WO2021213394A1 - High-speed rice transplanter as well as matching system and matching method thereof - Google Patents

High-speed rice transplanter as well as matching system and matching method thereof Download PDF

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Publication number
WO2021213394A1
WO2021213394A1 PCT/CN2021/088460 CN2021088460W WO2021213394A1 WO 2021213394 A1 WO2021213394 A1 WO 2021213394A1 CN 2021088460 W CN2021088460 W CN 2021088460W WO 2021213394 A1 WO2021213394 A1 WO 2021213394A1
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WIPO (PCT)
Prior art keywords
rice transplanter
driving state
main body
speed
planting
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PCT/CN2021/088460
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French (fr)
Chinese (zh)
Inventor
姚远
吴迪
雷仕泽
齐家园
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丰疆智能科技研究院(常州)有限公司
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Publication of WO2021213394A1 publication Critical patent/WO2021213394A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice

Definitions

  • the present invention relates to the field of high-speed rice transplanter, in particular to a high-speed rice transplanter and its matching system and method.
  • the row spacing of rice seedlings is very important for the growth and yield of rice. Specifically, if the row spacing of rice seedlings is small, in the middle and late stages of rice growth, the leaves of rice will block each other, which will affect the photosynthesis of the leaves and easily induce pests and diseases and premature lodging. The row spacing is large. Although the rice grows well, it is difficult to obtain high yields because of the sparse plants. Therefore, the high-speed rice transplanter needs to scientifically control the row spacing of rice seedlings in order to ensure the growth and yield of rice seedlings.
  • the existing high-speed rice transplanter includes a walking equipment body, a rice transplanting body and a plurality of sensors.
  • the seedling transplanting body is installed on the walking equipment body, and the walking equipment body drives the rice transplanting body to walk in the farmland.
  • Sensors are installed on a plurality of wheels of the walking equipment body to acquire the rotation speed of the wheels, and the rice transplanter body controls the planting of a seedling according to the rotation speed of the wheels of the walking equipment body acquired by the sensor
  • the planting speed in the farmland so that the seedlings can obtain a reasonable row spacing.
  • the wheels of the walking equipment body travel in the silt, and the wheels often slip. At this time, the wheels rotate in place, and the rice transplanters The body still controls the planting speed of the seedlings according to the rotation speed of the wheels monitored by the sensor, but the walking equipment body and the seedling transplanting body have not actually produced a horizontal displacement.
  • the seedling transplanting body continues to move, As a result, when the seedling planting body is planting a new row of seedlings in the farmland, the seedlings planted in the previous row will be crushed, causing waste.
  • An object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system of the high-speed rice transplanter can control the transplanting speed of a transplanting main body of the high-speed rice transplanting machine and the actual situation of the main body of the rice transplanting machine.
  • the driving speed is matched, and a reasonable and uniform row spacing is formed between a seedling planted in the farmland by the planting main body, so as to facilitate the growth and yield of the seedling.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can obtain the real-time speed of the rice transplanter main body, and then control the transplanter according to the real-time speed of the rice transplanter main body
  • the planting speed of the main body is to ensure the row spacing between adjacent seedlings.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can obtain the actual displacement of the rice transplanter body, and control the transplanter according to the actual displacement of the rice transplanter body
  • the seedling transplanting speed of the planting body is such that the seedling transplanting speed of the planting body matches the real-time speed of the seedling transplanter body, so that the row spacing of the seedlings planted in the farmland is reasonable and uniform.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can control the planting speed of the planting body as the actual moving speed of the rice transplanter body changes. Change to ensure that the row spacing of the seedlings planted in the farmland by the planting subject is reasonable and even.
  • Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a control module, wherein the control module controls all of the high-speed rice transplanter when executing a coordination strategy.
  • the planting speed of the planting main body is matched with the actual traveling speed and/or the actual displacement of the high-speed rice transplanter, so that the row spacing of the seedlings planted in the farmland by the planting main body meets a predetermined row spacing, It is beneficial to the subsequent growth and yield of the seedlings.
  • Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a data association unit, wherein the data association unit combines the actual travel speed and/or the rice transplanter body The actual displacement and the predetermined row spacing generate the coordination strategy, so that the control module can control the planting body and the rice transplanter body to cooperate with each other when the control module executes the coordination strategy.
  • the coordination system includes a data association unit, wherein the data association unit combines the actual travel speed and/or the rice transplanter body The actual displacement and the predetermined row spacing generate the coordination strategy, so that the control module can control the planting body and the rice transplanter body to cooperate with each other when the control module executes the coordination strategy.
  • Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a driving state acquisition module, wherein the driving state acquisition module is used to obtain the real-time status of the rice transplanter body Driving state, so that the control module can control the planting body in real time, and make the planting speed of the planting body change with the real-time travel speed and/or actual displacement of the rice transplanter body And change.
  • the coordination system includes a driving state acquisition module, wherein the driving state acquisition module is used to obtain the real-time status of the rice transplanter body Driving state, so that the control module can control the planting body in real time, and make the planting speed of the planting body change with the real-time travel speed and/or actual displacement of the rice transplanter body And change.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and method, wherein the high-speed rice transplanter includes a state acquisition device, and the state acquisition device can acquire the actual displacement of the rice transplanter body to provide The coordination system controls the planting speed of the planting main body according to the actual displacement of the high-speed rice transplanter.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and method, wherein the state acquisition device of the high-speed rice transplanter is a photographing device, wherein the photographing device is used to photograph the main body of the rice transplanter A surrounding reference object, such as the ground, is used for the matching system to subsequently obtain the actual displacement of the rice transplanter body according to the change of the image of the reference object.
  • Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the state acquisition device of the high-speed rice transplanter is a positioning system, wherein the positioning system is installed on the main body of the rice transplanter The positioning system is used to obtain the coordinate change of the rice transplanter body, and then obtain the actual displacement of the rice transplanter body according to the coordinate change of the rice transplanter body, so as to follow the actual displacement of the rice transplanter body And/or the actual speed controls the planting speed of the planting main body.
  • the present invention further provides a high-speed rice transplanter, which includes:
  • a driving state monitoring device wherein the driving state acquiring device is installed on the rice transplanter main body, and the driving state monitoring device monitors the actual driving state of the rice transplanter main body in real time;
  • a planting main body wherein the planting main body is installed on the rice transplanter main body, wherein the rice transplanter main body adjusts the planting speed in real time according to the actual driving state of the rice transplanter main body acquired by the traveling device monitoring device .
  • the driving state monitoring device is a camera device, and the driving state detection device continuously acquires image information of a reference object around the main body of the rice transplanter.
  • the driving state detection device is a positioning system, wherein the driving state monitoring device obtains the position information of the rice transplanter body in real time.
  • the positioning system is selected from the group consisting of: GPS system, Beidou system, GLONASS system or Galileo satellite navigation system.
  • the present invention provides a coordination system including:
  • a driving state acquisition module wherein the driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time;
  • a data management module wherein the data management module is communicably connected to the driving state acquisition module, and the data management module generates a cooperation strategy according to the actual driving state of the rice transplanter body;
  • a control module wherein the control module is communicably connected to the data management module, and the control module controls the planting speed and planting speed of a planting main body of the high-speed rice transplanter when the cooperation strategy is executed.
  • the actual driving state of the main body of the rice transplanter is matched.
  • the data management module includes an analysis unit and an association unit, wherein the analysis unit is communicably connected to the driving state acquisition module and the association unit, and the analysis unit is based on The actual driving state of the rice transplanter body acquired by the driving state acquisition module generates driving data, and the correlation unit generates the cooperation strategy according to the driving data and a pre-planting data.
  • the driving state acquisition module acquires the actual driving state of the rice transplanter body by means of a driving state monitoring device communicably connected to the high-speed rice transplanter.
  • the driving state acquisition module acquires image information of a reference object around the rice transplanter body in real time, and the analysis unit of the data management module acquires the image information based on the image information.
  • the actual driving state of the rice transplanter is a reference object around the rice transplanter body in real time.
  • the driving state monitoring device is implemented as a photographing device.
  • the analysis unit analyzes the continuous displacement change and/or change speed of the screen content of the image information, and obtains the driving data of the rice transplanter main body.
  • the analysis unit obtains the driving data of the rice transplanter body in a manner of superimposing the screen content of the image information.
  • the analysis unit obtains the driving data of the rice transplanter main body according to a manner in which the coordinates of a plurality of reference objects in the screen content of the image information change.
  • the driving state acquisition module acquires position information of the rice transplanter body in real time
  • the analysis unit of the data management module obtains the position information of the rice transplanter body according to the position information.
  • the driving data is the driving data.
  • the driving state monitoring device is a positioning system.
  • the analysis unit of the data management module obtains the driving data of the rice transplanter main body according to the coordinate change and/or change speed of the rice transplanter main body.
  • the cooperation system further includes a planting data acquisition module, wherein the planting data acquisition module is communicably connected to the analysis unit of the data management module, and the plug The plant data acquisition module acquires the pre-planting data.
  • the present invention further provides a matching method of a matching system, the matching method includes the following steps:
  • a driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time
  • a control module controls the planting speed of a planting main body of the high-speed rice transplanter according to the running state of the rice transplanter main body, so that the planting main body and the rice transplanter main body cooperate with each other.
  • a distribution strategy is generated by an association unit based on a driving data and a pre-planting data, and then the control module controls the planting when the distribution strategy is executed.
  • the planting speed of the main body is matched with the main body of the rice transplanter.
  • a driving state acquisition module of the coordination system is communicatively connected to a driving state monitoring device of the high-speed rice transplanter, wherein the driving state detection device monitors in real time The actual driving state of the main body of the rice transplanter.
  • the actual driving state of the rice transplanter body is acquired by real-time acquisition of image information of a reference object around the rice transplanter body.
  • the actual driving state of the rice transplanter body is acquired by real-time acquisition of position information of the rice transplanter body.
  • Fig. 1 is a schematic structural diagram of a matching system according to a preferred embodiment of the present invention.
  • Fig. 2 is a schematic diagram of a three-dimensional structure of a high-speed rice transplanter according to a preferred embodiment of the present invention.
  • Fig. 3A is a schematic diagram of an application scene of the high-speed rice transplanter according to another preferred embodiment of the present invention.
  • Fig. 3B is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
  • Fig. 3C is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
  • Fig. 4 is a schematic perspective view of the high-speed rice transplanter according to another preferred embodiment of the present invention.
  • Fig. 5A is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
  • Fig. 5B is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
  • Fig. 5C is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element may be one, and in another embodiment, the number of the element The number can be multiple, and the term “one” cannot be understood as a restriction on the number.
  • a matching system 100 can obtain a rice transplanter of a high-speed rice transplanter 200
  • the actual driving state of the main body 210 such as but not limited to the actual driving speed and actual displacement of the rice transplanter main body 210
  • the coordination system 100 controls the high-speed rice transplanter according to the actual driving state of the rice transplanter main body 210
  • the real-time planting speed of a planting main body 210 of 200 is such that the rice transplanter main body 210 and the rice transplanter main body 210 cooperate with each other and are planted in the farmland by the rice transplanter main body 210.
  • the cooperation system 100 includes a driving state acquisition module 10, a data management module 20, and a control module 30, wherein the driving state acquisition module 10, the data management module 20, and the control module 30 are Connect to each other communicably.
  • the driving state acquisition module 10 can acquire the actual driving state of the rice transplanter main body 210 of the high-speed rice transplanter 200 in real time, and the data management module 20 is based on the driving state of the rice transplanter main body 210 and the seedling
  • a pre-planting data generates a matching strategy, wherein the pre-planting data includes but not limited to parameters such as row spacing and plant spacing of the seedlings.
  • the control module 30 is communicatively connected to the planting main body 220 of the high-speed rice transplanter 200, and the control module 30 controls the planting speed and the planting speed of the planting main body 220 when the cooperation strategy is executed.
  • the actual driving conditions of the high-speed rice transplanter 200 are matched, and the rice transplanter main body 210 plants the seedlings in the farmland at a matching speed to ensure that the row spacing of adjacent seedlings is always within the preset row spacing range.
  • the driving state acquisition module 10 acquires data related to the actual driving state of the rice transplanter main body 210 by means of a state monitoring device 230 communicably connected to the high-speed rice transplanter 200. Further, the data management module 20 analyzes the actual driving state of the rice transplanter main body 210 according to the driving data, and subsequently generates the cooperation strategy based on data related to the actual driving state of the rice transplanter main body 210.
  • the state monitoring device 230 of the high-speed rice transplanter 200 is implemented as a photographing device, wherein the state monitoring device 230 is installed on the rice transplanter main body 210, and The image information of at least one reference object near the rice transplanter main body 210 is continuously photographed, and the driving state acquisition module 10 continuously acquires the image information, so that the data management module 20 can subsequently obtain the image information according to the image information.
  • the actual driving state of the rice transplanter main body 210 is accurately acquired.
  • the image information includes, but is not limited to, the image content of the reference object, image parameters, image ratio, and so on.
  • the manner in which the driving state acquisition module 10 is communicably connected to the state monitoring device 230 of the high-speed rice transplanter 200 is not limited in the coordination system 100 of the present invention, for example, in a specific example of the present invention, the driving state acquisition module 10 may be connected to the state monitoring device 230 of the high-speed rice transplanter 200 in a wired or wireless manner, that is, the driving state acquisition module 10 Directly collect the data acquired by the state monitoring device 230; in another specific example of the present invention, the driving state acquisition module 10 is connected to the control computer of the high-speed rice transplanter 200 in a wired or wireless manner, And through the control computer of the high-speed rice transplanter 200 to obtain the data collected by the state monitoring device 230, that is, the driving state acquisition module 10 of the cooperation system 100 is indirectly connected to the main body 210 of the rice transplanter. Condition monitoring device 230.
  • the data management module 20 includes an analysis unit 21 and an association unit 22, wherein the analysis unit 21 is communicably connected to the driving state acquisition module 10 and the associating unit 22, the analysis unit 21 analyzes the data related to the driving state of the rice transplanter body collected by the driving state acquisition module 10, and generates the driving data, wherein the driving data includes but not It is limited to the actual traveling speed and actual displacement of the rice transplanter main body 210.
  • the associating unit 22 acquires the driving data and the pre-planting data generated by the analysis unit 21, and calculates the planting speed that the planting body 220 needs to maintain in order to make the planting planting by the planting body 220
  • the row spacing between adjacent seedlings conforms to the pre-planting data, so as to ensure that the row spacing of adjacent seedlings is within the preset row spacing range, thereby generating the matching strategy.
  • the actual driving state-related data of the rice transplanter main body 210 acquired by the driving state acquisition module 10 is at least one of the data near the high-speed rice transplanter collected by the photographing device.
  • the image information of the reference object that is, the driving state acquisition module 10 continuously acquires the image information
  • the analysis unit 21 analyzes the content of the image information, and acquires a plurality of the reference in the image information
  • the displacement of the object changes.
  • the analysis unit 21 superimposes the screen content of the image information, obtains the displacement changes of a plurality of consecutive different reference objects in the screen content of the image information, and further calculates the photographing device in combination with the image ratio.
  • the analysis unit 21 obtains the actual speed and actual displacement of the rice transplanter body 210 and generates the driving data.
  • the analysis unit 21 obtains the coordinates of a plurality of the reference objects in the screen content of the image information, obtains a plurality of different displacement changes of the reference objects according to the coordinate changes of each reference object, and further combines The image ratio calculates parameter information such as the actual movement speed and actual displacement of the photographing device, and then obtains information such as the actual speed and actual displacement of the rice transplanter main body 210.
  • the running state monitoring device 230 installed on the rice transplanter main body 210 of the high-speed rice transplanter 200 continuously captures images of the ground adjacent to the rice transplanter main body 210, and The monitoring position of the driving state monitoring device 230 always remains unchanged. In this way, the screen content of the image information corresponding to the same position of the rice transplanter main body 210 adjacent to the ground acquired by the driving state monitoring device 230 continues to be displayed. move.
  • a certain position of the rice transplanter main body 210 adjacent to the ground first partially enters the screen content of the image information, and the rice transplanter main body 210 continues
  • the image of the position adjacent to the ground can completely enter the screen content of the image information, and then gradually leave the screen of the image information with the movement of the rice transplanter main body 210.
  • the image of each position of the rice transplanter main body 210 adjacent to the ground is basically captured by the driving state monitoring device 230 according to such a rule, and is formed in the image information.
  • the driving state acquisition module 10 of the coordination system 100 acquires the image information, and the analysis unit 21 of the data management module 20 compares and calculates the images continuously obtained by the driving state monitoring device 230 to find images The same part in the image changes according to the position of multiple consecutive identical images, and calculates the actual displacement change of the driving state monitoring device 230, and then obtains the position of the rice transplanter main body 210 of the high-speed rice transplanter 200.
  • the associating unit 22 calculates the planting speed that the planting body 220 needs to maintain based on the travel data and the pre-planting data, so as to be planted by the planting body 220 The row spacing between adjacent seedlings complies with the pre-planting data.
  • the control module 30 of the coordination system 100 controls the planting speed of the planting body 220 to follow the actual situation of the rice transplanter body 210 when the control module 30 of the coordination system 100 executes the coordination strategy.
  • the driving state changes. Specifically, taking the driving state monitoring device 230 as the photographing device as an example, when the actual driving speed V1 of the rice transplanter main body 210 slows down, for example, the rice transplanter main body 210 encounters a depression during driving. Area, in order to ensure the safety of driving, the speed of driving is slowed down. At this time, the speed of change of the image information of the reference object acquired by the imaging device mounted on the rice transplanter main body 210 also slows down.
  • the analysis unit 21 of the data management module 20 calculates according to the change in the image information that the actual traveling speed V1 of the rice transplanter body 210 is slowed down, and the displacement change is reduced; further, the correlation unit 22 according to the change
  • the actual travel speed V1, the actual displacement, and the pre-planting data of the rice transplanter main body 210 update the coordination strategy, and the control module 30 controls the planting of the planting main body 220 when the coordination strategy is executed.
  • the planting speed V2 is slowed down to match the actual driving state of the rice transplanter main body 210, so as to avoid reducing the row spacing of adjacent seedlings.
  • the control module 30 is performing the association
  • the control module 30 controls the planting main body 220 to suspend the planting operation, that is, the planting speed V2 of the planting main body 220 is zero, so as to avoid the new planting
  • the seedling crushes the seedling that has been planted in the farmland.
  • the control module 30 executes the real-time cooperation strategy to control the planting main body 220 to continue the planting operation.
  • the traveling speed of the rice transplanter main body 210 is allowed to increase within a certain range.
  • the speed of change is accelerated, and the driving data calculated by the analysis unit 21 of the data management module 20 can reflect that the driving speed of the rice transplanter body 210 at this time is accelerated, and the correlation unit 22 is based on the current
  • the driving data and the pre-planting data of the rice transplanter main body 210 generate the cooperation strategy, and then control the planting speed of the planting main body 220 to increase when the control module 30 executes the cooperation strategy, Avoid increasing the row spacing between adjacent seedlings.
  • the cooperation system 100 can obtain the actual speed and actual displacement of the rice transplanter body 210 of the high-speed rice transplanter 200, not just the rotation speed of the wheels of the high-speed rice transplanter 200, so that it can guarantee
  • the real-time planting speed of the planting main body 220 is matched with the actual driving state of the high-speed rice transplanter 200 to ensure that the row spacing of the seedlings is always within the preset range and conforms to the pre-planting data, To help ensure the subsequent growth and total yield of the seedlings.
  • the type of the reference object is not limited, and the reference object can be selected as any still life around the rice transplanter body 210, so as to prevent the movement of the reference object from affecting the driving state.
  • the accuracy of the image information acquired by the monitoring device 230 is further helpful to ensure that the control module 30 can accurately control the planting speed of the planting main body 220 when executing the cooperation strategy, so as to ensure that adjacent The row spacing of the seedlings is within the preset range.
  • the driving state monitoring device 230 of the high-speed rice transplanter 200 has a calculation function, that is, the driving state monitoring device 230 is monitoring the rice transplanter.
  • the driving data of the rice transplanter main body 210 is calculated while the main body 210 is traveling, and the driving state acquisition module 10 of the coordination system 100 can directly obtain information reflecting the rice transplanter main body 210 from the driving state monitoring device 230 The driving data of the actual driving state.
  • control computer of the high-speed rice transplanter 200 analyzes and processes the data acquired by the driving state monitoring device 230 to obtain the driving data of the rice transplanter main body 210, and the cooperation system
  • the driving state acquisition module 10 of 100 acquires the driving data of the rice transplanter main body 210 through the control computer of the high-speed rice transplanter 200.
  • the coordination system 100 further includes a planting data acquisition module 40, wherein the planting data acquisition module 40 is communicatively connected to the association unit 22 of the data management module 20, wherein the The planting data acquisition module 40 can acquire the pre-planting data.
  • the planting data acquisition module 40 allows the user to directly input the row spacing, plant spacing, etc. of the seedlings after planting, and generates the pre-planting data after the user confirms.
  • the planting data acquisition module 40 stores attribute information about the seedlings of different varieties and farmland soil information in different regions, and allows the user to select the varieties and types of farmland of the seedlings to be planted,
  • the planting data acquisition module 40 generates parameters such as row spacing and plant spacing suitable for the growth of the seedlings according to the seedling varieties and farmland types selected by the user, and then generates the pre-planting data.
  • the associating unit 22 of the data management module 20 generates the cooperation strategy according to the pre-planting data and the actual driving state of the rice transplanter main body 210.
  • the pre-planting data may also be pre-stored in the planting data acquisition module 40 for direct use by the associating unit 22 of the data management module 20.
  • the specific implementation of the planting data acquisition module 40 for acquiring the pre-planting data is merely an example, and cannot be a limitation on the content and scope of the cooperation system 100 of the present invention.
  • the control module 30 of the coordination system 100 is connected to the planting main body 220 of the high-speed rice transplanter 200 in a wired or wireless manner, and directly controls the The movement state of the planting main body 220, such as but not limited to the speed at which the planting main body 220 grabs the seedlings and the speed of moving up and down, controls the planting speed of the planting main body 220 as a whole.
  • the movement state of the planting main body 220 such as but not limited to the speed at which the planting main body 220 grabs the seedlings and the speed of moving up and down, controls the planting speed of the planting main body 220 as a whole.
  • the specific implementation manner in which the control module 30 controls the planting main body 220 is only an example, and cannot be a limitation on the scope of the content of the cooperation system 100 of the present invention. Those skilled in the art should be able to use other The technical means to achieve.
  • control module 30 is connected to the control computer of the high-speed rice transplanter 200 in a wired or wireless manner, and the control module 30 transmits the coordination strategy to the control computer of the high-speed rice transplanter, and borrows
  • the planting speed of the planting main body 220 of the high-speed rice transplanter 200 is controlled by the control computer of the high-speed rice transplanter 200, that is, the control module 30 indirectly controls the planting main body of the high-speed rice transplanter 200
  • the planting speed 220 enables the planting body 220 to match the actual driving state of the rice transplanter body 210.
  • the cooperation system 100 in another preferred embodiment of the present invention will be explained in the following description, wherein the driving state acquisition module 10 of the cooperation system 100 can acquire the high speed The actual coordinates of the rice transplanter main body 210 of the rice transplanter 200, and subsequently the travel data are obtained according to the actual coordinates of the rice transplanter main body 210.
  • the driving state acquisition device 230 of the high-speed rice transplanter 200 is implemented as a positioning system, wherein the positioning system is installed on the rice transplanter main body 210 , And obtain a piece of position information of the rice transplanter main body 210 in real time, where the position information includes but is not limited to the actual coordinates and movement track of the rice transplanter main body 210.
  • the analysis unit 21 of the data management module 20 of the coordination system 100 analyzes the position information, calculates the actual displacement and the actual travel speed of the rice transplanter main body 210 according to the change of the coordinates, and generates the travel data . Further, the associating unit 22 of the data management module 20 generates the cooperation strategy according to the driving data and the pre-planting data from the planting data acquisition module 40 for the control module 30 When executing the cooperation strategy, control the planting speed of the planting main body 220 of the high-speed rice transplanter 200, so that the planting speed of the planting main body 220 and the actual driving of the rice transplanter main body 210 The status matches.
  • control module 30 of the coordination system 100 controls the planting speed of the planting main body 220 when executing the coordination strategy It changes as the actual running state of the rice transplanter main body 210 changes.
  • the associating unit 22 updates the cooperation strategy according to the real-time driving data and the pre-planting data, and the control module 30 controls the planting main body 220 when executing the cooperation strategy
  • the planting speed V2 is slowed down to prevent the row spacing of adjacent seedlings from decreasing.
  • the control module 30 controls the planting main body 220 to suspend operations, that is, the planting speed V2 of the planting main body 220 is Zero to avoid the newly planted seedlings from crushing the seedlings that have been planted in the farmland.
  • the traveling speed of the rice transplanter main body 210 is allowed to be accelerated within a certain range.
  • the driving data calculated by the analysis unit 21 of the data management module 20 can reflect that the driving speed of the rice transplanter main body 210 at this time is accelerated, and the correlation unit 22 is based on the speed of the rice transplanter main body 210 at this time.
  • the driving data and the pre-planting data generate the cooperation strategy, and the control module 30 controls the planting speed of the planting main body 220 to speed up when executing the cooperation strategy, so as to avoid adjacent seedlings.
  • the line spacing increases.
  • the planting speed of the planting main body 220 is always correlated with the real-time actual traveling speed and the actual displacement of the rice transplanter main body 210, and the planting main body 220 and the rice transplanter main body 210 are mutually related.
  • the row spacing of the seedlings planted in the farmland by the planting main body 220 is always maintained within the preset range and meets the requirements of the pre-planting data, thereby making the row spacing of the seedlings reasonable And it is uniform, so as to help ensure the growth and total yield of the seedlings.
  • the present invention further provides a method for matching a high-speed rice transplanter, wherein the method includes the following steps:
  • the planting speed of the planting main body 220 is matched with the actual driving state of the rice planting machine main body, so that the row spacing of the seedlings planted in the farmland by the rice planting machine main body 210 is within a preset range , And meet the requirements of a pre-planting data, so that the row spacing of adjacent seedlings is even and reasonable.
  • an associating unit 22 generates a delivery strategy based on a driving data and a pre-planting data, and then the control module 30 controls the planting body 220 when the delivery strategy is executed.
  • the planting speed is matched with the main body 210 of the rice transplanter.
  • a driving state acquisition module 10 of the cooperation system is communicatively connected to a driving state monitoring device 230 of the high-speed rice transplanter 200, wherein the driving state detection device 230 monitors the driving state in real time.
  • the actual driving state of the rice transplanter main body 210 is described.
  • the actual driving state of the rice transplanter main body 210 is obtained by acquiring image information of a reference object around the rice transplanter main body 210 in real time.
  • the actual driving state of the rice transplanter main body 210 is obtained by acquiring a piece of position information of the rice transplanter main body 210 in real time.
  • a high-speed rice transplanter 200 according to a preferred embodiment of the present invention will be described in the following description, wherein the high-speed rice transplanter 200 includes a rice transplanter main body 210, The main body 220 and a driving state monitoring device 230, wherein the planting main body 220 and the driving state monitoring device are installed on the rice transplanter main body 210, and the driving state monitoring device 230 obtains the rice transplanter main body 210 in real time.
  • the actual driving state of the planting body 220 is matched with the actual driving state of the rice transplanter body 210, so that the row spacing of the seedlings planted in the farmland by the planting body is within a preset range , Thereby ensuring that the row spacing of the seedlings is uniform and reasonable.
  • the driving state monitoring device 230 is implemented as a photographing device that continuously photographs the image information of the reference object around the rice transplanter main body 210, so as to follow the The image information of the reference object acquires the actual driving state of the rice transplanter main body 210.
  • the type of the photographing device is not limited, and the photographing device can be implemented as, but not limited to, a camera, a video camera, and the like.
  • the photographing device may be installed on the front, rear or both sides of the rice transplanter main body 210, and the position and shooting angle of the photographing device are always kept constant during the driving process of the rice transplanter main body 210.
  • the photographed image information of the reference object can accurately reflect the actual driving state of the rice transplanter main body 210. It should be understood by those skilled in the art that the specific implementation of the photographing device is merely an example, and cannot be a limitation on the content and scope of the high-speed rice transplanter 200 of the present invention.
  • the driving state monitoring device 230 is implemented as a positioning system, wherein the positioning system can obtain real-time driving data of the rice transplanter main body 210, such as but not limited to the rice transplanter main body 210
  • the position coordinates, travel trajectory, travel speed, travel distance, etc. of the rice transplanter can be used to obtain the actual travel state of the rice transplanter main body 210 subsequently based on the travel data of the rice transplanter main body.
  • the type of the positioning system is not limited, and the positioning system can be implemented as, but not limited to, a GPS system, a Beidou system, a GLONASS system, or a Galileo satellite navigation system. It should be understood by those skilled in the art that the specific implementation of the positioning system is only an example, and cannot be a limitation on the content and scope of the high-speed rice transplanter 200 of the present invention.
  • the driving state monitoring device 230 may be implemented as the photographing device and the positioning system, that is, the driving state monitoring device 230 can obtain the rice transplanter at the same time.
  • the actual driving turntable adjusts the planting speed, so that the row spacing of the seedlings planted in the farmland by the planting main body 220 is uniform and reasonable.

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  • Transplanting Machines (AREA)

Abstract

A high-speed rice transplanter, comprising a rice transplanter body (210), a driving state monitoring device (230) and a transplanting body (220). A driving state acquisition device is mounted on the rice transplanter body and the driving state monitoring device monitors the actual driving state of the rice transplanter body in real time. The transplanting body is mounted on the rice transplanter body, and the rice transplanter body adjusts the transplanting speed in real time according to the actual driving state of the rice transplanter body as acquired by the driving state monitoring device. Further disclosed are a matching system and a matching method of the matching system. The matching system of the high-speed rice transplanter may control the transplanting speed of the transplanting body of the high-speed rice transplanter to match the actual driving speed of the rice transplanter body, so that reasonable and uniform row spacing is formed between seedlings planted in farmland by the transplanting body, thereby facilitating the growth of the seedlings and increasing the yield.

Description

高速插秧机和其配合系统及配合方法High-speed rice transplanter and its matching system and method 技术领域Technical field
本发明涉及高速插秧机领域，特别涉及一高速插秧机和其配合系统及配合方法。The present invention relates to the field of high-speed rice transplanter, in particular to a high-speed rice transplanter and its matching system and method.
背景技术Background technique
近年来，农业机械化程度越来越高，农业机械逐渐地代替了人工作业，以高速插秧机为例，高速插秧机能够快速地将水稻秧苗定植于水田内，作业效率高，不仅改善了农户们的作业条件，降低了人力成本，而且科学的作业模式有利于水稻增产，进而，高速插秧机逐渐地代替了人工插秧，被广泛地应用于农业生产中。In recent years, the degree of agricultural mechanization has become higher and higher, and agricultural machinery has gradually replaced manual operations. Take the high-speed rice transplanter as an example. The high-speed rice transplanter can quickly plant rice seedlings in the paddy field. The operation efficiency is high, which not only improves the farmers. Our operating conditions have reduced labor costs, and the scientific operating mode is conducive to increasing rice production. Furthermore, high-speed rice transplanters have gradually replaced manual rice transplanting and have been widely used in agricultural production.
众所周知，水稻秧苗的行距对于水稻的生长和产量至关重要。具体来说，如果水稻秧苗的行间距较小，在水稻生长的中后期，水稻的叶面相互遮挡，透风透光不良，影响叶片的光合作用，容易诱发病虫危害和早衰倒伏；如果水稻的行间距较大，尽管水稻长势良好，但是因为植株稀疏，也难以获得高产量。因此，高速插秧机需要对水稻秧苗的行距进行科学的控制，才能保障水稻秧苗的生长和增产。As we all know, the row spacing of rice seedlings is very important for the growth and yield of rice. Specifically, if the row spacing of rice seedlings is small, in the middle and late stages of rice growth, the leaves of rice will block each other, which will affect the photosynthesis of the leaves and easily induce pests and diseases and premature lodging. The row spacing is large. Although the rice grows well, it is difficult to obtain high yields because of the sparse plants. Therefore, the high-speed rice transplanter needs to scientifically control the row spacing of rice seedlings in order to ensure the growth and yield of rice seedlings.
现有的高速插秧机包括一行走设备本体、一插秧本体以及多个传感器，所述插秧本体被安装于所述行走设备本体，所述行走设备本体带动所述插秧本体在农田内行走，所述传感器被安装于所述行走设备本体的多个车轮，并获取所述车轮的转动速度，所述插秧机本体根据所述传感器获取的所述行走设备本体的所述车轮的转动速度控制定植一秧苗于农田内的定植速度，以使得所述秧苗能够获得合理的行距。但是，在实际的操作过程中，将所述车轮的转动速度作为所述高速插秧机的实际行驶速度的方式难以保障农田内的秧苗行距均匀。具体来说，所述高速插秧机在作业的过程中，所述行走设备本体的所述车轮在淤泥内行驶，所述车轮会经常发生打滑，此时，所述车轮原地转动，所述插秧本体仍然根据所述传感器监测到的所述车轮的转动速度控制所述秧苗的定植速度，但是所述行走设备本体和所述插秧本体实际并未产生水平位移，所述插秧本体持续地运动，会导致所述插秧本体在定植新的一行所述秧苗于农田内时，会将前一行定植的所述秧苗压坏，造成浪费。或者，尽管所述车轮在原地打滑后快速地恢复了正常行驶，但是定植于农田内的所述秧苗的行距也会变小，导致现有的高速插秧机定植的所述秧苗的行间距不均匀，影响所述秧苗后续的生长和增产。The existing high-speed rice transplanter includes a walking equipment body, a rice transplanting body and a plurality of sensors. The seedling transplanting body is installed on the walking equipment body, and the walking equipment body drives the rice transplanting body to walk in the farmland. Sensors are installed on a plurality of wheels of the walking equipment body to acquire the rotation speed of the wheels, and the rice transplanter body controls the planting of a seedling according to the rotation speed of the wheels of the walking equipment body acquired by the sensor The planting speed in the farmland, so that the seedlings can obtain a reasonable row spacing. However, in the actual operation process, it is difficult to ensure that the row spacing of seedlings in the farmland is uniform by using the rotation speed of the wheels as the actual driving speed of the high-speed rice transplanter. Specifically, during the operation of the high-speed rice transplanter, the wheels of the walking equipment body travel in the silt, and the wheels often slip. At this time, the wheels rotate in place, and the rice transplanters The body still controls the planting speed of the seedlings according to the rotation speed of the wheels monitored by the sensor, but the walking equipment body and the seedling transplanting body have not actually produced a horizontal displacement. The seedling transplanting body continues to move, As a result, when the seedling planting body is planting a new row of seedlings in the farmland, the seedlings planted in the previous row will be crushed, causing waste. Or, although the wheels quickly resumed normal driving after slipping in situ, the row spacing of the seedlings planted in the farmland will also become smaller, resulting in uneven row spacing of the seedlings planted by the existing high-speed rice transplanter , Affecting the subsequent growth and yield of the seedlings.
因此，需要对现有的高速插秧机进行改善，以保障所述秧苗的行距合理且均匀。Therefore, it is necessary to improve the existing high-speed rice transplanter to ensure that the row spacing of the seedlings is reasonable and uniform.
发明内容Summary of the invention
本发明的一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述高速插秧机的配合系统能够控制所述高速插秧机的一插植主体的插秧速度与一插秧机主体的实际行驶速度相配，并使得被所述插植主体定植于农田内的一秧苗之间形成合理且均匀的行距，以利于秧苗的生长和增产。An object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system of the high-speed rice transplanter can control the transplanting speed of a transplanting main body of the high-speed rice transplanting machine and the actual situation of the main body of the rice transplanting machine. The driving speed is matched, and a reasonable and uniform row spacing is formed between a seedling planted in the farmland by the planting main body, so as to facilitate the growth and yield of the seedling.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统能够获取所述插秧机主体的实时速度，进而根据所述插秧机主体的实时速度控制所述插植主体的插秧速度，以保障相邻的所述秧苗之间的行距。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can obtain the real-time speed of the rice transplanter main body, and then control the transplanter according to the real-time speed of the rice transplanter main body The planting speed of the main body is to ensure the row spacing between adjacent seedlings.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统能够获取所述插秧机主体的实际位移，并根据所述插秧机主体的实际位移控制所述插植主体的插秧速度，以使得所述插植主体的插秧速度与所述插秧机主体的实时速度相配合，进而使得被定植于农田内的所述秧苗的行距合理且均匀。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can obtain the actual displacement of the rice transplanter body, and control the transplanter according to the actual displacement of the rice transplanter body The seedling transplanting speed of the planting body is such that the seedling transplanting speed of the planting body matches the real-time speed of the seedling transplanter body, so that the row spacing of the seedlings planted in the farmland is reasonable and uniform.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统能够控制所述插植主体的插植速度随着所述插秧机主体的实际移动速度的变化而变化，以保障被所述插植主体的定植于农田内的所述秧苗的行距合理且均匀。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the matching system can control the planting speed of the planting body as the actual moving speed of the rice transplanter body changes. Change to ensure that the row spacing of the seedlings planted in the farmland by the planting subject is reasonable and even.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统包括一控制模块，其中所述控制模块在执行一配合策略时，控制所述高速插秧机的所述插植主体的插植速度与所述高速插秧机的实际行驶速度和/或实际位移相配合，进而使得被所述插植主体定植于农田内的所述秧苗的行距符合一预定行距，以利于所述秧苗在后续的生长和增产。Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a control module, wherein the control module controls all of the high-speed rice transplanter when executing a coordination strategy. The planting speed of the planting main body is matched with the actual traveling speed and/or the actual displacement of the high-speed rice transplanter, so that the row spacing of the seedlings planted in the farmland by the planting main body meets a predetermined row spacing, It is beneficial to the subsequent growth and yield of the seedlings.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统包括一数据关联单元，其中所述数据关联单元结合所述插秧机主体的实际行驶速度和/或实际位移以及所述预定行距生成所述配合策略，以使得所述控制模块在执行所述配合策略时，能够控制所述插植主体与所述插秧机主体相互配合。Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a data association unit, wherein the data association unit combines the actual travel speed and/or the rice transplanter body The actual displacement and the predetermined row spacing generate the coordination strategy, so that the control module can control the planting body and the rice transplanter body to cooperate with each other when the control module executes the coordination strategy.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述配合系统包括一行驶状态获取模块，其中所述行驶状态获取模块用于获取所述插秧机主体的实时的行驶状态，以使得所述控制模块能够实时地控制所述插植主体，并使得所述插植主体实时的插植速度随着所述插秧机主体的实时的行驶速度和/或实际位移的变化而改变。Another object of the present invention is to provide a high-speed rice transplanter and its coordination system and coordination method, wherein the coordination system includes a driving state acquisition module, wherein the driving state acquisition module is used to obtain the real-time status of the rice transplanter body Driving state, so that the control module can control the planting body in real time, and make the planting speed of the planting body change with the real-time travel speed and/or actual displacement of the rice transplanter body And change.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述高速插秧机包括一状态获取装置，所述状态获取装置能够获取所述插秧机主体的实际位移，以供所述配合系统根据所述高速插秧机的实际位移控制所述插植主体的插植速度。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and method, wherein the high-speed rice transplanter includes a state acquisition device, and the state acquisition device can acquire the actual displacement of the rice transplanter body to provide The coordination system controls the planting speed of the planting main body according to the actual displacement of the high-speed rice transplanter.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述高速插秧机的所述状态获取装置为一拍摄装置，其中所述拍摄装置用于拍摄所述插秧机主体周围的一参照物，如地面，以供所述配合系统在后续根据所述参照物的图像的变化获取所述插秧机主体的实际位移。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and method, wherein the state acquisition device of the high-speed rice transplanter is a photographing device, wherein the photographing device is used to photograph the main body of the rice transplanter A surrounding reference object, such as the ground, is used for the matching system to subsequently obtain the actual displacement of the rice transplanter body according to the change of the image of the reference object.
本发明的另一个目的在于提供一高速插秧机和其配合系统及配合方法，其中所述高速插秧机的所述状态获取装置为一定位系统，其中所述定位系统被安装于所述插秧机主体，所述定位系统被用于获取所述插秧机主体的坐标变化，进而根据所述插秧机主体的坐标变化获取所述插秧机主体实际的位移，以在后续根据所述插秧机主体的实际位移和/或实际速度控制所述插植主体的插植速度。Another object of the present invention is to provide a high-speed rice transplanter and its matching system and matching method, wherein the state acquisition device of the high-speed rice transplanter is a positioning system, wherein the positioning system is installed on the main body of the rice transplanter The positioning system is used to obtain the coordinate change of the rice transplanter body, and then obtain the actual displacement of the rice transplanter body according to the coordinate change of the rice transplanter body, so as to follow the actual displacement of the rice transplanter body And/or the actual speed controls the planting speed of the planting main body.
依本发明的一个方面，本发明进一步提供一高速插秧机，其包括：According to one aspect of the present invention, the present invention further provides a high-speed rice transplanter, which includes:
一插秧机主体；A main body of the rice transplanter;
一行驶状态监测装置，其中所述行驶状态获取装置被安装于所述插秧机主体，所述行驶状态监测装置实时地监测所述插秧机主体的实际行驶状态；以及A driving state monitoring device, wherein the driving state acquiring device is installed on the rice transplanter main body, and the driving state monitoring device monitors the actual driving state of the rice transplanter main body in real time; and
一插植主体，其中所述插植主体被安装于所述插秧机主体，其中所述插秧机主体根据所述行驶装置监测装置获取的所述插秧机主体的实际行驶状态实时地调整插植速度。A planting main body, wherein the planting main body is installed on the rice transplanter main body, wherein the rice transplanter main body adjusts the planting speed in real time according to the actual driving state of the rice transplanter main body acquired by the traveling device monitoring device .
根据本发明的一个实施例，所述行驶状态监测装置为一摄像装置，所述行驶状态检测装置持续地获取所述插秧机主体周围的一参照物的图像信息。According to an embodiment of the present invention, the driving state monitoring device is a camera device, and the driving state detection device continuously acquires image information of a reference object around the main body of the rice transplanter.
根据本发明的一个实施例，所述行驶状态检测装置为一定位系统，其中所述行驶状态监测装置实时地获取所述插秧机主体的位置信息。According to an embodiment of the present invention, the driving state detection device is a positioning system, wherein the driving state monitoring device obtains the position information of the rice transplanter body in real time.
根据本发明的一个实施例，所述定位系统选自：GPS系统、北斗系统、GLONASS系统或是伽利略卫星导航系统组成的类型组。According to an embodiment of the present invention, the positioning system is selected from the group consisting of: GPS system, Beidou system, GLONASS system or Galileo satellite navigation system.
依本发明的另一个方面，本发明提供一配合系统，其包括：According to another aspect of the present invention, the present invention provides a coordination system including:
一行驶状态获取模块，其中所述行驶状态获取模块实时地获取一高速插秧机的一插秧机主体的实际行驶状态；A driving state acquisition module, wherein the driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time;
一数据管理模块，其中所述数据管理模块被可通信地连接于所述行驶状态获取模块，所述数据管理模块根据所述插秧机主体的实际行驶状态生成一配合策略；以及A data management module, wherein the data management module is communicably connected to the driving state acquisition module, and the data management module generates a cooperation strategy according to the actual driving state of the rice transplanter body; and
一控制模块，其中所述控制模块被可通信地连接于所述数据管理模块，所述控制模块在执行所述配合策略时，控制所述高速插秧机的一插植主体的插植速度和所述插秧机主体的实际行驶状态相配合。A control module, wherein the control module is communicably connected to the data management module, and the control module controls the planting speed and planting speed of a planting main body of the high-speed rice transplanter when the cooperation strategy is executed. The actual driving state of the main body of the rice transplanter is matched.
根据本发明的一个实施例，所述数据管理模块包括一分析单元和一关联单元，其中所述分析单元被可通信地连接于所述行驶状态获取模块和所述关联单元，所述分析单元根据所述行驶状态获取模块获取的所述插秧机主体的实际行驶状态生成一行驶数据，所述关联单元根据所述行驶数据和一预插植数据生成所述配合策略。According to an embodiment of the present invention, the data management module includes an analysis unit and an association unit, wherein the analysis unit is communicably connected to the driving state acquisition module and the association unit, and the analysis unit is based on The actual driving state of the rice transplanter body acquired by the driving state acquisition module generates driving data, and the correlation unit generates the cooperation strategy according to the driving data and a pre-planting data.
根据本发明的一个实施例，所述行驶状态获取模块通过可通信地连接于所 述高速插秧机的一行驶状态监测装置的方式获取所述插秧机主体的实际行驶状态。According to an embodiment of the present invention, the driving state acquisition module acquires the actual driving state of the rice transplanter body by means of a driving state monitoring device communicably connected to the high-speed rice transplanter.
根据本发明的一个实施例，所述行驶状态获取模块实时地获取所述插秧机主体周围的一参照物的一图像信息，所述数据管理模块的所述分析单元基于所述图像信息获得所述插秧机主体的实际行驶状态。According to an embodiment of the present invention, the driving state acquisition module acquires image information of a reference object around the rice transplanter body in real time, and the analysis unit of the data management module acquires the image information based on the image information. The actual driving state of the rice transplanter.
根据本发明的一个实施例，所述行驶状态监测装置被实施为一拍摄装置。According to an embodiment of the present invention, the driving state monitoring device is implemented as a photographing device.
根据本发明的一个实施例，所述分析单元分析连续的所述图像信息的画面内容的位移变化和/或变化速度，并得到所述插秧机主体的所述行驶数据。According to an embodiment of the present invention, the analysis unit analyzes the continuous displacement change and/or change speed of the screen content of the image information, and obtains the driving data of the rice transplanter main body.
根据本发明的一个实施例，所述分析单元以叠置所述图像信息的画面内容的方式获取所述插秧机主体的所述行驶数据。According to an embodiment of the present invention, the analysis unit obtains the driving data of the rice transplanter body in a manner of superimposing the screen content of the image information.
根据本发明的一个实施例，所述分析单元根据多个参照物在所述图像信息的画面内容中的坐标变化的方式得到所述插秧机主体的所述行驶数据。According to an embodiment of the present invention, the analysis unit obtains the driving data of the rice transplanter main body according to a manner in which the coordinates of a plurality of reference objects in the screen content of the image information change.
根据本发明的一个实施例，所述行驶状态获取模块实时地获取所述插秧机主体的一位置信息，所述数据管理模块的所述分析单元根据所述位置信息得到所述插秧机主体的所述行驶数据。According to an embodiment of the present invention, the driving state acquisition module acquires position information of the rice transplanter body in real time, and the analysis unit of the data management module obtains the position information of the rice transplanter body according to the position information. The driving data.
根据本发明的一个实施例，所述行驶状态监测装置为一定位系统。According to an embodiment of the present invention, the driving state monitoring device is a positioning system.
根据本发明的一个实施例，所述数据管理模块的所述分析单元根据所述插秧机主体的坐标变化和/或变化速度得到所述插秧机主体的所述行驶数据。According to an embodiment of the present invention, the analysis unit of the data management module obtains the driving data of the rice transplanter main body according to the coordinate change and/or change speed of the rice transplanter main body.
根据本发明的一个实施例，所述的配合系统进一步包括一插植数据获取模块，其中所述插植数据获取模块被可通信地连接于所述数据管理模块的所述分析单元，所述插植数据获取模块获取所述预插植数据。According to an embodiment of the present invention, the cooperation system further includes a planting data acquisition module, wherein the planting data acquisition module is communicably connected to the analysis unit of the data management module, and the plug The plant data acquisition module acquires the pre-planting data.
依本发明的另一个方面，本发明进一步提供一配合系统的配合方法，所述配合方法包括如下步骤：According to another aspect of the present invention, the present invention further provides a matching method of a matching system, the matching method includes the following steps:
(a)一行驶状态获取模块实时地获取一高速插秧机的一插秧机主体的实际行驶状态；和(a) A driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time; and
(b)一控制模块根据所述插秧机主体的实施行驶状态控制所述高速插秧机的一插植主体的插植速度，以使得所述插植主体和所述插秧机主体相互配合作业。(b) A control module controls the planting speed of a planting main body of the high-speed rice transplanter according to the running state of the rice transplanter main body, so that the planting main body and the rice transplanter main body cooperate with each other.
根据本发明的一个实施例，在上述方法中，藉由一关联单元根据一行驶数据和一预插植数据生成一配送策略，进而所述控制模块在执行所述配送策略时控制所述插植主体的插植速度与所述插秧机主体相互配合。According to an embodiment of the present invention, in the above method, a distribution strategy is generated by an association unit based on a driving data and a pre-planting data, and then the control module controls the planting when the distribution strategy is executed. The planting speed of the main body is matched with the main body of the rice transplanter.
根据本发明的一个实施例，在上述方法中，可通信地连接所述配合系统的一行驶状态获取模块于所述高速插秧机的一行驶状态监测装置，其中所述行驶状态检测装置实时地监测所述插秧机主体的实际行驶状态。According to an embodiment of the present invention, in the above method, a driving state acquisition module of the coordination system is communicatively connected to a driving state monitoring device of the high-speed rice transplanter, wherein the driving state detection device monitors in real time The actual driving state of the main body of the rice transplanter.
根据本发明的一个实施例，在上述方法中，通过实时地获取所述插秧机主体周围的一参照物的一图像信息的方式获取插秧机主体的实际行驶状态。According to an embodiment of the present invention, in the above method, the actual driving state of the rice transplanter body is acquired by real-time acquisition of image information of a reference object around the rice transplanter body.
根据本发明的一个实施例，在上述方法中，通过实时地获取所述插秧机主体的一位置信息的方式获取插秧机主体的实际行驶状态。According to an embodiment of the present invention, in the above method, the actual driving state of the rice transplanter body is acquired by real-time acquisition of position information of the rice transplanter body.
附图说明Description of the drawings
图1是根据本发明的一较佳实施例的一配合系统的结构框架图示意图。Fig. 1 is a schematic structural diagram of a matching system according to a preferred embodiment of the present invention.
图2是根据本发明的一较佳实施例的一高速插秧机的立体结构示意图。Fig. 2 is a schematic diagram of a three-dimensional structure of a high-speed rice transplanter according to a preferred embodiment of the present invention.
图3A是根据本发明的另一较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 3A is a schematic diagram of an application scene of the high-speed rice transplanter according to another preferred embodiment of the present invention.
图3B是根据本发明的上述较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 3B is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
图3C是根据本发明的上述较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 3C is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
图4是根据本发明的另一较佳实施例的所述高速插秧机的立体图示意图。Fig. 4 is a schematic perspective view of the high-speed rice transplanter according to another preferred embodiment of the present invention.
图5A是根据本发明的上述较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 5A is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
图5B是根据本发明的上述较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 5B is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
图5C是根据本发明的上述较佳实施例的所述高速插秧机的一应用场景示意图。Fig. 5C is a schematic diagram of an application scene of the high-speed rice transplanter according to the above-mentioned preferred embodiment of the present invention.
具体实施方式Detailed ways
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above-mentioned terms should not be construed as limiting the present invention.
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, and in another embodiment, the number of the element The number can be multiple, and the term "one" cannot be understood as a restriction on the number.
参照说明书附图1至图2C，根据本发明的一较佳实施例的一配合系统100将在接下来的描述中被阐述，其中所述配合系统100能够获取一高速插秧机200的一插秧机主体210的实际行驶状态，例如但不限于所述插秧机主体210的实际行驶速度和实际位移等，并且，所述配合系统100根据所述插秧机主体210的实际行驶状态控制所述高速插秧机200的一插植主体210的实时插植速度，使得所述插秧机主体210与所述插秧机主体210相互配合，且被所述插秧机主体210定植于农田内的相邻的一秧苗的行距处于一预设行距范围，进而保障所 述秧苗的行距合理且均匀，以利于避免行距较小而造成所述秧苗在后续的生长中相邻的所述秧苗相互遮挡或是相邻的所述秧苗之间的行间距过大而影响总产量，进而有利于保障所述秧苗的良好生长和总产量的增产。1 to 2C of the specification, a matching system 100 according to a preferred embodiment of the present invention will be described in the following description, wherein the matching system 100 can obtain a rice transplanter of a high-speed rice transplanter 200 The actual driving state of the main body 210, such as but not limited to the actual driving speed and actual displacement of the rice transplanter main body 210, and the coordination system 100 controls the high-speed rice transplanter according to the actual driving state of the rice transplanter main body 210 The real-time planting speed of a planting main body 210 of 200 is such that the rice transplanter main body 210 and the rice transplanter main body 210 cooperate with each other and are planted in the farmland by the rice transplanter main body 210. In a preset row spacing range, to ensure that the row spacing of the seedlings is reasonable and uniform, so as to avoid the small row spacing causing the seedlings to block each other or the adjacent seedlings during the subsequent growth of the seedlings. The row spacing between the rows is too large to affect the total yield, which is beneficial to ensure the good growth of the seedlings and the increase in the total yield.
参照图1，所述配合系统100包括一行驶状态获取模块10、一数据管理模块20以及一控制模块30，其中所述行驶状态获取模块10、所述数据管理模块20以及所述控制模块30被相互可通信地连接。所述行驶状态获取模块10能够实时地获取所述高速插秧机200的所述插秧机主体210的实际行驶状态，所述数据管理模块20根据所述插秧机主体210的行驶状态和所述秧苗的一预插植数据生成一配合策略，其中所述预插植数据包括但不限于所述秧苗的行距、株距等参数。所述控制模块30被可通信地连接于所述高速插秧机200的所述插植主体220，所述控制模块30在执行所述配合策略时控制所述插植主体220的插植速度与所述高速插秧机200的实际行驶状态相配合，并使得所述插秧机主体210按照一配合速度定植所述秧苗于农田内，以保障相邻的所述秧苗的行距始终处于所述预设行距范围内。1, the cooperation system 100 includes a driving state acquisition module 10, a data management module 20, and a control module 30, wherein the driving state acquisition module 10, the data management module 20, and the control module 30 are Connect to each other communicably. The driving state acquisition module 10 can acquire the actual driving state of the rice transplanter main body 210 of the high-speed rice transplanter 200 in real time, and the data management module 20 is based on the driving state of the rice transplanter main body 210 and the seedling A pre-planting data generates a matching strategy, wherein the pre-planting data includes but not limited to parameters such as row spacing and plant spacing of the seedlings. The control module 30 is communicatively connected to the planting main body 220 of the high-speed rice transplanter 200, and the control module 30 controls the planting speed and the planting speed of the planting main body 220 when the cooperation strategy is executed. The actual driving conditions of the high-speed rice transplanter 200 are matched, and the rice transplanter main body 210 plants the seedlings in the farmland at a matching speed to ensure that the row spacing of adjacent seedlings is always within the preset row spacing range. Inside.
进一步地，所述行驶状态获取模块10通过可通信地连接于所述高速插秧机200的一状态监测装置230的方式获取所述插秧机主体210的实际行驶状态的相关数据。进一步地，所述数据管理模块20根据所述行驶数据分析所述插秧机主体210的实际行驶状态，并在后续基于所述插秧机主体210的实际行驶状态的相关数据生成所述配合策略。Further, the driving state acquisition module 10 acquires data related to the actual driving state of the rice transplanter main body 210 by means of a state monitoring device 230 communicably connected to the high-speed rice transplanter 200. Further, the data management module 20 analyzes the actual driving state of the rice transplanter main body 210 according to the driving data, and subsequently generates the cooperation strategy based on data related to the actual driving state of the rice transplanter main body 210.
在本发明的一个较佳的实施例中，所述高速插秧机200的所述状态监测装置230被实施为一拍摄装置，其中所述状态监测装置230被安装于所述插秧机主体210，并持续地拍摄所述插秧机主体210附近的至少一参照物的一图像信息，所述行驶状态获取模块10持续地获取所述图像信息，以在后续所述数据管理模块20根据所述图像信息能够准确地获取所述插秧机主体210的实际行驶状态。所述图像信息包括但不限于所述参照物的画面内容，图像参数，图像比例等等。In a preferred embodiment of the present invention, the state monitoring device 230 of the high-speed rice transplanter 200 is implemented as a photographing device, wherein the state monitoring device 230 is installed on the rice transplanter main body 210, and The image information of at least one reference object near the rice transplanter main body 210 is continuously photographed, and the driving state acquisition module 10 continuously acquires the image information, so that the data management module 20 can subsequently obtain the image information according to the image information. The actual driving state of the rice transplanter main body 210 is accurately acquired. The image information includes, but is not limited to, the image content of the reference object, image parameters, image ratio, and so on.
值得一提的是，所述行驶状态获取模块10被可通信地连接于所述高速插秧机200的所述状态监测装置230的方式在本发明所述的配合系统100中不受限制，例如，在本发明的一个具体的示例中，所述行驶状态获取模块10可以通过有线或是无线的方式被连接于所述高速插秧机200的所述状态监测装置230，即所述行驶状态获取模块10直接采集所述状态监测装置230获取的数据；在本发明的另一个具体的示例中，所述行驶状态获取模块10通过有线或是无线的方式被连接于所述高速插秧机200的控制电脑，并通过所述高速插秧机200的控制电脑获取所述状态监测装置230采集的数据，即所述配合系统100的所述行驶状态获取模块10被间接地连接于所述插秧机主体210的所述状态监测装置230。It is worth mentioning that the manner in which the driving state acquisition module 10 is communicably connected to the state monitoring device 230 of the high-speed rice transplanter 200 is not limited in the coordination system 100 of the present invention, for example, In a specific example of the present invention, the driving state acquisition module 10 may be connected to the state monitoring device 230 of the high-speed rice transplanter 200 in a wired or wireless manner, that is, the driving state acquisition module 10 Directly collect the data acquired by the state monitoring device 230; in another specific example of the present invention, the driving state acquisition module 10 is connected to the control computer of the high-speed rice transplanter 200 in a wired or wireless manner, And through the control computer of the high-speed rice transplanter 200 to obtain the data collected by the state monitoring device 230, that is, the driving state acquisition module 10 of the cooperation system 100 is indirectly connected to the main body 210 of the rice transplanter. Condition monitoring device 230.
具体来说，在本发明的这个具体的实施例中，所述数据管理模块20包括一分析单元21和一关联单元22，其中所述分析单元21被可通信地连接于所述行驶状态获取模块10和所述关联单元22，所述分析单元21分析所述行驶状态获取模块10采集的所述插秧机主体的行驶状态相关的数据，并生成所述行驶数据， 其中所述行驶数据包括但不限于所述插秧机主体210的实际行驶速度和实际位移等。所述关联单元22获取所述分析单元21生成的所述行驶数据和所述预插植数据，计算所述插植主体220需要保持的插植速度才能使得被所述插植主体220定植的相邻的所述秧苗之间的行距符合所述预插植数据，以保障相邻的所述秧苗的行距处于所述预设行距范围内，进而生成所述配合策略。Specifically, in this specific embodiment of the present invention, the data management module 20 includes an analysis unit 21 and an association unit 22, wherein the analysis unit 21 is communicably connected to the driving state acquisition module 10 and the associating unit 22, the analysis unit 21 analyzes the data related to the driving state of the rice transplanter body collected by the driving state acquisition module 10, and generates the driving data, wherein the driving data includes but not It is limited to the actual traveling speed and actual displacement of the rice transplanter main body 210. The associating unit 22 acquires the driving data and the pre-planting data generated by the analysis unit 21, and calculates the planting speed that the planting body 220 needs to maintain in order to make the planting planting by the planting body 220 The row spacing between adjacent seedlings conforms to the pre-planting data, so as to ensure that the row spacing of adjacent seedlings is within the preset row spacing range, thereby generating the matching strategy.
在本发明的一个具体的实施例中，所述行驶状态获取模块10获取的所述插秧机主体210的实际行驶状态相关数据为所述拍摄装置采集的所述高速插秧机附近的至少一个所述参照物的所述图像信息，即所述行驶状态获取模块10持续地获取所述图像信息，所述分析单元21分析所述图像信息的内容，并获取所述图像信息中的多个所述参照物的位移变化。优选地，所述分析单元21叠置所述图像信息的画面内容，获取多个连续的不同的参照物在所述图像信息的画面内容中的位移变化，进一步结合图像比例计算出所述拍摄装置的实际运动速度和实际位移等参数信息，进而所述分析单元21获得所述插秧机主体210的实际速度和实际位移等，并生成所述行驶数据。优选地，所述分析单元21获取多个所述参照物在所述图像信息的画面内容中的坐标，根据每个参照物的坐标变化得到多个不同的所述参照物的位移变化，进一步结合图像比例计算出所述拍摄装置的实际运动速度和实际位移等参数信息，进而获得所述插秧机主体210的实际速度和实际位移等信息。In a specific embodiment of the present invention, the actual driving state-related data of the rice transplanter main body 210 acquired by the driving state acquisition module 10 is at least one of the data near the high-speed rice transplanter collected by the photographing device. The image information of the reference object, that is, the driving state acquisition module 10 continuously acquires the image information, the analysis unit 21 analyzes the content of the image information, and acquires a plurality of the reference in the image information The displacement of the object changes. Preferably, the analysis unit 21 superimposes the screen content of the image information, obtains the displacement changes of a plurality of consecutive different reference objects in the screen content of the image information, and further calculates the photographing device in combination with the image ratio. The analysis unit 21 obtains the actual speed and actual displacement of the rice transplanter body 210 and generates the driving data. Preferably, the analysis unit 21 obtains the coordinates of a plurality of the reference objects in the screen content of the image information, obtains a plurality of different displacement changes of the reference objects according to the coordinate changes of each reference object, and further combines The image ratio calculates parameter information such as the actual movement speed and actual displacement of the photographing device, and then obtains information such as the actual speed and actual displacement of the rice transplanter main body 210.
在本发明的这个具体的示例中，被安装于所述高速插秧机200的所述插秧机主体210的所述行驶状态监测装置230持续地拍摄所述插秧机主体210的邻近地面的图像，且所述行驶状态监测装置230的监测位置始终保持不变，这样，所述行驶状态监测装置230获取的所述插秧机主体210的一邻近地面的同一位置对应的所述图像信息的画面内容持续在移动。比如说，在所述插秧机主体210持续运动的过程中，所述插秧机主体210的所述邻近地面的某一位置先是部分进入所述图像信息的画面内容中，所述插秧机主体210持续地运动，所述邻近地面的所述位置的图像能够完全进入所述图像信息的画面内容中，然后随着所述插秧机主体210的运动逐渐地离开所述图像信息的画面中。所述插秧机主体210的所述邻近地面的每一个位置的图像基本上按照这样的规律被所述行驶状态监测装置230捕捉，并形成于所述图像信息。所述配合系统100的所述行驶状态获取模块10获取所述图像信息，所述数据管理模块20的所述分析单元21将所述行驶状态监测装置230持续获得的图像进行对比和计算，寻找图像中相同部分根据图像中多个连续的相同的图像的位置变化，并计算出实际的所述行驶状态监测装置230的位移变化，进而获得所述高速插秧机200的所述插秧机主体210的所述行驶数据，以在后续，所述关联单元22根据所述行驶数据和所述预插植数据，计算所述插植主体220需要保持的插植速度，以使得被所述插植主体220定植的相邻的所述秧苗之间的行距符合所述预插植数据。In this specific example of the present invention, the running state monitoring device 230 installed on the rice transplanter main body 210 of the high-speed rice transplanter 200 continuously captures images of the ground adjacent to the rice transplanter main body 210, and The monitoring position of the driving state monitoring device 230 always remains unchanged. In this way, the screen content of the image information corresponding to the same position of the rice transplanter main body 210 adjacent to the ground acquired by the driving state monitoring device 230 continues to be displayed. move. For example, during the continuous movement of the rice transplanter main body 210, a certain position of the rice transplanter main body 210 adjacent to the ground first partially enters the screen content of the image information, and the rice transplanter main body 210 continues When the ground moves, the image of the position adjacent to the ground can completely enter the screen content of the image information, and then gradually leave the screen of the image information with the movement of the rice transplanter main body 210. The image of each position of the rice transplanter main body 210 adjacent to the ground is basically captured by the driving state monitoring device 230 according to such a rule, and is formed in the image information. The driving state acquisition module 10 of the coordination system 100 acquires the image information, and the analysis unit 21 of the data management module 20 compares and calculates the images continuously obtained by the driving state monitoring device 230 to find images The same part in the image changes according to the position of multiple consecutive identical images, and calculates the actual displacement change of the driving state monitoring device 230, and then obtains the position of the rice transplanter main body 210 of the high-speed rice transplanter 200. According to the driving data, in the future, the associating unit 22 calculates the planting speed that the planting body 220 needs to maintain based on the travel data and the pre-planting data, so as to be planted by the planting body 220 The row spacing between adjacent seedlings complies with the pre-planting data.
进一步地，参照图2A至图2C，所述配合系统100的所述控制模块30在执行所述配合策略时，控制所述插植主体220的插植速度随着所述插秧机主体210 的实际行驶状态的变化而变化。具体地，以所述行驶状态监测装置230为实施为所述拍摄装置为例，当所述插秧机主体210的实际行驶速度V1减慢，如所述插秧机主体210在行驶过程中遇到凹陷区域时，为了保障行驶安全而减慢行驶速度，此时，被安装于所述插秧机主体210的所述拍摄装置获取的所述参照物的所述图像信息的变化速度随之减慢，所述数据管理模块20的所述分析单元21根据所述图像信息的变化计算出所述插秧机主体210的实际行驶速度V1减慢，且位移变化减小；进一步地，所述关联单元22根据变化的所述插秧机主体210的实际行驶速度V1、实际位移以及所述预插植数据更新所述配合策略，所述控制模块30在执行所述配合策略时，控制所述插植主体220的插植速度V2减慢，以配合所述插秧机主体210的实际行驶状态，避免造成邻近的所述秧苗的行距减小。Further, referring to FIGS. 2A to 2C, the control module 30 of the coordination system 100 controls the planting speed of the planting body 220 to follow the actual situation of the rice transplanter body 210 when the control module 30 of the coordination system 100 executes the coordination strategy. The driving state changes. Specifically, taking the driving state monitoring device 230 as the photographing device as an example, when the actual driving speed V1 of the rice transplanter main body 210 slows down, for example, the rice transplanter main body 210 encounters a depression during driving. Area, in order to ensure the safety of driving, the speed of driving is slowed down. At this time, the speed of change of the image information of the reference object acquired by the imaging device mounted on the rice transplanter main body 210 also slows down. The analysis unit 21 of the data management module 20 calculates according to the change in the image information that the actual traveling speed V1 of the rice transplanter body 210 is slowed down, and the displacement change is reduced; further, the correlation unit 22 according to the change The actual travel speed V1, the actual displacement, and the pre-planting data of the rice transplanter main body 210 update the coordination strategy, and the control module 30 controls the planting of the planting main body 220 when the coordination strategy is executed. The planting speed V2 is slowed down to match the actual driving state of the rice transplanter main body 210, so as to avoid reducing the row spacing of adjacent seedlings.
参照图2C，当所述插秧机主体210在行驶的过程中，所述插秧机主体210的所述车轮原地打滑时，尽管所述车轮持续转动，但是所述插秧机主体210的实际行驶速度V1为零，并没有产生实际有效的位移，此时，藉由所述拍摄装置拍摄的所述参照物的所述图像信息的画面内容能够完全重合，进而所述数据管理模块20的所述分析单元21计算得到的所述行驶数据能够反映出此时的所述插秧机主体210停于原地，为了保障所述秧苗能够符合所述预插植数据，所述控制模块30在执行所述关联单元22生成的所述配合策略时，所述控制模块30控制所述插植主体220暂停插植作业，即所述插植主体220的插植速度V2为零，以避免新插植的所述秧苗压坏已经定植于农田内的所述秧苗。并在所述插秧机主体210再次正常的行驶后，所述控制模块30执行实时的所述配合策略以控制所述插植主体220继续进行插植作业。2C, when the rice transplanter main body 210 is running, the wheels of the rice transplanter main body 210 slip in place, although the wheels continue to rotate, the actual travel speed of the rice transplanter main body 210 V1 is zero, and no actual effective displacement is generated. At this time, the screen content of the image information of the reference object photographed by the photographing device can completely overlap, and then the analysis of the data management module 20 The driving data calculated by the unit 21 can reflect that the rice transplanter main body 210 is stopped in place at this time. In order to ensure that the seedlings can meet the pre-planting data, the control module 30 is performing the association When the matching strategy is generated by the unit 22, the control module 30 controls the planting main body 220 to suspend the planting operation, that is, the planting speed V2 of the planting main body 220 is zero, so as to avoid the new planting The seedling crushes the seedling that has been planted in the farmland. After the rice transplanter main body 210 drives normally again, the control module 30 executes the real-time cooperation strategy to control the planting main body 220 to continue the planting operation.
通常，为了加快插植进度，所述插秧机主体210的行驶速度允许在一定范围内增大，此时，藉由所述拍摄装置拍摄的所述参照物的所述图像信息中的画面内容的变化速度加快，进而所述数据管理模块20的所述分析单元21计算得到的所述行驶数据能够反映出此时的所述插秧机主体210的行驶速度加快，所述关联单元22根据此时的所述插秧机主体210的所述行驶数据和所述预插植数据生成所述配合策略，进而在所述控制模块30执行所述配合策略时控制所述插植主体220的插植速度加快，避免相邻的所述秧苗之间的行距增大。Generally, in order to speed up the planting progress, the traveling speed of the rice transplanter main body 210 is allowed to increase within a certain range. The speed of change is accelerated, and the driving data calculated by the analysis unit 21 of the data management module 20 can reflect that the driving speed of the rice transplanter body 210 at this time is accelerated, and the correlation unit 22 is based on the current The driving data and the pre-planting data of the rice transplanter main body 210 generate the cooperation strategy, and then control the planting speed of the planting main body 220 to increase when the control module 30 executes the cooperation strategy, Avoid increasing the row spacing between adjacent seedlings.
也就是说，所述配合系统100能够获取所述高速插秧机200的所述插秧机主体210的实际速度和实际位移，而不只是所述高速插秧机200的车轮的转动速度，这样，能够保障所述插植主体220的实时插植速度和所述高速插秧机200的实际行驶状态相配合，以保障所述秧苗的行距始终处于所述预设范围内，并符合所述预插植数据，以利于保障所述秧苗在后续的生长和总产量。In other words, the cooperation system 100 can obtain the actual speed and actual displacement of the rice transplanter body 210 of the high-speed rice transplanter 200, not just the rotation speed of the wheels of the high-speed rice transplanter 200, so that it can guarantee The real-time planting speed of the planting main body 220 is matched with the actual driving state of the high-speed rice transplanter 200 to ensure that the row spacing of the seedlings is always within the preset range and conforms to the pre-planting data, To help ensure the subsequent growth and total yield of the seedlings.
值得一提的是，所述参照物的类型不受限制，所述参照物可以被选择为所述插秧机主体210周围的任意静物，这样可以避免所述参照物的运动变化影响所述行驶状态监测装置230获取的所述图像信息的准确性，进而有利于保障所述控制模块30在执行所述配合策略时，能够准确地控制所述插植主体220的插 植速度，以保障相邻的所述秧苗的行距处于所述预设范围内。It is worth mentioning that the type of the reference object is not limited, and the reference object can be selected as any still life around the rice transplanter body 210, so as to prevent the movement of the reference object from affecting the driving state. The accuracy of the image information acquired by the monitoring device 230 is further helpful to ensure that the control module 30 can accurately control the planting speed of the planting main body 220 when executing the cooperation strategy, so as to ensure that adjacent The row spacing of the seedlings is within the preset range.
本领域技术人员应该理解的是，在本发明其他的一些实施例中，高速插秧机200的所述行驶状态监测装置230本身具有计算功能，即所述行驶状态监测装置230在监测所述插秧机主体210行驶的同时计算所述插秧机主体210的所述行驶数据，所述配合系统100的所述行驶状态获取模块10能够从所述行驶状态监测装置230直接获取反应所述插秧机主体210的实际行驶状态的所述行驶数据。在本发明另外的一些示例中，所述高速插秧机200的控制电脑对所述行驶状态监测装置230获取的数据进行分析处理以得到所述插秧机主体210的所述行驶数据，所述配合系统100的所述行驶状态获取模块10通过所述高速插秧机200的控制电脑获取所述插秧机主体210的所述行驶数据。It should be understood by those skilled in the art that in some other embodiments of the present invention, the driving state monitoring device 230 of the high-speed rice transplanter 200 has a calculation function, that is, the driving state monitoring device 230 is monitoring the rice transplanter. The driving data of the rice transplanter main body 210 is calculated while the main body 210 is traveling, and the driving state acquisition module 10 of the coordination system 100 can directly obtain information reflecting the rice transplanter main body 210 from the driving state monitoring device 230 The driving data of the actual driving state. In some other examples of the present invention, the control computer of the high-speed rice transplanter 200 analyzes and processes the data acquired by the driving state monitoring device 230 to obtain the driving data of the rice transplanter main body 210, and the cooperation system The driving state acquisition module 10 of 100 acquires the driving data of the rice transplanter main body 210 through the control computer of the high-speed rice transplanter 200.
参照图1，所述配合系统100进一步包括一插植数据获取模块40，其中所述插植数据获取模块40被可通信地连接于所述数据管理模块20的所述关联单元22，其中所述插植数据获取模块40能够获取所述预插植数据。优选地，所述插植数据获取模块40允许使用者直接输入被定植后的所述秧苗的行距、株距等等，并在使用者确认后生成所述预插植数据。可选地，所述插植数据获取模块40存储关于不同品种的所述秧苗的属性信息以及不同地区的农田土壤信息，并允许使用者选择待插植的所述秧苗的品种和农田的类型，所述插植数据获取模块40根据使用者选择的所述秧苗的品种和农田类型生成适合所述秧苗生长的行距、株距等参数，进而生成所述预插植数据。以在后续，所述数据管理模块20的所述关联单元22根据所述预插植数据和所述插秧机主体210的实际行驶状态生成所述配合策略。在本发明另外的一些示例中，所述预插植数据也可以被预先存储于所述插植数据获取模块40，以供所述数据管理模块20的所述关联单元22直接使用。本领域技术人员应该知晓的是，所述插植数据获取模块40获取所述预插植数据的具体实施方式仅仅作为示例，不能成为对本发明所述配合系统100的内容和范围的限制。1, the coordination system 100 further includes a planting data acquisition module 40, wherein the planting data acquisition module 40 is communicatively connected to the association unit 22 of the data management module 20, wherein the The planting data acquisition module 40 can acquire the pre-planting data. Preferably, the planting data acquisition module 40 allows the user to directly input the row spacing, plant spacing, etc. of the seedlings after planting, and generates the pre-planting data after the user confirms. Optionally, the planting data acquisition module 40 stores attribute information about the seedlings of different varieties and farmland soil information in different regions, and allows the user to select the varieties and types of farmland of the seedlings to be planted, The planting data acquisition module 40 generates parameters such as row spacing and plant spacing suitable for the growth of the seedlings according to the seedling varieties and farmland types selected by the user, and then generates the pre-planting data. In the future, the associating unit 22 of the data management module 20 generates the cooperation strategy according to the pre-planting data and the actual driving state of the rice transplanter main body 210. In some other examples of the present invention, the pre-planting data may also be pre-stored in the planting data acquisition module 40 for direct use by the associating unit 22 of the data management module 20. Those skilled in the art should be aware that the specific implementation of the planting data acquisition module 40 for acquiring the pre-planting data is merely an example, and cannot be a limitation on the content and scope of the cooperation system 100 of the present invention.
根据本发明的一个具体的实施例，所述配合系统100的所述控制模块30通过有线或是无线的方式被连接于所述高速插秧机200的所述插植主体220，并直接控制所述插植主体220的运动状态，例如但不限于所述插植主体220抓取所述秧苗的速度，上下移动的速度，进而控制所述插植主体220整体的插植速度。值得一提的是，所述控制模块30控制所述插植主体220的具体实施方式仅仅作为示例，不能成为对本发明所述配合系统100的内容环绕范围的限制，本领域技术人员应该可以通过其他的技术手段实现。比如说，所述控制模块30通过有线或是无线的方式被连接于所述高速插秧机200的控制电脑，所述控制模块30传输所述配合策略于所述高速插秧机的控制电脑，并藉由所述高速插秧机200的控制电脑控制所述高速插秧机200的所述插植主体220的插植速度，即所述控制模块30间接地控制所述高速插秧机200的所述插植主体220的插植速度，并使得所述插植主体220能够和所述插秧机主体210的实际行驶状态相配合。According to a specific embodiment of the present invention, the control module 30 of the coordination system 100 is connected to the planting main body 220 of the high-speed rice transplanter 200 in a wired or wireless manner, and directly controls the The movement state of the planting main body 220, such as but not limited to the speed at which the planting main body 220 grabs the seedlings and the speed of moving up and down, controls the planting speed of the planting main body 220 as a whole. It is worth mentioning that the specific implementation manner in which the control module 30 controls the planting main body 220 is only an example, and cannot be a limitation on the scope of the content of the cooperation system 100 of the present invention. Those skilled in the art should be able to use other The technical means to achieve. For example, the control module 30 is connected to the control computer of the high-speed rice transplanter 200 in a wired or wireless manner, and the control module 30 transmits the coordination strategy to the control computer of the high-speed rice transplanter, and borrows The planting speed of the planting main body 220 of the high-speed rice transplanter 200 is controlled by the control computer of the high-speed rice transplanter 200, that is, the control module 30 indirectly controls the planting main body of the high-speed rice transplanter 200 The planting speed 220 enables the planting body 220 to match the actual driving state of the rice transplanter body 210.
参照附图4，在本发明的另一较佳实施例的所述配合系统100将在接下来的 描述中被阐述，其中所述配合系统100的所述行驶状态获取模块10能够获取所述高速插秧机200的所述插秧机主体210的实际坐标，并在后续根据所述插秧机主体210的实际坐标获得所述行驶数据。具体来说，在本发明的这个具体的实施例中，所述高速插秧机200的所述行驶状态获取装置230被实施为一定位系统，其中所述定位系统被安装于所述插秧机主体210，并实时地获取所述插秧机主体210的一位置信息，其中所述位置信息包括但不限于所述插秧机主体210的实际坐标以及运动轨迹等等。所述配合系统100的所述数据管理模块20的所述分析单元21分析所述位置信息，根据坐标的变化计算得到所述插秧机主体210的实际位移和实际行驶速度，并生成所述行驶数据。进一步地，所述数据管理模块20的所述关联单元22根据所述行驶数据和来自所述插植数据获取模块40的所述预插植数据得生成所述配合策略，以供所述控制模块30在执行所述配合策略时，控制所述高速插秧机200的所述插植主体220的插植速度，以使得所述插植主体220的插植速度和所述插秧机主体210的实际行驶状态相配合。4, the cooperation system 100 in another preferred embodiment of the present invention will be explained in the following description, wherein the driving state acquisition module 10 of the cooperation system 100 can acquire the high speed The actual coordinates of the rice transplanter main body 210 of the rice transplanter 200, and subsequently the travel data are obtained according to the actual coordinates of the rice transplanter main body 210. Specifically, in this specific embodiment of the present invention, the driving state acquisition device 230 of the high-speed rice transplanter 200 is implemented as a positioning system, wherein the positioning system is installed on the rice transplanter main body 210 , And obtain a piece of position information of the rice transplanter main body 210 in real time, where the position information includes but is not limited to the actual coordinates and movement track of the rice transplanter main body 210. The analysis unit 21 of the data management module 20 of the coordination system 100 analyzes the position information, calculates the actual displacement and the actual travel speed of the rice transplanter main body 210 according to the change of the coordinates, and generates the travel data . Further, the associating unit 22 of the data management module 20 generates the cooperation strategy according to the driving data and the pre-planting data from the planting data acquisition module 40 for the control module 30 When executing the cooperation strategy, control the planting speed of the planting main body 220 of the high-speed rice transplanter 200, so that the planting speed of the planting main body 220 and the actual driving of the rice transplanter main body 210 The status matches.
进一步地，参照图5A至图5C，在本发明的这个具体的示例中，所述配合系统100的所述控制模块30在执行所述配合策略时，控制所述插植主体220的插植速度随着所述插秧机主体210的实际行驶状态的变化而变化。Further, referring to FIGS. 5A to 5C, in this specific example of the present invention, the control module 30 of the coordination system 100 controls the planting speed of the planting main body 220 when executing the coordination strategy It changes as the actual running state of the rice transplanter main body 210 changes.
具体地，参照图5A和图5B，当所述插秧机主体210在行驶过程中速度减慢时，被安装于所述插秧机主体210的所述定位系统获取的所述插秧机主体210的坐标差异变化减小，所述数据管理模块20的所述分析单元21根据所述位置信息计算出的所述行驶数据中的所述插秧机主体210的实际行驶速度V1减慢，实际位移变化减小；进一步地，所述关联单元22根据实时的所述行驶数据和所述预插植数据更新所述配合策略，所述控制模块30在执行所述配合策略时，控制所述插植主体220的插植速度V2减慢，避免邻近的所述秧苗的行距减小。Specifically, referring to FIGS. 5A and 5B, when the speed of the rice transplanter main body 210 slows down during driving, the coordinates of the rice transplanter main body 210 acquired by the positioning system installed on the rice transplanter main body 210 The difference change decreases, and the actual traveling speed V1 of the rice transplanter main body 210 in the traveling data calculated by the analysis unit 21 of the data management module 20 according to the position information decreases, and the actual displacement change decreases Further, the associating unit 22 updates the cooperation strategy according to the real-time driving data and the pre-planting data, and the control module 30 controls the planting main body 220 when executing the cooperation strategy The planting speed V2 is slowed down to prevent the row spacing of adjacent seedlings from decreasing.
参照图5C，当所述插秧机主体210的所述车轮原地打滑时，尽管所述车轮持续转动，但是所述插秧机主体210的实际行驶速度V1为零，且未产生实际有效的位移，此时，藉由所述定位系统获取的所述位置信息显示所述插秧机主体210的坐标参数的差异为零，进而所述数据管理模块20的所述分析单元21计算得到的所述行驶数据反映出此时的所述插秧机主体210停于原地，为了保障被所述插植主体220定植于农田内的所述秧苗的行距处于所述预设范围，并符合所述插植数据的要求，所述控制模块30在执行所述关联单元22产生的所述配合策略时，所述控制模块30控制所述插植主体220暂停作业，即所述插植主体220的插植速度V2为零，以避免新插植的所述秧苗压坏已定植于农田内的所述秧苗。当所述插秧机主体210再次恢复正常行驶后，所述控制模块30在执行实时的所述配合策略时，控制所述插植主体220继续进行插植作业。5C, when the wheels of the rice transplanter main body 210 slip in place, although the wheels continue to rotate, the actual travel speed V1 of the rice transplanter main body 210 is zero, and no actual effective displacement is generated. At this time, the position information obtained by the positioning system shows that the difference in the coordinate parameters of the rice transplanter main body 210 is zero, and then the driving data calculated by the analysis unit 21 of the data management module 20 Reflecting that the rice transplanter main body 210 stops in place at this time, in order to ensure that the row spacing of the seedlings planted in the farmland by the planting main body 220 is within the preset range and conforms to the planting data It is required that when the control module 30 executes the cooperation strategy generated by the association unit 22, the control module 30 controls the planting main body 220 to suspend operations, that is, the planting speed V2 of the planting main body 220 is Zero to avoid the newly planted seedlings from crushing the seedlings that have been planted in the farmland. When the rice transplanter main body 210 resumes normal driving again, the control module 30 controls the planting main body 220 to continue the planting operation when the real-time cooperation strategy is executed.
为了加快插植进度，所述插秧机主体210的行驶速度允许在一定范围内加快，此时，藉由所述定位系统获取的所述插秧机主体210的实时位置坐标的差异变化加快，进而所述数据管理模块20的所述分析单元21计算得到的所述行驶数据能够反应出此时所述插秧机主体210的行驶速度加快，所述关联单元22 根据此时的所述插秧机主体210的所述行驶数据和所述预插植数据生成所述配合策略，所述控制模块30在执行所述配合策略时控制所述插植主体220的插植速度加快，以避免相邻的所述秧苗的行距增大。通过这样的方式，所述插植主体220的插植速度始终与所述插秧机主体210的实时的实际行驶速度和实际位移相关联，且所述插植主体220和所述插秧机主体210相互配合，使得被所述插植主体220定植于农田内的所述秧苗的行距始终被保持于所述预设范围内，并符合所述预插植数据的要求，进而使得所述秧苗的行距合理且均匀，以利于保障所述秧苗的生长和总产量。In order to speed up the planting progress, the traveling speed of the rice transplanter main body 210 is allowed to be accelerated within a certain range. The driving data calculated by the analysis unit 21 of the data management module 20 can reflect that the driving speed of the rice transplanter main body 210 at this time is accelerated, and the correlation unit 22 is based on the speed of the rice transplanter main body 210 at this time. The driving data and the pre-planting data generate the cooperation strategy, and the control module 30 controls the planting speed of the planting main body 220 to speed up when executing the cooperation strategy, so as to avoid adjacent seedlings. The line spacing increases. In this way, the planting speed of the planting main body 220 is always correlated with the real-time actual traveling speed and the actual displacement of the rice transplanter main body 210, and the planting main body 220 and the rice transplanter main body 210 are mutually related. In cooperation, the row spacing of the seedlings planted in the farmland by the planting main body 220 is always maintained within the preset range and meets the requirements of the pre-planting data, thereby making the row spacing of the seedlings reasonable And it is uniform, so as to help ensure the growth and total yield of the seedlings.
依本发明的而另一个方面，本发明进一步提供一高速插秧机的配合方法，其中所述配合方法包括如下步骤：According to another aspect of the present invention, the present invention further provides a method for matching a high-speed rice transplanter, wherein the method includes the following steps:
(a)实时地获取所述高速插秧机200的一插秧机主体210的实际行驶状态；和(a) Acquire the actual driving state of a rice transplanter main body 210 of the high-speed rice transplanter 200 in real time; and
(b)根据所述插秧机主体210的实际行驶状态控制所述高速插秧机200的一插植主体220的插植速度，以使得所述插植主体220和所述插秧机主体相互配合作业。具体地，所述插植主体220的插植速度和所述插秧机主体的实际行驶状态相配合，使得被所述插秧机主体210定植于农田内的所述秧苗的行距处于一预设范围内，并符合一预插植数据的要求，以利于相邻的所述秧苗的行距均匀且合理。(b) Control the planting speed of a planting main body 220 of the high-speed rice transplanter 200 according to the actual driving state of the rice transplanter main body 210, so that the planting main body 220 and the rice transplanter main body cooperate with each other. Specifically, the planting speed of the planting main body 220 is matched with the actual driving state of the rice planting machine main body, so that the row spacing of the seedlings planted in the farmland by the rice planting machine main body 210 is within a preset range , And meet the requirements of a pre-planting data, so that the row spacing of adjacent seedlings is even and reasonable.
优选地，在上述方法中，藉由一关联单元22根据一行驶数据和一预插植数据生成一配送策略，进而所述控制模块30在执行所述配送策略时控制所述插植主体220的插植速度与所述插秧机主体210相互配合。Preferably, in the above method, an associating unit 22 generates a delivery strategy based on a driving data and a pre-planting data, and then the control module 30 controls the planting body 220 when the delivery strategy is executed. The planting speed is matched with the main body 210 of the rice transplanter.
优选地，在上述方法中，可通信地连接所述配合系统的一行驶状态获取模块10于所述高速插秧机200的一行驶状态监测装置230，其中所述行驶状态检测装置230实时地监测所述插秧机主体210的实际行驶状态。Preferably, in the above method, a driving state acquisition module 10 of the cooperation system is communicatively connected to a driving state monitoring device 230 of the high-speed rice transplanter 200, wherein the driving state detection device 230 monitors the driving state in real time. The actual driving state of the rice transplanter main body 210 is described.
优选地，在上述方法中，通过实时地获取所述插秧机主体210周围的一参照物的一图像信息的方式获取插秧机主体210的实际行驶状态。Preferably, in the above method, the actual driving state of the rice transplanter main body 210 is obtained by acquiring image information of a reference object around the rice transplanter main body 210 in real time.
优选地，在上述方法中，通过实时地获取所述插秧机主体210的一位置信息的方式获取插秧机主体210的实际行驶状态。Preferably, in the above method, the actual driving state of the rice transplanter main body 210 is obtained by acquiring a piece of position information of the rice transplanter main body 210 in real time.
依本发明的另一个方面，根据本发明的一较佳实施例的一高速插秧机200将在接下来的描述中被阐述，其中所述高速插秧机200包括一插秧机主体210、一插植主体220以及一行驶状态监测装置230，其中所述插植主体220和所述行驶状态监测装置被安装于所述插秧机主体210，所述行驶状态监测装置230实时地获取所述插秧机主体210的实际行驶状态，所述插植主体220的插植速度和所述插秧机主体210的实际行驶状态相配合，使得被所述插植主体定植于农田内的秧苗的行距处于一预设范围内，进而保障所述秧苗的行距均匀且合理。According to another aspect of the present invention, a high-speed rice transplanter 200 according to a preferred embodiment of the present invention will be described in the following description, wherein the high-speed rice transplanter 200 includes a rice transplanter main body 210, The main body 220 and a driving state monitoring device 230, wherein the planting main body 220 and the driving state monitoring device are installed on the rice transplanter main body 210, and the driving state monitoring device 230 obtains the rice transplanter main body 210 in real time. The actual driving state of the planting body 220 is matched with the actual driving state of the rice transplanter body 210, so that the row spacing of the seedlings planted in the farmland by the planting body is within a preset range , Thereby ensuring that the row spacing of the seedlings is uniform and reasonable.
参照图2，优选地，所述行驶状态监测装置230被实施为一拍摄装置，所述拍摄装置持续地拍摄所述插秧机主体210周围的所述参照物的图像信息，以在后续根据所述参照物的图像信息获取所述插秧机主体210的实际行驶状态。具 体来说，所述插秧机主体210的形式速度快时，值得一提的是，所述拍摄装置的类型不受限制，所述拍摄装置可以被实施为但不限于照相机、摄像机等。所述拍摄装置可以被安装于所述插秧机主体210的前部、后部或是两侧，且在所述插秧机主体210行驶的过程中，所述拍摄装置的位置和拍摄角度始终保持不变，以保障拍摄的所述参照物的图像信息能够准确地反应所述插秧机主体210的实际行驶状态。本领域技术人员应该理解的是，所述拍摄装置的具体实施方式仅仅作为示例，不能成为对本发明所述高速插秧机200的内容和范围的限制。2, preferably, the driving state monitoring device 230 is implemented as a photographing device that continuously photographs the image information of the reference object around the rice transplanter main body 210, so as to follow the The image information of the reference object acquires the actual driving state of the rice transplanter main body 210. Specifically, when the form of the rice transplanter body 210 is fast, it is worth mentioning that the type of the photographing device is not limited, and the photographing device can be implemented as, but not limited to, a camera, a video camera, and the like. The photographing device may be installed on the front, rear or both sides of the rice transplanter main body 210, and the position and shooting angle of the photographing device are always kept constant during the driving process of the rice transplanter main body 210. To ensure that the photographed image information of the reference object can accurately reflect the actual driving state of the rice transplanter main body 210. It should be understood by those skilled in the art that the specific implementation of the photographing device is merely an example, and cannot be a limitation on the content and scope of the high-speed rice transplanter 200 of the present invention.
参照图4，优选地，所述行驶状态监测装置230被实施为一定位系统，其中所述定位系统能够获取所述插秧机主体210的实时的行驶数据，例如但不限于所述插秧机主体210的位置坐标、行驶轨迹、行驶速度以及行驶距离等，以在后续根据所述插秧机主体的行驶数据获取所述插秧机主体210的实际行驶状态。值得一提的是，所述定位系统的类型不受限制，所述定位系统可以被实施为但不限于GPS系统、北斗系统、GLONASS系统或是伽利略卫星导航系统等。本领域技术人员应该理解的是，所述定位系统的具体实施方式仅仅作为示例，不能成为对本发明所述的高速插秧机200的内容和范围的限制。4, preferably, the driving state monitoring device 230 is implemented as a positioning system, wherein the positioning system can obtain real-time driving data of the rice transplanter main body 210, such as but not limited to the rice transplanter main body 210 The position coordinates, travel trajectory, travel speed, travel distance, etc. of the rice transplanter can be used to obtain the actual travel state of the rice transplanter main body 210 subsequently based on the travel data of the rice transplanter main body. It is worth mentioning that the type of the positioning system is not limited, and the positioning system can be implemented as, but not limited to, a GPS system, a Beidou system, a GLONASS system, or a Galileo satellite navigation system. It should be understood by those skilled in the art that the specific implementation of the positioning system is only an example, and cannot be a limitation on the content and scope of the high-speed rice transplanter 200 of the present invention.
可选地，在本发明其他的一些实施例中，所述行驶状态监测装置230可以被实施为所述拍摄装置和所述定位系统，即所述行驶状态监测装置230能够同时获取所述插秧机主体210的周围的参照物的图像信息和所述插秧机主体210的实际位置信息，以在后续，所述插植主体220能够根据所述行驶状态监测装置230获取的所述插秧机主体210的实际行驶转台调整插植速度，以使得被所述插植主体220定植于农田内的所述秧苗的行距均匀且合理。Optionally, in some other embodiments of the present invention, the driving state monitoring device 230 may be implemented as the photographing device and the positioning system, that is, the driving state monitoring device 230 can obtain the rice transplanter at the same time. The image information of the reference object around the main body 210 and the actual position information of the rice transplanter main body 210, so that in the future, the planting main body 220 can be based on the information of the rice transplanter main body 210 acquired by the driving state monitoring device 230 The actual driving turntable adjusts the planting speed, so that the row spacing of the seedlings planted in the farmland by the planting main body 220 is uniform and reasonable.
本领域的技术人员可以理解的是，以上实施例仅为举例，其中不同实施例的特征可以相互组合，以得到根据本发明揭露的内容很容易想到但是在附图中没有明确指出的实施方式。Those skilled in the art can understand that the above embodiments are only examples, in which the features of different embodiments can be combined with each other to obtain implementations that are easily conceivable according to the disclosure of the present invention but are not clearly indicated in the drawings.
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the implementation of the present invention may have any deformation or modification.

Claims (21)

  1. 一高速插秧机，其特征在于，包括：A high-speed rice transplanter, characterized in that it includes:
    一插秧机主体；A main body of the rice transplanter;
    一行驶状态监测装置，其中所述行驶状态获取装置被安装于所述插秧机主体，所述行驶状态监测装置实时地监测所述插秧机主体的实际行驶状态；以及A driving state monitoring device, wherein the driving state acquiring device is installed on the rice transplanter main body, and the driving state monitoring device monitors the actual driving state of the rice transplanter main body in real time; and
    一插植主体，其中所述插植主体被安装于所述插秧机主体，其中所述插秧机主体根据所述行驶装置监测装置获取的所述插秧机主体的实际行驶状态实时地调整插植速度。A planting main body, wherein the planting main body is installed on the rice transplanter main body, wherein the rice transplanter main body adjusts the planting speed in real time according to the actual driving state of the rice transplanter main body acquired by the traveling device monitoring device .
  2. 根据权利要求1所述的高速插秧机，其中所述行驶状态监测装置为一摄像装置，所述行驶状态检测装置持续地获取所述插秧机主体周围的一参照物的图像信息。The high-speed rice transplanter according to claim 1, wherein the running state monitoring device is a camera device, and the running state detecting device continuously acquires image information of a reference object around the main body of the rice transplanter.
  3. 根据权利要求1所述的高速插秧机，其中所述行驶状态检测装置为一定位系统，其中所述行驶状态监测装置实时地获取所述插秧机主体的位置信息。The high-speed rice transplanter according to claim 1, wherein the driving state detection device is a positioning system, wherein the driving state monitoring device acquires the position information of the rice transplanter body in real time.
  4. 根据权利要求3所述的高速插秧机，其中所述定位系统选自：GPS系统、北斗系统、GLONASS系统或是伽利略卫星导航系统组成的类型组。The high-speed rice transplanter according to claim 3, wherein the positioning system is selected from the group consisting of: GPS system, Beidou system, GLONASS system or Galileo satellite navigation system.
  5. 一配合系统，其特征在于，包括：A matching system, characterized in that it includes:
    一行驶状态获取模块，其中所述行驶状态获取模块实时地获取一高速插秧机的一插秧机主体的实际行驶状态；A driving state acquisition module, wherein the driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time;
    一数据管理模块，其中所述数据管理模块被可通信地连接于所述行驶状态获取模块，所述数据管理模块根据所述插秧机主体的实际行驶状态生成一配合策略；以及A data management module, wherein the data management module is communicably connected to the driving state acquisition module, and the data management module generates a cooperation strategy according to the actual driving state of the rice transplanter body; and
    一控制模块，其中所述控制模块被可通信地连接于所述数据管理模块，所述控制模块在执行所述配合策略时，控制所述高速插秧机的一插植主体的插植速度和所述插秧机主体的实际行驶状态相配合。A control module, wherein the control module is communicably connected to the data management module, and the control module controls the planting speed and planting speed of a planting main body of the high-speed rice transplanter when the cooperation strategy is executed. The actual driving state of the main body of the rice transplanter is matched.
  6. 根据权利要求5所述的配合系统，其中所述数据管理模块包括一分析单元和一关联单元，其中所述分析单元被可通信地连接于所述行驶状态获取模块和所述关联单元，所述分析单元根据所述行驶状态获取模块获取的所述插秧机主体的实际行驶状态生成一行驶数据，所述关联单元根据所述行驶数据和一预插植数据生成所述配合策略。The cooperation system according to claim 5, wherein the data management module includes an analysis unit and an association unit, wherein the analysis unit is communicably connected to the driving state acquisition module and the association unit, the The analysis unit generates driving data according to the actual driving state of the rice transplanter main body acquired by the driving state acquisition module, and the correlation unit generates the cooperation strategy according to the driving data and a pre-planting data.
  7. 根据权利要求6所述的配合系统，其中所述行驶状态获取模块通过可通信地连接于所述高速插秧机的一行驶状态监测装置的方式获取所述插秧机主体的实际行驶状态。7. The coordination system according to claim 6, wherein the driving state acquisition module acquires the actual driving state of the rice transplanter body by means of a driving state monitoring device communicably connected to the high-speed rice transplanter.
  8. 根据权利要求7所述的配合系统，其中所述行驶状态获取模块实时地获取所述插秧机主体周围的至少一参照物的一图像信息，所述数据管理模块的所述分析单元基于所述图像信息获得所述插秧机主体的实际行驶状态。The coordination system according to claim 7, wherein the driving state acquisition module acquires image information of at least one reference object around the rice transplanter body in real time, and the analysis unit of the data management module is based on the image The information obtains the actual driving state of the main body of the rice transplanter.
  9. 根据权利要求8所述的配合系统，其中所述行驶状态监测装置被实施为一拍摄装置。8. The coordination system according to claim 8, wherein the driving state monitoring device is implemented as a photographing device.
  10. 根据权利要求8所述的配合系统，其中所述分析单元分析连续的所述图像信息的画面内容的位移变化和/或变化速度，并得到所述插秧机主体的所述行驶数据。8. The coordination system according to claim 8, wherein the analysis unit analyzes the displacement change and/or the change speed of the screen content of the continuous image information, and obtains the driving data of the rice transplanter main body.
  11. 根据权利要求9所述的配合系统，其中所述分析单元以叠置所述图像信息的画面内容的方式获取所述插秧机主体的所述行驶数据。9. The coordination system according to claim 9, wherein the analysis unit obtains the driving data of the rice transplanter body in a manner of superimposing the screen content of the image information.
  12. 根据权利要求9所述的配合系统，其中所述分析单元根据多个参照物在所述图像信息的画面内容中的坐标变化的方式得到所述插秧机主体的所述行驶数据。9. The coordination system according to claim 9, wherein the analysis unit obtains the driving data of the rice transplanter main body according to a manner in which the coordinates of a plurality of reference objects in the screen content of the image information change.
  13. 根据权利要求7所述的配合系统，其中所述行驶状态获取模块实时地获取所述插秧机主体的一位置信息，所述数据管理模块的所述分析单元根据所述位置信息得到所述插秧机主体的所述行驶数据。The coordination system according to claim 7, wherein the driving state acquisition module acquires position information of the rice transplanter body in real time, and the analysis unit of the data management module obtains the rice transplanter according to the position information. The driving data of the subject.
  14. 根据权利要求13所述的配合系统，其中所述行驶状态监测装置为一定位系统。The coordination system according to claim 13, wherein the driving state monitoring device is a positioning system.
  15. 根据权利要求13所述的配合系统，其中所述数据管理模块的所述分析单元根据所述插秧机主体的坐标变化和/或变化速度得到所述插秧机主体的所述行驶数据。The coordination system according to claim 13, wherein the analysis unit of the data management module obtains the driving data of the rice transplanter body according to the coordinate change and/or the changing speed of the rice transplanter body.
  16. 根据权利要求5至15任一所述的配合系统，进一步包括一插植数据获取模块，其中所述插植数据获取模块被可通信地连接于所述数据管理模块的所述分析单元，所述插植数据获取模块获取所述预插植数据。The coordination system according to any one of claims 5 to 15, further comprising a planting data acquisition module, wherein the planting data acquisition module is communicably connected to the analysis unit of the data management module, and the The planting data acquisition module acquires the pre-planting data.
  17. 一配合系统的配合方法，其特征在于，所述配合方法包括如下步骤：A matching method for a matching system, characterized in that the matching method includes the following steps:
    (a)一行驶状态获取模块实时地获取一高速插秧机的一插秧机主体的实际行驶状态；和(a) A driving state acquisition module acquires the actual driving state of a rice transplanter body of a high-speed rice transplanter in real time; and
    (b)一控制模块根据所述插秧机主体的实施行驶状态控制所述高速插秧机的一插植主体的插植速度，以使得所述插植主体和所述插秧机主体相互配合作业。(b) A control module controls the planting speed of a planting main body of the high-speed rice transplanter according to the running state of the rice transplanter main body, so that the planting main body and the rice transplanter main body cooperate with each other.
  18. 根据权利要求17所述的配合方法，其中在上述方法中，藉由一关联单元根据一行驶数据和一预插植数据生成一配送策略，进而所述控制模块在执行所述配送策略时控制所述插植主体的插植速度与所述插秧机主体相互配合。18. The coordination method according to claim 17, wherein in the above method, a distribution strategy is generated by an association unit based on a driving data and a pre-planting data, and then the control module controls the distribution strategy when the distribution strategy is executed. The planting speed of the planting main body is matched with the planting machine main body.
  19. 根据权利要求18所述的配合方法，其中在上述方法中，可通信地连接所述配合系统的一行驶状态获取模块于所述高速插秧机的一行驶状态监测装置，其中所述行驶状态检测装置实时地监测所述插秧机主体的实际行驶状态。The cooperation method according to claim 18, wherein in the above method, a driving state acquisition module of the cooperation system is communicably connected to a driving state monitoring device of the high-speed rice transplanter, wherein the driving state detection device The actual driving state of the main body of the rice transplanter is monitored in real time.
  20. 根据权利要求19所述的配合方法，其中在上述方法中，通过实时地获取所述插秧机主体周围的一参照物的一图像信息的方式获取插秧机主体的实际行驶状态。19. The coordination method according to claim 19, wherein in the above method, the actual driving state of the rice transplanter body is acquired by real-time acquisition of image information of a reference object around the rice transplanter body.
  21. 根据权利要求19所述的配合方法，其中在上述方法中，通过实时地获取所述插秧机主体的一位置信息的方式获取插秧机主体的实际行驶状态。19. The coordination method according to claim 19, wherein in the above method, the actual driving state of the rice transplanter body is acquired by acquiring a piece of position information of the rice transplanter body in real time.
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