameters, to control the planting machine to grow according to the parameter; preferably
  • the planting machine also includes a filter net.
  • the filter net automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified), and the qualified seeds pass through the conveyor belt and enter the cutting tube to obtain the advance distance.
  • the control feed pipe is inserted into the soil, and the seed slides down into the soil.
  • control unit 306 is further configured to control the water tank to release water when the discharge pipe leaves the soil; and the control unit 306 is further configured to control the planter to continue to advance when the water discharge amount reaches a preset water discharge amount. distance.
  • the water tank is controlled to release water, and the seed planting area is watered.
  • the planting machine is controlled to advance and the next planting is performed after the watering is completed, thereby realizing automatic Watering.
  • FIG. 4 a schematic block diagram of a control device for a planting machine in still another embodiment of the present invention:
  • the receiving unit 402 is configured to receive and record the planting parameters, and determine the planting area, the planting interval, and the planting direction according to the planting parameters;
  • An obtaining unit 404 configured to acquire a forward distance
  • the control unit 406 is configured to control the insertion of the lower tube into the soil when the current advance distance is equal to the first preset threshold
  • the control unit 406 is further configured to control the water tank to release water after the discharge pipe leaves the soil;
  • the control unit 406 is further configured to control the planter to continue to advance the forward distance when the water discharge amount reaches the preset water discharge amount;
  • a calculating unit 408, configured to accumulate and calculate a total length of the forward distance
  • the control unit 406 is further configured to: when the total length of the current advancement distance is equal to the second preset threshold, the first row of planting ends, the planter is controlled to perform steering according to the preset planting direction, and the second row of planting is started;
  • the control unit 406 is further configured to control the planter to stop working when the area of the planting area is equal to the preset planting area; wherein the distance between the first row and the second row is a third preset threshold.
  • the third preset threshold is preset, and the above steps are repeatedly performed in sequence until the planting area reaches the preset planting area, and the planter stops working.
  • the planting interval includes a front-to-back spacing and a left-right spacing of the planting; wherein the first predetermined threshold is a front-to-back spacing of the planting; and the third predetermined threshold is a left-right spacing of the planting.
  • the front and rear distances of the planting are determined according to the first preset threshold value, and the left and right distances of the planting are determined according to the third preset threshold value, thereby controlling the planting machine to be planted according to the front, rear, left and right spacing of the planting.
  • the second predetermined threshold is the length of the planting area.
  • the length of the planting area is determined according to the second predetermined threshold value, and when the total length of the planting machine forward distance is equal to the second predetermined threshold, the end of the planting of one row is indicated.
  • the preset planting direction is left-right-left-right.
  • the planter is controlled to turn according to the preset planting direction, a new row of planting is started, and the above planting steps are repeated, thereby completing the entire planting area. Planting until the area of the planting area reaches the preset planting area, and the planter is controlled to stop.
  • a schematic block diagram of a planting machine in accordance with one embodiment of the present invention includes a control device 502 as in any of the above embodiments.
  • the planting parameters are received and recorded by the control device 502, and the planting area, the planting interval and the planting direction are determined according to the planting parameters to control the planting machine to be planted according to the parameter; preferably, the planter further includes a filter net.
  • the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified), and the qualified seeds pass through the conveyor belt and enter the cutting tube. By obtaining the advance distance, the current distance is equal to the first pre-feed.
  • the threshold is set, the cutting tube is controlled to be inserted into the soil and the seed slides down into the soil.
  • control device can be disposed on the planter or
  • the form of the console is independent and connected to the planter via the network to form an agricultural cloud control system.
  • a rack a seeding tank disposed in the rack for accommodating the seed; and a filter net disposed in the bottom of the seeding tank for filtering the seed; a conveyor belt, one end of the conveyor belt is disposed below the discharge opening of the seeding tank; a discharge pipe, one end opening of the discharge pipe is connected to the other end of the conveyor belt, and the other end of the discharge pipe The opening faces the ground for seeding the qualified seed; a water tank is disposed on the frame for watering; and a drive assembly is disposed on the frame for driving the frame to travel.
  • screening of the filtered seeds can be achieved by a filter screen disposed within the bottom of the seeding tank, a seeding assembly coupled to the discharge opening of the seeding tank, and a water tank assembly, drive assembly, and matching appropriate control logic,
  • the intelligent planting method of automatic planting and watering integration has simple operation and good seeding effect, and the structure is simple and reasonable, and easy to implement, thereby effectively saving manpower and material resources, reducing technical cost and production cost.
  • a planting machine in accordance with some embodiments of the present invention is described below with reference to Figures 6-7.
  • the present invention provides a planting machine 600 comprising: a frame 602; a seeding tank 604 disposed in the frame 602 for accommodating seeds; and a filter 606 disposed at the bottom of the seeding tank 604
  • the seeding assembly is disposed on the frame 602 and connected to the discharge opening of the seeding tank 604 for seeding qualified seeds;
  • the water tank assembly is disposed on the frame 602 for watering;
  • the driving component It is disposed on the frame 602 for driving the frame 602 to walk;
  • the control device is connected with the seeding component, the watering component and the driving component for controlling the seeding.
  • the planter by means of a filter 606 disposed in the bottom of the seeding tank 604, a seeding assembly coupled to the discharge opening 608 of the seeding tank 604, and a water tank assembly, drive assembly, and matching appropriate control logic,
  • the intelligent planting method of screening and filtering seed, automatic planting and watering integration is simple in operation and good in seeding effect, and the structure is simple and reasonable, and easy to implement, thereby effectively saving manpower and material resources, reducing technical cost and production cost.
  • the seeding assembly comprises: a conveyor belt 606 having one end disposed below the discharge opening 608 of the seeding tank 604; a lowering tube 662 having one end opening of the lower feeding tube 602 and the other of the conveyor belt 606 One end is connected and the other end of the lowering tube 602 is open toward the ground for seeding qualified seeds.
  • the seeding assembly includes, but is not limited to, a conveyor belt 606, a discharge tube 602, through One end of the conveyor belt 606 is disposed below the discharge opening of the seeding tank 604, one end opening of the lower feeding tube 602 is connected to the other end of the conveyor belt 606, and the other end opening of the lower feeding tube 602 is oriented toward the ground, so that qualified seeds can be smoothly passed.
  • Incoming conveyor 606 is conveyed via conveyor 602 into the lowering tube 602, which is automatically seeded.
  • the water tank assembly includes a water tank 604 having a water outlet 616 underneath the water tank for watering the seeding area of the qualified seed.
  • the water tank 604 is provided with water for watering, and the seeding area of the seed is poured through the water outlet 616 at the bottom of the water tank 604 to automate the watering.
  • the drive assembly includes an engine 618 for driving the planter 600 to walk.
  • the planting machine 600 can walk autonomously, and the whole planting process can be controlled without any human operation, and only the appropriate control logic can be matched to control the walking process of the planting machine, thereby realizing the planting machine. Smart walking.
  • control device comprises: a console 618 provided with a display screen 620 and an input component 622, as shown in FIG.
  • the input component 622 is preferably a button
  • the control device includes, but is not limited to, a console.
  • the control parameters can be input and displayed, and the planter can be displayed.
  • State information or when the planter fails or completes the planting task, an interface prompt or voice prompt is issued to further enhance the intelligence, convenience, and practicality of the planter, and enhance the user experience.
  • An automatic seeding machine includes a seed filter, a conveyor belt, a discharge pipe, a water tank, a motor, a control system, and the like.
  • the control system includes: a setting unit and a control unit.
  • the control unit By setting the unit, the area to be sown, the pitch before and after sowing, the sowing direction, the number of seeding per seed, etc. are input into the control system, the system records the parameter, and controls the planter to sown according to this parameter; when the user pours the seed into the seeding In the machine, the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified). The qualified seeds pass through the conveyor belt and enter the cutting pipe.
  • the control unit controls the lowering pipe insertion. In the soil, The seed slides down into the soil. When the lowering pipe rises and leaves the soil, the control unit controls the water tank to release water, and waters the seed planting area.
  • the seeder is controlled to advance and the next planting is carried out; if the planter sows a row of distances to reach the pre-input
  • the control unit will turn according to the pre-input seeding direction to start the next row of planting, and in the next row, turn to the planting in the opposite direction (turning to the lower row in the left-right-left-right direction) ); if the planting area reaches the pre-input area, the planter stops working.
  • An automatic planter includes a seed filter, a conveyor belt, a discharge pipe, a water tank, a motor, a control system, and the like.
  • the control system includes: a setting unit, a control unit, and a prompting unit.
  • the parameters such as length, width, seeding direction, seeding number per seeding, seeding position information, etc. are input into the control system, the system records the parameter, and controls the planter to perform seeding according to this parameter; when the user pours the seed into the planting In the machine, the filter automatically filters the unqualified seeds (excluding the seeds that are not full and unqualified).
  • the qualified seeds pass through the conveyor belt and enter the cutting tube to position the planter.
  • the filter is controlled.
  • the unit controls the lower feeding tube to be inserted into the soil, and the seed slides down into the soil.
  • the control unit controls the water tank to discharge water, and waters the seed planting area.
  • the seeding machine is controlled to advance and the next planting is performed;
  • the control unit will turn according to the pre-input seeding direction to start the next row of planting, and in the next row, turn to plant in the opposite direction (according to left-right-left-right The direction is turned to the lower row of planting); if the planting width reaches the pre-entered width, the planter stops jobs. After the planting task is completed, the user is reminded by the voice unit.
  • the description of the terms “one embodiment”, “some embodiments”, “specific embodiments” and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in the present invention. At least one embodiment or example.
  • the schematic representation of the above terms does not necessarily refer to the same embodiment or example.
  • the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Transplanting Machines (AREA)

Abstract

一种种植机的控制方法及装置和种植机。其中，该种植机的控制方法，用于种植机，种植机包括水箱(614)和下料管(612)，控制方法包括：接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；获取前进距离；当前进距离等于第一预设阈值时，控制下料管(612)插入土壤中。通过种植机的控制方法及装置和种植机，实现筛选过滤种子、自动种植的智能种植方式，操作简单、并且播种效果好，同时结构简单合理、容易实施，从而有效节约人力、物力，降低技术成本及生产成本。

Description

种植机的控制方法、装置和种植机
本申请要求于2016年12月30日提交中国专利局、申请号为2016112700390发明名称为“种植机的控制方法、装置和种植机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及农业技术领域，具体而言，涉及一种种植机的控制方法、一种种植机的控制装置，还涉及一种种植机。
背景技术
在相关技术中，农作物种子种植通常采用播种机或者人工种植的方式，然而随着社会生活水平的提高及科技的进步，播种机或者人工种植的缺陷越发明显：1、技术成本高，2、操作繁琐、不够智能，3、浪费人力等。
因此，如何提供一种智能种植机，能够自动完成种植任务并有效降低成本，成为目前亟待解决的技术问题。
发明内容
本发明旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本发明的一个目的在于提出了一种种植机的控制方法。
本发明的另一个目的在于提出了一种种植机的控制装置。
本发明的又一个目的在于提出了一种种植机。
有鉴于此，本发明提出了一种种植机的控制方法，用于种植机，种植机包括水箱和下料管，控制方法包括：S102，接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；S104，获取前进距离；S106，当前进距离等于第一预设阈值时，控制下料管插入土壤中。
根据本发明的种植机的控制方法，通过接收并记录种植参数，根据种 植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
另外，根据本发明上述的种植机的控制方法，还可以具有如下附加的技术特征：
在上述技术方案中，优选地，还包括：S108，当下料管离开土壤后，控制水箱放水；S110，当放水量达到预设放水量时，控制种植机继续前进该前进距离。
在该技术方案中，当下料管上升离开土壤后，控制水箱放水，浇灌该种子种植区域，当放水量达到预设放水量时，浇灌完毕后控制种植机前进并进行下一次种植，从而实现自动浇水。
在上述任一技术方案中，优选地，还包括：S112，累计并计算前进距离的总长度；S114，当前进距离的总长度等于第二预设阈值时，第一排种植结束，控制种植机按照预设种植方向进行转向，开始第二排种植；重复执行S104至S114，直至种植区域的面积等于预设种植面积时，控制种植机停止工作；其中，第一排与第二排之间的距离为第三预设阈值。
在该技术方案中，通过累计并计算前进距离的总长度，当前进距离的总长度等于第二预设阈值时，说明种植机播种一排的距离达到预先设置的长度，此时按照预先输入的种植方向进行转向，开始下一排种植，其中排与排之间的距离为预先设置的第三预设阈值，依次重复执行上述步骤，直到种植区域的面积达到预先设置的种植面积时，种植机停止工作。从而实现种植的自动化、标准化、规模化，有效提升种植机的智能性、便利性、实用性，降低生产成本。
在上述任一技术方案中，优选地，种植间距包括种植的前后间距及左右间距；其中，第一预设阈值为种植的前后间距；第三预设阈值为种植的 左右间距。
在该技术方案中，根据第一预设阈值确定种植的前后距离，根据第三预设阈值确定种植的左右距离，从而控制种植机按照种植的前后左右间距进行种植。
在上述任一技术方案中，优选地，第二预设阈值为种植区域的长度。
在该技术方案中，根据第二预设阈值确定种植区域的长度，当种植机前进距离的总长度等于第二预设阈值时，说明一排的种植结束。
在上述任一技术方案中，优选地，预设种植方向为左-右-左-右。
在该技术方案中，根据预设种植方向，在一排种植结束时，控制种植机按照预设的种植方向进行转向，开始新一排的种植，并重复上面的种植步骤，从而完成整个种植区域的种植，直至种植区域的面积达到预设种植面积为止，控制种植机停机。
本发明还提出一种种植机的控制装置，用于种植机，种植机包括水箱和下料管，控制装置包括：接收单元，用于接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；获取单元，用于获取前进距离；控制单元，用于当前进距离等于第一预设阈值时，控制下料管插入土壤中。
根据本发明的种植机的控制装置，通过接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植的智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
另外，根据本发明上述的种植机的控制装置，还可以具有如下附加的技术特征：
在上述技术方案中，优选地，还包括：控制单元，还用于当下料管离开土壤后，控制水箱放水；控制单元，还用于当放水量达到预设放水量时， 控制种植机继续前进前进距离。
在该实施例中，当下料管上升离开土壤后，控制水箱放水，浇灌该种子种植区域，当放水量达到预设放水量时，浇灌完毕后控制种植机前进并进行下一次种植，从而实现自动浇水。
在上述任一技术方案中，优选地，还包括：计算单元，用于累计并计算前进距离的总长度；控制单元，还用于当前进距离的总长度等于第二预设阈值时，第一排种植结束，控制种植机按照预设种植方向进行转向，开始第二排种植；控制单元，还用于当种植区域的面积等于预设种植面积时，控制种植机停止工作；其中，第一排与第二排之间的距离为第三预设阈值。
在该技术方案中，通过累计并计算前进距离的总长度，当前进距离的总长度等于第二预设阈值时，说明种植机播种一排的距离达到预先设置的长度，此时按照预先输入的种植方向进行转向，开始下一排种植，其中排与排之间的距离为预先设置的第三预设阈值，依次重复执行上述步骤，直到种植区域的面积达到预先设置的种植面积时，种植机停止工作。从而实现种植的自动化、标准化、规模化，有效提升种植机的智能性、便利性、实用性，降低生产成本。
在上述任一技术方案中，优选地，种植间距包括种植的前后间距及左右间距；其中，第一预设阈值为种植的前后间距；第三预设阈值为种植的左右间距。
在该技术方案中，根据第一预设阈值确定种植的前后距离，根据第三预设阈值确定种植的左右距离，从而控制种植机按照种植的前后左右间距进行种植。
在上述任一技术方案中，优选地，第二预设阈值为种植区域的长度。
在该技术方案中，根据第二预设阈值确定种植区域的长度，当种植机前进距离的总长度等于第二预设阈值时，说明一排的种植结束。
在上述任一技术方案中，优选地，预设种植方向为左-右-左-右。
在该技术方案中，根据预设种植方向，在一排种植结束时，控制种植机按照预设的种植方向进行转向，开始新一排的种植，并重复上面的种植步骤，从而完成整个种植区域的种植，直至种植区域的面积达到预设种植 面积为止，控制种植机停机。
本发明还提出一种种植机，包括如上述技术方案中任一项的种植机的控制装置。
根据本发明的种植机，通过控制装置接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植、浇水一体化的智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
在上述技术方案中，优选地，还包括：机架；播种槽，设置在所述机架中，用于容置种子；过滤网，设置在所述播种槽的底部内，用于过滤种子；传送带，所述传送带的一端设置在所述播种槽的出料口的下方；下料管，所述下料管的一端开口与所述传送带的另一端相连接，所述下料管的另一端开口朝向地面，用于播种所述合格种子；水箱，设置在所述机架上，用于浇灌；驱动组件，设置在所述机架上，用于驱动所述机架行走。
在该技术方案中，通过设置在播种槽底部内的过滤网、与播种槽的出料口相连接的播种组件、以及水箱组件、驱动组件，并匹配适当的控制逻辑，可以实现筛选过滤种子、自动种植、浇水一体化的智能种植方式，操作简单、并且播种效果好，同时结构简单合理、容易实施，从而有效节约人力、物力，降低技术成本及生产成本。
本发明的附加方面和优点将在下面的描述部分中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1a示出了本发明一实施例的种植机的控制方法的流程示意图；
图1b示出了本发明再一实施例的种植机的控制方法的流程示意图；
图2示出了本发明又一实施例的种植机的控制方法的流程示意图；
图3示出了本发明一实施例的种植机的控制装置的示意框图；
图4示出了本发明再一实施例的种植机的控制装置的示意框图；
图5示出了本发明一实施例的种植机的示意框图；
图6示出了本发明一实施例的种植机的结构示意图；
图7示出了本发明一实施例的种植机的控制装置的结构示意图。
其中，图6至图7中附图标记与部件名称之间的对应关系为：
602机架，604播种槽，606过滤网，608出料口，610传送带，612下料管，614水箱，616出水口，618控制台，620显示屏，622输入组件。
具体实施方式
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。
如图1a所示，本发明的一个实施例中种植机的控制方法的流程示意图：
步骤102，接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；
步骤104，获取前进距离；
步骤106，当前进距离等于第一预设阈值时，控制下料管插入土壤中。
在该实施例中，通过接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植、浇水 一体化的智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
如图1b所示，本发明的再一个实施例中种植机的控制方法的流程示意图：
步骤102，接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；
步骤104，获取前进距离；
步骤106，当前进距离等于第一预设阈值时，控制下料管插入土壤中；
步骤108，当下料管离开土壤后，控制水箱放水；
步骤110，当放水量达到预设放水量时，控制种植机继续前进该前进距离。
在该实施例中，当下料管上升离开土壤后，控制水箱放水，浇灌该种子种植区域，当放水量达到预设放水量时，浇灌完毕后控制种植机前进并进行下一次种植，从而实现自动浇水。
如图2所示，本发明的又一个实施例中种植机的控制方法的流程示意图：
步骤202，接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；
步骤204，获取前进距离；
步骤206，当前进距离等于第一预设阈值时，控制下料管插入土壤中；
步骤208，当下料管离开土壤后，控制水箱放水；
步骤210，当放水量达到预设放水量时，控制种植机继续前进该前进距离；
步骤212，累计并计算前进距离的总长度；
步骤214，当前进距离的总长度等于第二预设阈值时，第一排种植结束，控制种植机按照预设种植方向进行转向，开始第二排种植；
步骤216，重复执行步骤204至步骤214，直至种植区域的面积等于预设种植面积时，控制种植机停止工作；其中，第一排与第二排之间的距离为第三预设阈值。
在该实施例中，通过累计并计算前进距离的总长度，当前进距离的总长度等于第二预设阈值时，说明种植机播种一排的距离达到预先设置的长度，此时按照预先输入的种植方向进行转向，开始下一排种植，其中排与排之间的距离为预先设置的第三预设阈值，依次重复执行上述步骤，直到种植区域的面积达到预先设置的种植面积时，种植机停止工作。从而实现种植的自动化、标准化、规模化，有效提升种植机的智能性、便利性、实用性，降低生产成本。
在上述任一实施例中，优选地，种植间距包括种植的前后间距及左右间距；其中，第一预设阈值为种植的前后间距；第三预设阈值为种植的左右间距。
在该实施例中，根据第一预设阈值确定种植的前后距离，根据第三预设阈值确定种植的左右距离，从而控制种植机按照种植的前后左右间距进行种植。
在上述任一实施例中，优选地，第二预设阈值为种植区域的长度。
在该实施例中，根据第二预设阈值确定种植区域的长度，当种植机前进距离的总长度等于第二预设阈值时，说明一排的种植结束。
在上述任一实施例中，优选地，预设种植方向为左-右-左-右。
在该实施例中，根据预设种植方向，在一排种植结束时，控制种植机按照预设的种植方向进行转向，开始新一排的种植，并重复上面的种植步骤，从而完成整个种植区域的种植，直至种植区域的面积达到预设种植面积为止，控制种植机停机。
如图3所示，本发明的一个实施例中种植机的控制装置的示意框图：
接收单元302，用于接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；
获取单元304，用于获取前进距离；
控制单元306，用于当前进距离等于第一预设阈值时，控制下料管插入土壤中。
在该实施例中，通过接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种 植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植、浇水一体化的智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
在上述实施例中，优选地，控制单元306，还用于当下料管离开土壤后，控制水箱放水；控制单元306，还用于当放水量达到预设放水量时，控制种植机继续前进前进距离。
在该实施例中，当下料管上升离开土壤后，控制水箱放水，浇灌该种子种植区域，当放水量达到预设放水量时，浇灌完毕后控制种植机前进并进行下一次种植，从而实现自动浇水。
如图4所示，本发明的再一个实施例中种植机的控制装置的示意框图：
接收单元402，用于接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向；
获取单元404，用于获取前进距离；
控制单元406，用于当前进距离等于第一预设阈值时，控制下料管插入土壤中；
控制单元406，还用于当下料管离开土壤后，控制水箱放水；
控制单元406，还用于当放水量达到预设放水量时，控制种植机继续前进前进距离；
计算单元408，用于累计并计算前进距离的总长度；
控制单元406，还用于当前进距离的总长度等于第二预设阈值时，第一排种植结束，控制种植机按照预设种植方向进行转向，开始第二排种植；
控制单元406，还用于当种植区域的面积等于预设种植面积时，控制种植机停止工作；其中，第一排与第二排之间的距离为第三预设阈值。
在该实施例中，通过累计并计算前进距离的总长度，当前进距离的总长度等于第二预设阈值时，说明种植机播种一排的距离达到预先设置的长度，此时按照预先输入的种植方向进行转向，开始下一排种植，其中排与排之间的距 离为预先设置的第三预设阈值，依次重复执行上述步骤，直到种植区域的面积达到预先设置的种植面积时，种植机停止工作。从而实现种植的自动化、标准化、规模化，有效提升种植机的智能性、便利性、实用性，降低生产成本。
在上述任一实施例中，优选地，种植间距包括种植的前后间距及左右间距；其中，第一预设阈值为种植的前后间距；第三预设阈值为种植的左右间距。
在该实施例中，根据第一预设阈值确定种植的前后距离，根据第三预设阈值确定种植的左右距离，从而控制种植机按照种植的前后左右间距进行种植。
在上述任一实施例中，优选地，第二预设阈值为种植区域的长度。
在该实施例中，根据第二预设阈值确定种植区域的长度，当种植机前进距离的总长度等于第二预设阈值时，说明一排的种植结束。
在上述任一实施例中，优选地，预设种植方向为左-右-左-右。
在该实施例中，根据预设种植方向，在一排种植结束时，控制种植机按照预设的种植方向进行转向，开始新一排的种植，并重复上面的种植步骤，从而完成整个种植区域的种植，直至种植区域的面积达到预设种植面积为止，控制种植机停机。
如图5所示，本发明的一个实施例中种植机的示意框图：包括如上述实施例中任一项的控制装置502。
根据本发明的种植机500，通过控制装置502接收并记录种植参数，根据种植参数确定种植面积、种植间距及种植方向，以控制种植机按照此参数进行种植；优选地种植机还包括过滤网，当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，通过获取前进距离，当前进距离等于第一预设阈值时，控制下料管插入土壤中，种子滑落至土壤中。从而实现筛选过滤种子、自动种植的智能种植方式，操作简单，并且播种效果好，从而有效节约人力、物力，降低技术成本及生产成本。
本领域技术人员应该理解，控制装置可以设置在种植机上，也可以以 控制台的形式独立存在，通过网络与种植机连接，形成农业云控制系统。
在上述实施例中，优选地，还包括：机架；播种槽，设置在所述机架中，用于容置种子；过滤网，设置在所述播种槽的底部内，用于过滤种子；传送带，所述传送带的一端设置在所述播种槽的出料口的下方；下料管，所述下料管的一端开口与所述传送带的另一端相连接，所述下料管的另一端开口朝向地面，用于播种所述合格种子；水箱，设置在所述机架上，用于浇灌；驱动组件，设置在所述机架上，用于驱动所述机架行走。
在该实施例中，通过设置在播种槽底部内的过滤网、与播种槽的出料口相连接的播种组件、以及水箱组件、驱动组件，并匹配适当的控制逻辑，可以实现筛选过滤种子、自动种植、浇水一体化的智能种植方式，操作简单、并且播种效果好，同时结构简单合理、容易实施，从而有效节约人力、物力，降低技术成本及生产成本。
下面参照图6至图7描述根据本发明一些实施例的种植机。
如图6所示，本发明提出了一种种植机600，包括：机架602；播种槽604，设置在机架602中，用于容置种子；过滤网606，设置在播种槽604的底部内，用于过滤种子；播种组件，设置在机架602上，与播种槽604的出料口相连接，用于播种合格种子；水箱组件，设置在机架602上，用于浇灌；驱动组件，设置在机架602上，用于驱动机架602行走；控制装置，与播种组件、浇灌组件及驱动组件相连接，用于控制播种。
根据本发明的种植机，通过设置在播种槽604底部内的过滤网606、与播种槽604的出料口608相连接的播种组件、以及水箱组件、驱动组件，并匹配适当的控制逻辑，可以实现筛选过滤种子、自动种植、浇水一体化的智能种植方式，操作简单、并且播种效果好，同时结构简单合理、容易实施，从而有效节约人力、物力，降低技术成本及生产成本。
在上述实施例中，优选地，播种组件包括：传送带606，传送带606的一端设置在播种槽604的出料口608的下方；下料管662，下料管602的一端开口与传送带606的另一端相连接，下料管602的另一端开口朝向地面，用于播种合格种子。
在该实施例中，播种组件包括但不限于传送带606、下料管602，通过 将传送带606的一端设置在播种槽604的出料口的下方，下料管602的一端开口与传送带606的另一端相连接，下料管602的另一端开口朝向地面，使合格的种子能够顺利进入传送带606，经由传送带602传送进入下料管602中，下料管602自动播种。从而实现播种的自动化，有效提升种植机600的智能性、便利性、实用性，并且结构设计简单、易于实现，有效降低成本。
在上述任一实施例中，优选地，水箱组件包括：水箱604，水箱下方具有出水口616，用于浇灌合格种子的播种区域。
在该实施例中，水箱604内装有用于浇灌的水，通过水箱604底部的出水口616，浇灌种子的播种区域，实现浇水的自动化。
在上述任一实施例中，优选地，驱动组件包括：发动机618，用于驱动种植机600行走。
在该实施例中，通过发动机的驱动，种植机600能够自主行走，在整个种植过程中，无需人为操作，只需匹配适当的控制逻辑，即可操控种植机的行走过程，从而实现种植机的智能行走。
在上述任一实施例中，优选地，控制装置包括：控制台618，控制台618上设置有显示屏620、输入组件622，如图7所示。
在该实施例中，输入组件622优选的为按键，控制装置包括但不限于：控制台，通过在控制台618上设置显示屏620及输入组件622，能够输入并显示控制参数，以及显示种植机的状态信息，或者在种植机出现故障或完成种植任务时，发出界面提示或语音提示，进一步提升种植机的智能性、便利性、实用性，提升用户体验。
具体实施例一，一种自动播种机，包括种子过滤网、传送带、下料管、水箱、电机、控制系统等。其中控制系统包括：设置单元、控制单元。
通过设置单元将要播种的面积、播种的前后左右间距、播种方向、每次播种种子数等参数输入控制系统中，系统记录该参数，控制播种机按照此参数进行播种；当用户将种子倒入播种机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，当播种机前进到之前输入的播种间距时，控制单元控制下料管插入土壤中， 种子滑落至土壤中，当下料管上升，离开土壤后，控制单元控制水箱放水，浇灌该种子种植区域，浇灌完毕后控制播种机前进并进行下一次种植；若播种机播种一排距离到达预先输入的种植面积长度时，控制单元按照预先输入的播种方向进行转向，开始下一排种植，再下一排时，按反方向转向种植(按照左-右-左-右的方向转向进行下排种植)；若种植面积达到预先输入的面积时，种植机停止工作。
具体实施例二，一种自动种植机，包括种子过滤网、传送带、下料管、水箱、电机、控制系统等。其中控制系统包括：设置单元，控制单元，提示单元。
通过设置单元将要播种的长度、宽度、播种方向、每次播种种子数、播种位置信息等参数输入控制系统中，系统记录该参数，控制播种机按照此参数进行播种；当用户将种子倒入种植机中，过滤网自动过滤不合格种子(剔除不饱满、大小不合格的种子)，合格种子经过传送带进入下料管，定位种植机的位置，当种植机前进到预先设置的播种位置时，控制单元控制下料管插入土壤中，种子滑落至土壤中，当下料管上升，离开土壤后，控制单元控制水箱放水，浇灌该种子种植区域，浇灌完毕后控制播种机前进并进行下一次种植；若种植机的位置到达一排种植的结束点时，控制单元按照预先输入的播种方向进行转向，开始下一排种植，再下一排时，按反方向转向种植(按照左-右-左-右的方向转向进行下排种植)；若种植宽度达到预先输入的宽度时，种植机停止工作。在种植任务完成后，通过语音单元给予用户提醒。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精 神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种种植机的控制方法，用于种植机，所述种植机包括水箱和下料管，其特征在于，所述种植机的控制方法包括：
    S102，接收并记录种植参数，根据所述种植参数确定种植面积、种植间距及种植方向；
    S104，获取前进距离；
    S106，当所述前进距离等于第一预设阈值时，控制所述下料管插入土壤中。
  2. 根据权利要求1所述的种植机的控制方法，其特征在于，还包括：
    S108，当所述下料管离开土壤后，控制所述水箱放水；
    S110，当放水量达到预设放水量时，控制所述种植机继续前进所述前进距离。
  3. 根据权利要求2所述的种植机的控制方法，其特征在于，还包括：
    S112，累计并计算所述前进距离的总长度；
    S114，当所述前进距离的总长度等于第二预设阈值时，第一排种植结束，控制所述种植机按照预设种植方向进行转向，开始第二排种植；
    重复执行S104至S114，直至种植区域的面积等于预设种植面积时，控制所述种植机停止工作；
    其中，所述第一排与所述第二排之间的距离为第三预设阈值。
  4. 根据权利要求1至3中任一项所述的种植机的控制方法，其特征在于，所述种植间距包括种植的前后间距及左右间距；
    其中，所述第一预设阈值为所述种植的前后间距；
    所述第三预设阈值为所述种植的左右间距。
  5. 根据权利要求1至3中任一项所述的种植机的控制方法，其特征在于，所述第二预设阈值为所述种植区域的长度。
  6. 根据权利要求1至3中任一项所述的种植机的控制方法，其特征在于，所述预设种植方向为左-右-左-右。
  7. 一种种植机的控制装置，用于种植机，所述种植机包括水箱和下料 管，其特征在于，所述种植机的控制装置包括：
    接收单元，用于接收并记录种植参数，根据所述种植参数确定种植面积、种植间距及种植方向；
    获取单元，用于获取前进距离；
    控制单元，用于当所述前进距离等于第一预设阈值时，控制所述下料管插入土壤中。
  8. 根据权利要求7所述的种植机的控制装置，其特征在于，还包括：
    所述控制单元，还用于当所述下料管离开土壤后，控制所述水箱放水；
    所述控制单元，还用于当放水量达到预设放水量时，控制所述种植机继续前进所述前进距离。
  9. 根据权利要求8所述的种植机的控制装置，其特征在于，还包括：
    计算单元，用于累计并计算所述前进距离的总长度；
    所述控制单元，还用于当所述前进距离的总长度等于第二预设阈值时，第一排种植结束，控制所述种植机按照预设种植方向进行转向，开始第二排种植；
    所述控制单元，还用于当种植区域的面积等于预设种植面积时，控制所述种植机停止工作；
    其中，所述第一排与所述第二排之间的距离为第三预设阈值。
  10. 根据权利要求7至9中任一项所述的种植机的控制装置，其特征在于，所述种植间距包括种植的前后间距及左右间距；
    其中，所述第一预设阈值为所述种植的前后间距；
    所述第三预设阈值为所述种植的左右间距。
  11. 根据权利要求7至9中任一项所述的种植机的控制装置，其特征在于，所述第二预设阈值为所述种植区域的长度。
  12. 根据权利要求7至9中任一项所述的种植机的控制装置，其特征在于，所述预设种植方向为左-右-左-右。
  13. 一种种植机，其特征在于，包括如上述7至12中任一项所述的种植机的控制装置。
  14. 根据权利要求13所述的种植机，其特征在于，还包括：
    机架；
    播种槽，设置在所述机架中，用于容置种子；
    过滤网，设置在所述播种槽的底部内，用于过滤种子；
    传送带，所述传送带的一端设置在所述播种槽的出料口的下方；
    下料管，所述下料管的一端开口与所述传送带的另一端相连接，所述下料管的另一端开口朝向地面，用于播种所述合格种子；
    水箱，设置在所述机架上，用于浇灌；
    驱动组件，设置在所述机架上，用于驱动所述机架行走。
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