JP2022528527A - Rice transplanter and its rice planting method and rice planting system - Google Patents

Abstract

A rice transplanter, a rice planting method thereof, and a rice planting system. The rice transplanter (1) includes a vehicle body (10), a planting section (20) provided on the vehicle body (10), and a seedling tray loading device (30). , The controller (50) and the shift device (40), the controller 50 can control the vehicle body (10) to run along the rice planting route, control the shift device (40), and seedlings. The seedling tray loaded on the tray loading device (30) can be moved to the planting section (20) so that the planting section (20) can plant the seedling tray.

Description

The present invention relates to the field of rice planting, and particularly to a rice transplanter, a rice planting method thereof, and a rice planting system.

With the advent of rice transplanters, the efficiency of planting seedlings will be greatly improved, and the paddy rice cultivation industry will be further made more compact and smarter. FIG. 1 shows a conventional rice transplanter, which is a planting machine 10P, a seedling tray mounting table 20P provided on the machine 10P, and a planting section provided on the machine 10P and driven by the machine 10P. Includes 30P. The operating state of the rice transplanter is as follows. By loading the seedling tray on the seedling tray mounting table 20P in advance, the seedling tray can be driven by the machine body 10P, and when the driver drives and runs the rice transplanter, the seedling tray The seedling tray placed on the mounting table 20P is manually transferred to the planting section 30P, and the planting section 30P is driven by the machine body 10P to perform planting work on the seedling tray. In the case of the conventional rice transplanter, at least two people need to cooperate in order to carry out the rice planting work using the rice transplanter, one person drives and runs the rice transplanter, and the other person. It is necessary to move the seedling tray placed on the seedling tray mounting table 20P to the planting section 30P, wasting human resources, and if there are less than two people performing rice planting work, the rice planting You will not be able to plant rice using the machine. Further, when the rice transplanter travels along one direction, six rows of seedlings can be planted, but the distance is not limited to this, and the distance between the seedlings of any adjacent row is the distance between the seedlings of the rice transplanter. It can be determined by setting the parameters of the planting portion 30P in advance. However, when the rice transplanter travels along the first direction to complete the planting work and then travels along the second direction (the second direction is opposite to the first reverse direction) while performing the planting work. An experienced driver can control the distance between the edge row seedlings after the first planting operation and the edge row seedlings after the second planting operation by the rice transplanter. It is very difficult for the driver to control the rice transplanter to control the distance between the first and second directions, while the distance between the seedlings in adjacent rows is not equal (large or (Small), it has a very bad effect on the growth of seedlings.

In addition, RTK (Real-Time kinematic) positioning technology is a real-time kinematic positioning technology based on carrier phase measured values, and the distinction from GPS positioning technology is that RTK positioning technology realizes positioning with centimeter-level accuracy. You can do it. Therefore, how to apply the RTK positioning technique to agricultural machinery is an issue that the inventor is working on.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system, and the rice planting function can automatically perform rice planting work in a work area, and manually in the rice planting work process. Reduce the degree of operability.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system, and the rice planting function can automatically perform rice planting work in the work area along the rice planting route. Increase the degree of automation and intelligence of rice planting work.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system, wherein the rice planting route is a seedling row of the rice transplanter in order to match the rice planting route with the working area. Planned within the work area based on distance.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system, and the work area corresponding to the agricultural land to be planted is acquired based on the RTK positioning technique. It greatly reduces the error when acquiring the boundary of the farmland to be planted.

One object of the present invention is to provide a rice transplanter, a rice transplanting method thereof, and a rice planting system, and the rice transplanter can place more seedling trays, thereby improving the rice planting efficiency of the rice transplanter. ..

One object of the present invention is to provide a rice transplanter, a rice transplanting method thereof, and a rice planting system, and the rice transplanter can quickly replenish a seedling tray, thereby improving the rice planting efficiency of the rice transplanter.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system, wherein the rice transplanter provides a vehicle body and a seedling tray loading device detachably attached to the vehicle body. As a result, after all the seedling trays mounted on the seedling tray loading device were consumed, the seedling tray loading device on which the seedling tray was not loaded was removed from the vehicle body, and the seedling tray was mounted. By mounting the seedling tray loading device on the vehicle body, the continuity of the rice planting work of the rice transplanter is ensured.

One object of the present invention is to provide a rice transplanter, a rice planting method thereof, and a rice planting system. The seedling tray loading device is a passive seedling tray loading device, and thus the seedling tray loading device. The structure is simplified and the weight of the seedling tray loading device is reduced.

One object of the present invention is to provide a rice transplanter, a rice transplanting method thereof, and a rice planting system, wherein the rice transplanter provides a shift device provided on the vehicle body, and the rice planting unit performs rice planting work. The shift device can automatically shift the position of the seedling tray mounted on the seedling tray loading device to the planting portion of the rice transplanter.

According to one aspect of the present invention, the present invention provides a rice planting method for a rice transplanter, wherein the rice planting method is described.
Step (a) to acquire the work area and
Step (b) of planning a rice planting route in the work area by a route planning policy including determining the distance between two adjacent traveling routes according to the distance of the seedling line of the rice transplanter.
The step (c) of controlling the rice transplanter to perform rice planting work along the rice planting route is included.

According to one embodiment of the present invention, step (a) is
Steps to get an image of the farmland that is about to be planted,
Steps to determine a series of critical points in the image of the farmland to be planted,
Further included is a step in which a connecting line between two adjacent critical points forms one boundary of the work area and acquires the work area corresponding to the farmland to be planted.

According to one embodiment of the present invention, step (a) is
Steps to obtain a series of critical points for the farmland to be planted,
Further included is a step in which a connecting line between two adjacent critical points forms one boundary of the work area and acquires the work area corresponding to the farmland to be planted.

According to one embodiment of the present invention, the critical point is the corner point of the farmland to be planted and / or the connection point between the cultivable area and the obstacle in the farmland to be planted. ..

According to one embodiment of the present invention, step (c) is
The step (c.1) of adjusting the posture of the transport belt of the shift unit of the rice transplanter so that both ends of the transport belt correspond to the end of the conveyor belt of the seedling tray loading device and the planting portion, respectively.
The step (c.2) of synchronously driving the conveyor belt and the conveyor belt so as to rotate in the same direction and transferring the seedling tray placed on the conveyor belt to the planting portion by the conveyor belt.
Further included is a step (c.3) of driving the planting portion to plant the seedling tray and performing the rice planting operation when the rice transplanter travels along the rice planting route.

According to one embodiment of the present invention, the step (c.2) is
A step (c.2.1) in which the drive motor of the shift unit drives the conveyor belt to rotate via the drive shaft, and
When the drive shaft moves and rotates the drive wheels, the step (c.2.2) of driving the direction adjusting wheels and rotating them in the opposite direction
When the direction adjusting wheel is driven to rotate the driven gear of the seedling tray loading device, the step of rotating the rotation shaft relative to the support plate of the seedling tray loading device (c.2. 3) and
The step (c.2.4) is included in which the rotating shaft rotates the conveyor belt relative to the support plate so that the conveyor belt and the conveyor belt rotate in the same direction while being driven. ..

According to one embodiment of the present invention, before the step (c.1), the seedling tray loading device on which the seedling tray is loaded is mounted on the vehicle body of the rice transplanter.

According to another aspect of the invention, the invention further provides a rice planting system, which is a rice planting system.
The acquisition unit to acquire the work area and
A route determination unit communicably connected to the acquisition unit and including a route planning policy, wherein the route planning policy plans a rice planting route within the work area, and the route planning policy is of one rice transplanter. A route determination unit that includes determining the distance between two adjacent travel paths according to the distance of the seedling line, and
It includes a control unit that is communicably connected to the route determination unit and controls the rice transplanter to perform rice planting work along the rice planting route.

According to one embodiment of the present invention, the acquisition unit includes a critical point acquisition module, a boundary acquisition module, and a region determination module that are communicably connected to each other, and the critical point acquisition module is a rice planting. The boundary acquisition module acquires a boundary formed by a connecting line between two adjacent critical points, and the region determination module acquires the boundary. The work area is determined based on the boundaries acquired by the module.

According to one embodiment of the invention, the acquisition unit further includes a point marking module to which the critical point acquisition module is communicably connected, and when the point marking module marks a point, the critical point acquisition. The module acquires the critical point of the farmland to be planted based on the positioning information provided by the positioning module.

According to another aspect of the invention, the invention further provides a rice transplanter, which is a rice transplanter.
With the car body
The planting part provided on the vehicle body so as to be driveable,
At least one seedling tray loading device provided on the vehicle body,
A controller provided on the vehicle body that controls the vehicle body to run along the rice planting route.
A shift device provided on the vehicle body and controllably connected to the controller, wherein the seedling tray loaded on the seedling tray loading device can be transferred to the planting portion. Includes a shift device that allows the planting unit to plant the seedling tray.

According to one embodiment of the present invention, the seedling tray loading device is detachably attached to the vehicle body.

According to one embodiment of the present invention, the number of the seedling tray loading devices is six.

According to one embodiment of the invention, the seedling tray loading device comprises a support unit and at least one transport unit, the support unit comprising two support plates, having a storage space, said. The storage space is formed between the two supporting plates provided opposite to each other, and the transport unit includes two rotating shafts and a conveyor belt, and both ends of the two rotating shafts rotate to the two supporting plates, respectively. The conveyor belt is rotatably held in the storage space of the support unit by being possibly mounted and having both ends of the conveyor belt provided on each of the two rotating shafts.

According to one embodiment of the present invention, the transfer unit includes a driven gear provided at the end of one of the two rotating shafts.

According to one embodiment of the invention, the conveyor unit comprises two driven gears, the driven gears are provided at the ends of the two rotary shafts of the conveyor unit, respectively, and the two driven gears. Is held on the opposite side of the conveyor belt.

According to one embodiment of the present invention, the shift device includes a telescopic arm and a shift unit, wherein the shift unit includes a frame, a drive motor, a drive shaft, a roller, and a conveyor belt. Further included, the frame is provided at the free end of the telescopic arm, the drive motor is provided at the frame, the drive shaft and the rollers are rotatably mounted at the ends of the frame, respectively, and the drive shaft is It is driveably connected to the drive motor, and both ends of the conveyor belt are provided on the drive shaft and the rollers, respectively.

According to one embodiment of the present invention, the shift device includes a telescopic arm and a shift unit, wherein the shift unit includes a frame, a drive motor, a drive shaft, a roller, a conveyor belt, and a drive. Further including a ring and a direction adjusting wheel, the frame is provided at the free end of the telescopic arm, the drive motor is provided at the frame, and the drive shaft and the roller rotate to the end of the frame, respectively. Possiblely mounted and the drive shaft is driveably connected to the drive motor, both ends of the conveyor belt are provided on the drive shaft and the rollers, respectively, and the drive wheels are provided on the drive shaft in the direction. The adjusting wheel is connected so as to mesh with the driving wheel.

It is a perspective schematic diagram of a conventional rice transplanter. It is a perspective schematic diagram of the rice transplanter according to the preferred embodiment of this invention. It is an exploded schematic diagram of the said rice transplanter according to the said preferable embodiment of this invention. It is an exploded schematic diagram of the seedling tray loading device of the seedling tray loading device of the rice transplanter according to the said preferred embodiment of this invention. It is an exploded schematic diagram of the shift device of the rice transplanter according to the said preferred embodiment of this invention. It is 1 of the schematic diagram of the rice planting process of the rice transplanter according to the said preferred embodiment of this invention. FIG. 2 is a schematic diagram of a rice planting process of the rice transplanter according to the preferred embodiment of the present invention. 3 is 3 of the schematic diagram of the rice planting process of the rice transplanter according to the above-mentioned preferred embodiment of the present invention. FIG. 4 is a schematic diagram of a rice planting process of the rice transplanter according to the preferred embodiment of the present invention. 5 is a schematic diagram of the rice planting process of the rice transplanter according to the preferred embodiment of the present invention. 6 is a schematic diagram of the rice planting process of the rice transplanter according to the preferred embodiment of the present invention. 7 is a schematic diagram of the rice planting process of the rice transplanter according to the preferred embodiment of the present invention. It is a schematic diagram of a rice planting method according to a preferred embodiment of the present invention, and one form of planning a rice planting route is schematically shown. It is a schematic diagram of the rice planting method according to the said preferred embodiment of the present invention, and one aspect of planning the rice planting route is schematically shown. It is a schematic diagram of the rice planting method by the said preferred embodiment of this invention, and shows the process of rice planting by the rice transplanter according to the rice planting route. It is a schematic diagram of a rice planting system according to a preferred embodiment of the present invention.

The following description is for the purpose of disclosing the present invention so that those skilled in the art can carry out the present invention. Preferred embodiments in the following description are merely examples, and one of ordinary skill in the art can conceive of other obvious variations. The basic principles of the invention, limited in the description below, can be applied to other embodiments, modifications, improvements, equivalents and other technical solutions that do not deviate from the spirit and scope of the invention.

As can be understood by those skilled in the art, in the description of the present invention, "vertical", "horizontal", "top", "bottom", "front", "rear", "left", "right", The orientation or positional relationship indicated by terms such as "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings. It is merely for the sake of the description of the present invention and the simplification of the description of the present invention, and does not indicate or suggest that the device or element shown has a specific orientation, or is configured or operated in a specific orientation. Therefore, the above terms are not understood as a limitation to the present invention.

It should be noted that the term "one" should be understood as "at least one" or "one or more", i.e., in one embodiment, the number of one element is one. However, in other embodiments, the number of elements may be plural and the term "one" should not be understood as a limitation on the number.

With reference to FIGS. 2 to 5 of the specification drawings of the present invention, the rice transplanter 1 according to a preferred embodiment of the present invention is disclosed and described in the following description. The rice transplanter 1 includes a vehicle body 10, a planting section 20, and at least one seedling tray loading device 30. The planting portion 20 is provided so as to be driveable on the vehicle body 10, and each of the seedling tray loading devices 30 is provided on the vehicle body 10. One or more seedling trays can be loaded on the seedling tray loading device 30, and the rice transplanter 1 performs rice planting work, so that the planting unit 20 loads the seedling tray while the vehicle body 10 is running. The seedling tray loaded on the device 30 can be planted.

The number of the seedling tray loading devices 30 is not limited to the rice transplanter 1 of the present invention, and the number of the seedling tray loading devices 30 is related to the number of rice planting lines of the rice transplanter 1. For example, in the preferred example of the rice transplanter 1 shown in FIGS. 2 to 5, the number of the seedling tray loading devices 30 is 6, so that the rice transplanter 1 has 6 rows of seedlings. Can be planted synchronously. Optionally, in some other example of the rice transplanter 1 of the present invention, the number of the seedling tray loading devices 30 may be three, whereby the rice transplanter 1 may be. Three rows of seedlings can be planted at the same time.

In one preferred example of the rice transplanter 1 of the present invention, the seedling tray loading device 30 is fixedly provided to the vehicle body 10, whereby the vehicle body 10 travels to the seedling tray replenishment place and then the seedling tray is replenished. The seedling tray can be replenished and loaded in the seedling tray loading device 30.

In a preferred example of the rice transplanter 1 shown in FIGS. 2 to 5, the seedling tray loading device 30 is detachably attached to the vehicle body 10, whereby the rice transplanter 1 is mounted on the seedling tray loading device. After the 30 is removed from the vehicle body 10, the seedling tray is replenished so that it can be loaded. For example, after all the seedling trays loaded on the seedling tray loading device 30 mounted on the vehicle body 10 are planted by the planting unit 20, the seedling tray loading device 30 idle from the vehicle body 10 By removing the seedling tray and mounting the seedling tray loading device 30 on which the seedling tray is loaded on the vehicle body 10, the seedling tray can be quickly replenished to the rice transplanter 1, and the rice planting of the rice transplanter 1 can be quickly replenished. Ensure the continuity of work and ensure the efficiency of rice planting.

In a preferred example of the rice transplanter 1 shown in FIGS. 2 to 5, each of the seedling tray loading devices 30 of the rice transplanter 1 is independent of each other, thereby each of the seedling tray loading devices 30. Can be removed independently from the vehicle body 10, or each of the seedling tray loading devices 30 can be mounted independently on the vehicle body 10, whereby the seedling tray can be attached to the rice transplanter. Replenish to 1.

The form in which the seedling tray loading device 30 is mounted on the vehicle body 10 is not limited to the rice transplanter 1 of the present invention. For example, the seedling tray loading device 30 is mounted on the vehicle body 10 via rivets. Or the seedling tray loading device 30 may be engaged to the vehicle body 10 via a clip.

With reference to FIGS. 2 to 5, the seedling tray loading device 30 includes a support unit 31 and at least one transport unit 32 provided in each of the support units 31, and the support unit 31 is the vehicle body 10. The transport unit 32 is for mounting the seedling tray. That is, the seedling tray is loaded on the seedling tray loading device 30 so that it can be placed by the transport unit 32.

The support unit 31 has two support plates 311 and one storage space 312. By providing the two support plates 311 so as to face each other, the storage space 312 is formed between the two support plates 311. Each of the transfer units 32 includes two rotating shafts 321 and one conveyor belt 322, respectively. Both ends of the two rotating shafts 321 are extended so as to be rotatably mounted on the two support plates 311. As a result, the two rotating shafts 321 are held in the storage space 312 formed between the two support plates 311 and are flush with each other. Both ends of the conveyor belt 322 are rotatably provided on each of the rotating shafts 321. As a result, the conveyor belt 322 is rotatably held in the storage space 312 of the support unit 31.

Specifically, when the rotating shaft 321 of the transport unit 32 is driven and rotates relative to the support plate 311 of the support unit 31, the rotating shaft 321 attaches the conveyor belt 322 to the conveyor belt 322. By rotating relative to the support plate 311 in synchronization with each other, the position of the seedling tray mounted on the conveyor belt 322 is changed. For example, in one particular example of the rice planting machine 1 of the present invention, the conveyor belt 322 is a belt having a rough surface, whereby the rotating shaft 321 is driven with respect to the support plate 311. The conveyor belt 322 rotates relative to the support plate 311 in synchronization with the frictional force formed between the rotating shaft 321 and the conveyor belt 322. Can be made to. In another particular example of the rice planting machine 1 of the present invention, the conveyor belt 322 is a chain belt, the rotary shaft 321 is a gear shaft, whereby the rotary shaft 321 is driven while being driven. When rotating relative to the support plate 311, the conveyor belt 322 can be rotated relative to the support plate 311 in synchronization with each other.

The type of the support plate 311 of the support unit 31 is not limited to the rice transplanter 1 of the present invention. For example, the support plate 311 of the support unit 31 may be a solid plate material or a hollow plate material. Further, the form in which the rotary shaft 321 is rotatably mounted on the support plate 311 is not limited to the rice transplanter 1 of the present invention. For example, the rotary shaft 321 may be rotatably mounted on the support plate 311 via a bearing.

In a specific example of the rice transplanter 1 shown in FIGS. 2 to 5, the seedling tray loading device 30 includes a plurality of the transport units 32, and the transport units 32 are spaced apart from each other. It is provided along the height direction of the support unit 31, and in this way, the seedling tray loading device 30 can mount more of the seedling trays, so that the rice transplanting work of the rice transplanter 1 can be continued. The property is ensured and the rice planting efficiency of the rice transplanter 1 is improved.

Further, the support unit 31 includes a top plate 313 and a bottom plate 314, and the high ends of the two support plates 311 are each extended upward so as to be mounted on the top plate 313. The bottom plate of the support plate 311 extends downward so as to be mounted on the bottom plate 314, whereby the two support plates 311 are provided facing each other via the top plate 313 and the bottom plate 314. Therefore, the top plate 313 and the bottom plate 314 of the support unit 31 may be a solid plate material or a hollow plate material.

Continuing with reference to FIGS. 2-5, the transfer unit 32 includes at least one driven gear 323. The driven gear 323 is provided at the end of at least one of the rotating shafts 321. When the driven gear 323 rotates relative to the support plate 311 of the support unit 31 while being driven, the rotation shaft 321 is synchronized with the support plate 311 of the support unit 31 and relative to the support plate 311. Rotate. Further, the rotating shaft 321 rotates the conveyor belt 322 relative to the support plate 311 of the support unit 31 in the storage space 312 of the support unit 31.

The driven gear 323 and the rotating shaft 321 of the transport unit 32 may have an integrated structure or a split structure.

However, in the specific example of the rice planting machine 1 shown in FIGS. 2 to 5, the present invention exemplifies that the ends of the two rotating shafts 321 of the transport unit 32 are provided on the driven gear 323, respectively. Although the contents and features of the rice planting machine 1 have been described, as will be understood by those skilled in the art, in some other examples of the rice planting machine 1 of the present invention, the two rotations of the transport unit 32 are described. The driven gear 323 is provided at the end of one of the rotating shafts 321 of the shaft 321. The rotating shaft 321 provided with the driven gear 323 of the transport unit 32 becomes a driving rotation shaft, and accordingly. The other rotation shaft 321 is a driven rotation shaft. As a result, both ends of the driven rotating shaft and both ends of the driven rotating shaft of the transport unit 32 are stretched so as to be rotatably mounted on the support plate 311 of the support unit 31, respectively, and the conveyor belt. By providing the main rotation shaft and the driven rotation shaft at both ends of the 322, the conveyor belt 322 is rotatably held in the storage space 312 of the support unit 31.

In a particular example of the rice transplanter 1 shown in FIGS. 2-5, the two driven gears 323 of the transport unit 32 are located on different sides of the conveyor belt 322 at both ends of the conveyor belt 322, respectively. By doing so, the seedling tray loading device 30 has two mounting directions, which makes it easy to quickly mount the seedling tray loading device 30 on the vehicle body 10. Further, the driven gear 323 of the transport unit 32 may be located outside the support plate 311 of the support unit 31, or may be located between the two support plates 311 of the support unit 31. good.

With reference to FIGS. 2 to 5, the rice transplanter 1 of the present invention further includes at least one shift device 40 provided on the vehicle body 10, and the shift device 40 is used by the planting unit 20 to perform rice planting work. Therefore, the position of the seedling tray loaded on the seedling tray loading device 30 is shifted to the planting portion 20. Preferably, the shift device 40 drives the driven gear 323 to rotate the rotating shaft 321 relative to the support plate 311 of the support unit 31 via the driven gear 323, and further. The conveyor belt 322 is rotated relative to the support plate 311 of the support unit 31 via the rotation shaft 321, and the position of the seedling tray mounted on the conveyor belt 322 is set at the planting portion 20. By shifting to, the rice planting work is performed by the planting unit 20.

Further, the shift device 40 includes a telescopic arm 41 and a shift unit 42. The telescopic arm 41 has a mounting end 411 and a free end 412 corresponding to the mounting end 411. The mounting end 411 of the telescopic arm 41 is mounted on the vehicle body 10, and the shift unit 42 expands and contracts. It is attached to the free end 412 of the arm 41. After the state of the telescopic arm 41 is adjusted, the shift unit 42 can be moved to the position where the seedling tray is loaded in the seedling tray loading device 30, and the shift unit 42 is tilted. The adjustable degree allows the shift unit 42 to be held between one end of the conveyor belt 322 of the transport unit 32 and the planting portion 20. When the shift unit 42 rotates and drives the driven gear 323 of the transport unit 32 to rotate the conveyor belt 322 relative to the support plate 311 of the support unit 31, the conveyor belt 322 becomes a conveyor belt 322. The placed seedling tray can be shifted to the shift unit 42, and then further shifted to the planting section 20 in order for the planting section 20 to perform rice planting work.

Preferably, the mounting end 411 of the telescopic arm 41 of the shift device 40 is movably mounted on the vehicle body 10, so that the shift device 40 is loaded on each of the seedling tray loading devices 30. The position of the seedling tray can be moved to the planting section 20. For example, the vehicle body 10 provides a rail, and the mounting end 411 of the telescopic arm 41 of the shift device 40 is slidably mounted on the rail of the vehicle body 10, whereby the telescopic arm 41 said. The mounting end 411 is movably mounted on the vehicle body 10. When the mounting end 411 of the telescopic arm 41 slides on the rail of the vehicle body 10, each of the shift units 42 of the shift device 40 corresponds to the conveyor belt 322 of the different seedling tray loading device 30. can do.

With reference to FIGS. 2 to 5, the shift unit 42 includes a frame 421, a drive motor 422, a drive shaft 423, a roller 424, a conveyor belt 425, a drive wheel 426, and a direction adjusting wheel 427. Including further. The frame 421 is mounted on the free end 412 of the telescopic arm 41, the drive motor 422 is mounted on the frame 421, the drive shaft 423 and the roller 424 are mounted on both ends of the frame 421, respectively, and the frame 421 is mounted on both ends of the frame 421. The drive shaft 423 is driveably connected to the drive motor 422, both ends of the conveyor belt 425 are mounted on the drive shaft 423 and the roller 424, respectively, and the drive wheels 426 are provided at the ends of the drive shaft 423. , The direction adjusting wheel 427 is connected so as to mesh with the drive wheel 426. By adjusting the posture (position and / or inclination) of the shift unit 42, the conveyor belt 425 of the shift unit 42 has one end of the conveyor belt 322 of the conveyor unit 32 and the planting portion 20. When held between, the direction adjusting wheel 427 of the shift unit 42 meshes with the driven gear 323 of the conveyor unit 32. When the drive motor 422 of the shift unit 42 drives the drive shaft 423 and rotates relative to the frame 421 to rotate the transport belt 425 relative to the frame 421. The drive motor 422 drives the driven gear 323 of the transfer unit 32 via the direction adjusting wheel 427 to rotate the driven gear 323 relative to the support plate 311 of the support unit 31, and further causes the conveyor belt 322 to rotate. By rotating the support unit 31 relative to the support plate 311 and doing so, the seedling tray mounted on the conveyor belt 322 of the transfer unit 32 is moved to the shift unit 42. It can be transferred to the transport belt 425, and can be further transferred to the planting unit 20 in order to perform the rice planting work by the planting unit 20. By adjusting the direction adjusting wheel 427 of the shift unit 42, the rotation direction of the conveyor belt 322 of the transfer unit 32 coincides with the rotation direction of the transfer belt 425 of the shift unit 42, thereby causing the transfer. The seedling tray mounted on the conveyor belt 322 of the unit 32 can be transferred to the transport belt 425 of the shift unit 42, and further to the planting portion 20.

In a specific example of the rice planting machine 1 of the present invention, the drive motor 422 of the shift unit 42 of the shift device 40 drives the driven gear 323 of the transport unit 32 of the seedling tray loading device 30. The support unit 31 can be rotated relative to the support plate 311 so that the seedling tray loading device 30 may be a passive loading device, i.e., the seedling tray loading device. 30 does not need to arrange any power source separately, and by doing so, the structure of the seedling tray loading device 30 can be simplified, and the reliability of the seedling tray loading device 30 can be ensured. The weight of the seedling tray loading device 30 is reduced.

6A to 6G show the work process of the rice transplanter 1.

As shown in FIG. 6A, the seedling tray is loaded on the seedling tray loading device 30. Preferably, in the preferred example of the rice transplanter 1 shown in FIGS. 2 to 5, the conveyor belt 322 of the transport unit 32 can mount two seedling trays, and one seedling tray is. The seedling tray is loaded from one end of the conveyor belt 322 and another seedling tray is loaded from the other end of the conveyor belt 322. Optionally, in some other example of the rice planting machine 1 of the present invention, the conveyor belt 322 of the transport unit 32 can mount three of the seedling trays and one of the seedling trays. The conveyor belt 322 can be rotated by manually rotating the driven gear 323 of the transport unit 32 after the conveyor belt 322 is loaded, and the seedling tray can be moved to the center of the seedling tray loading device 30. It can be moved and then one said seedling tray is loaded onto the seedling tray loading device 30 from one end of the conveyor belt 322 and another said seedling tray is loaded on the other of the conveyor belt 322. The seedling tray loading device 30 is loaded from the end.

As shown in FIG. 6B, the seedling tray loading device 30 on which the seedling tray is loaded is mounted on the vehicle body 10. In the rice transplanter 1 of the present invention, in order to ensure the stability and reliability of the mounting relationship between the seedling tray loading device 30 and the vehicle body 10, the seedling tray loading device 30 and the vehicle body 10 are bolted or clipped. It may be fixed via, but is not limited to these.

As shown in FIGS. 6C and 6D, when the rice planting operation is performed by the rice transplanter 1, first, the shift unit 42 is made to correspond to one end of the conveyor belt 322 of the transport unit 32. The posture of the telescopic arm 41 of the device 40 is adjusted, the conveyor belt 425 is held between the conveyor belt 322 and the planting portion 20, and the direction adjusting wheel 427 of the shift unit 42 is conveyed. The posture of the conveyor belt 425 of the shift unit 42 is adjusted so as to mesh with the driven gear 323 of the unit 32.

As shown in FIGS. 6E to 6G, when the drive motor 422 of the shift unit 42 rotates the drive shaft 423 to rotate the conveyor belt 325 relative to the frame 421, the drive The motor 422 drives the driven gear 323 of the transport unit 32 via the drive wheel 426 and the direction adjusting wheel 427 to rotate the driven gear 323 relative to the support plate 311 of the support unit 31. The conveyor belt 322 is rotated relative to the support plate 311 of the support unit 31, whereby the conveyor belt 322 mounted on the transfer unit 32 is transferred to the transfer belt 425 of the shift unit 42. Next, in order to carry out the rice planting work by the planting unit 20, the planting unit 20 is transferred to the planting unit 20.

With reference to FIGS. 2 to 5, the rice transplanter 1 further includes a controller 50 provided on the vehicle body 10 to which the vehicle body 10 and the shift device 40 are connected in a controllable manner. The controller 50 can control the traveling of the vehicle body 10, and for example, the controller 50 can control the vehicle body 10 to travel along a specific route. The controller 50 can control the postures of the telescopic arm 41 and the shift unit 42 of the shift device 40. For example, the controller 50 controls the telescopic arm 41 to expand and contract, and the conveyor belt 425 of the shift unit 42. The degree of inclination of the shift unit 42 can be adjusted to control the rotational state of the drive motor 422 of the shift unit 42.

The type of the controller 50 is not limited to the rice transplanter 1 of the present invention as long as the vehicle body 10 and the shift device 40 can be controlled. For example, the controller 50 may be a general purpose processor (CPU) or a special purpose instruction set processor (ASIP), or the controller 50 may be a general purpose processor (CPU) or a special purpose instruction set processor. (API) may be included, thus the controller 50 can control the vehicle body 10 to travel along the specific route when executing a specific route, or the controller 50 may include. When executing the expansion / contraction command or the adjustment command, the posture of the shift device 40 can be controlled.

The rice transplanter 1 further includes a positioning module 60, which is provided on the vehicle body 10 to determine the current position of the rice transplanter 1. The type of the positioning module 60 is not limited to the rice transplanter 1 of the present invention, and for example, in order to improve the accuracy of the acquired current position of the rice transplanter 1, the positioning module 60 may be RTK ( It may be a module based on a real-time kinematic (real-time kinematic) positioning technique.

According to another aspect of the present invention, the present invention further provides a rice transplanting method for the rice transplanter 1, wherein the rice transplanting method includes the step (a) of acquiring a work area 100 and the work area according to a route planning policy. Step (b), which comprises planning 300 within 100 and the route planning policy determining the distance between two adjacent travel paths according to the distance of the seedling row of the rice transplanter 1, and the rice planting. The rice transplanter 1 can automatically perform the rice planting work by including the step (c) of controlling the machine 1 to perform the rice planting work along the 300, and the rice planting work process. It is advantageous to reduce the degree of manual operation in the rice transplanter, thereby further developing the rice cultivation industry into a more compact and smarter one. Preferably, the 300 is "U" shaped, that is, the rice transplanter 1 performs rice planting work along the "U" shaped 300.

In the rice planting method of the present invention, the route planning policy is to determine the distance between two adjacent traveling routes according to the distance of the seedling row of the rice transplanter 1. Therefore, the distance between any two adjacent seedling rows can be secured, which is advantageous for the late growth of the seedlings, which cannot be done by the rice transplanting operation in which the rice transplanter 1 is manually operated. be.

FIG. 7A shows an example of planning the 300 in the work area 100 by the rice planting method, the step (a.1) of acquiring an image 200a of the agricultural land 200 to be planted, and the rice planting. The step (a.2) of determining a series of critical points 100a in the image 200a of the farmland 200 and the connecting line between the two adjacent critical points 100a form one boundary 100b of the working area 100. The step (a.3) of acquiring the work area 100 corresponding to the agricultural land 200 to be planted is included.

The method for acquiring the image 200a of the farmland 200 to be planted is not limited to the rice planting method of the present invention. For example, the image 200a of the farmland 200 to be planted is acquired by satellite photography. It may be, but it is not limited to this. The image 200a of the agricultural land 200 to be planted may be displayed on the display screen for the operator to see.

However, the actual position of the farmland 200 to be planted and the virtual position of the image 200a of the farmland 200 to be planted have a one-to-one correspondence, that is, the actual position of the farmland 200 to be planted and the above. The virtual position of the image 200a of the farmland 200 to be planted has a mapping relationship, and therefore, when the virtual position of the image 200a of the farmland 200 to be planted is determined, the farmland 200 to be planted On the other hand, when the actual position of the farmland 200 to be planted is determined, the virtual position of the image 200a of the farmland 200 to be planted is determined. In FIG. 7A, the operator can mark a corresponding position in the image 200a of the agricultural land 200 to be planted and determine a series of the critical points 100a. Preferably, the operator connects the cultivable area and the obstacle displayed in the image 200a of the farmland 200 to be planted and / or the corner point displayed in the image 200a of the farmland 200 to be planted. By marking a point at a position that is a point, a series of the critical points 100a is determined. The method in which the operator marks a point on the image 200a of the farmland 200 to be planted may be to mark the position on the image 200a of the farmland 200 to be planted. Since the connecting line between two adjacent critical points 100a forms one boundary 100b of the work area 100, a series of boundaries 100b forms the work area 100.

FIG. 7B shows another example of planning the 300 in the work area 100 by the rice planting method, and a step (a.1') of acquiring a series of critical points 100a of the agricultural land 200 to be planted. A step of acquiring the work area 100 corresponding to the agricultural land 200 to be planted by forming one boundary 100b of the work area 100 by a line connecting two adjacent critical points 100a. a.2') and is included. Specifically, in FIG. 7B, the operator controls the rice transplanter 1 to run along the edge of the farmland 200 to be planted (for example, the ridge surrounding the farmland to be planted). When the operator meets the corner point of the farmland 200 to be planted and / or the connection point between the cultivable area and the obstacle in the farmland 200 to be planted, the operator of the farmland 200 to be planted. A series of critical points 100a is determined by marking points at the corner points and / or at the connection points between the cultivable area and the obstacle in the farmland 200 to be planted. For example, when the operator meets the corner point of the farmland 200 to be planted and / or the connection point between the cultivable area and the obstacle in the farmland to be planted, the operator performs RTK (Real-time technique, real-time). Based on kinematic) positioning technology, by positioning the corner point of the farmland 200 to be planted and / or the connection point between the cultivable area and the obstacle in the farmland 200 to be planted, a series of steps are taken. The critical point 100a of the above is determined. Since the connecting line between two adjacent critical points 100a forms one boundary 100b of the work area 100, a series of boundaries 100b forms the work area 100.

Referring to FIGS. 7A and 7B, given the distance of the seedling line of the rice transplanter 1, the route planning policy is based on the distance of the seedling line of the rice transplanter 1 and the work area plan of 300. , The 300 and the work area 100 can be matched. By doing so, referring to FIG. 7C, after the rice transplanter 1 performs the rice planting work according to the 300, the interval distance between any two adjacent seedling rows can be secured, whereby the seedlings can be secured. It is advantageous for the late growth of seedlings.

With reference to FIG. 8 of the specification drawing of the present invention, a rice planting system according to another preferred embodiment of the present invention is disclosed and described in the following description, and the rice planting system is communicably connected to an acquisition unit. It includes 1000, a routing unit 2000, and a control unit 3000. The acquisition unit 1000 acquires the work area 100. The route determination unit 2000 includes the route planning policy, the route planning policy plans the 300 within the work area 100, and the route planning policy depends on the distance of the seedling row of the rice transplanter 1. Includes determining the distance between two adjacent travel paths. The controller 50 controls the rice transplanter 1 to perform rice planting work along the 300, whereby a distance between two adjacent seedling rows can be secured, thereby ensuring a distance between two adjacent seedling rows. It is advantageous for the late growth of seedlings.

Further, the acquisition unit 1000 includes a critical point acquisition module 1001 that is communicably connected to each other, a boundary acquisition module 1002, and a region determination module 1003. The critical point acquisition module 1001 acquires a series of critical points 100a of the farmland 200 to be planted, and the boundary acquisition module 1002 is formed by a connecting line between two adjacent critical points 100a. The boundary 100b is acquired, and the area determination module 1003 determines the work area 100 based on the boundary 100b acquired by the boundary acquisition module 1002.

Further, the acquisition unit 1000 includes a point marking module 1004 to which the critical point acquisition module 1001 is communicably connected, and when the point marking module 1004 marks a point, the critical point acquisition module 1001 determines the positioning. Based on the positioning information provided by the module 60, the critical point 100a of the farmland 200 to be planted is acquired. For example, when the rice planting machine 1 travels to the corner of the farmland 200 to be planted, the point marking module 1004 acquires the current position of the rice planting machine 1 by the positioning module 60 of the rice planting machine 1. Therefore, the point marking operation can be performed, and the critical point acquisition module 1001 acquires the current position of the rice planting machine 1 from the point marking module 1004, determines the current position as the critical point 100a, and then determines the current position. The boundary acquisition module 1002 acquires a boundary 100b by determining a line connecting two adjacent critical points 100a, and connects the region determination module 1003 and each boundary 100b to the work area. Get 100.

As can be understood by those skilled in the art, the above embodiments are merely examples, and the features of different examples can be combined with each other and easily conceived based on the contents disclosed in the present invention, but are clearly pointed out in the drawings. It is possible to obtain an embodiment that has not been used.

As those skilled in the art will understand, the embodiments of the present invention shown in the above description and drawings are merely examples and do not limit the present invention. The object of the present invention is fully and effectively realized. The functional and structural principles of the invention are shown and described in the examples, and embodiments of the invention can have any modifications or modifications without departing from the principles.

Claims (21)

It ’s a rice planting method for rice transplanters.
Step (a) to acquire the work area and
Step (b) of planning a rice planting route in the work area according to a route planning policy including determining the distance between two adjacent traveling routes according to the distance of the seedling line of the rice transplanter.
A method for planting rice in a rice transplanter, comprising the step (c) of controlling the rice transplanter to perform rice planting work along the rice planting route. The step (a) is
Steps to get an image of the farmland that is about to be planted,
Steps to determine a series of critical points in the image of the farmland to be planted,
Claim 1 further comprises a step in which a connecting line between two adjacent critical points forms one boundary of the work area and acquires the work area corresponding to the farmland to be planted. The rice planting method described in. The step (a) is
Steps to obtain a series of critical points for the farmland to be planted,
Claim 1 further comprises a step in which a connecting line between two adjacent critical points forms one boundary of the work area and acquires the work area corresponding to the farmland to be planted. The rice planting method described in. The rice planting method according to claim 3, wherein the critical point is a corner point of the farmland to be planted and / or a connection point between a cultivable area and an obstacle in the farmland to be planted. The step (c) is
The step (c.1) of adjusting the posture of the transport belt of the shift unit of the rice transplanter so that both ends of the transport belt correspond to the end of the conveyor belt and the planting portion of the seedling tray loading device, respectively.
The step (c.2) of synchronously driving the conveyor belt and the conveyor belt so as to rotate in the same direction and transferring the seedling tray placed on the conveyor belt to the planting portion by the conveyor belt.
Claim 1 further includes a step (c.3) of driving the planting portion to plant the seedling tray and performing rice planting work when the rice transplanter travels along the rice planting route. The rice planting method described in. The step (c) is
The step (c.1) of adjusting the posture of the transport belt of the shift unit of the rice transplanter so that both ends of the transport belt correspond to the end of the conveyor belt and the planting portion of the seedling tray loading device, respectively.
The step (c.1) of synchronously driving the conveyor belt and the conveyor belt so as to rotate in the same direction and transferring the seedling tray placed on the conveyor belt to the planting portion by the conveyor belt.
The fourth aspect of the present invention further comprises a step (c.3) of driving the planting portion to plant the seedling tray and performing the rice planting operation when the rice transplanter travels along the rice planting route. The described rice planting method. The step (c.2) is
A step (c.2.1) in which the drive motor of the shift unit drives the conveyor belt to rotate via the drive shaft, and
When the drive shaft moves and rotates the drive wheels, the step (c.2.2) of driving the direction adjusting wheels and rotating them in the opposite direction
When the direction adjusting wheel is driven to rotate the driven gear of the seedling tray loading device, the step of rotating the rotation shaft relative to the support plate of the seedling tray loading device (c.2. 3) and
A step (c.2.4) in which the rotating shaft rotates the conveyor belt relative to the support plate so that the conveyor belt and the conveyor belt rotate in the same direction while being driven. The rice planting method according to claim 6, further comprising. The rice planting method according to claim 6, wherein the seedling tray loading device on which the seedling tray is loaded is attached to the vehicle body of the rice transplanter before the step (c.1). The rice planting method according to claim 7, wherein the seedling tray loading device on which the seedling tray is loaded is attached to the vehicle body of the rice transplanter before the step (c.1). It ’s a rice planting system.
The acquisition unit to acquire the work area and
A routing unit that is communicably connected to the acquisition unit and includes a routing policy,
Includes a control unit that is communicably connected to the routing unit and controls the rice transplanter to perform rice planting work along the rice planting route.
The route planning policy plans a rice planting route in the work area, and the route planning policy determines the distance between two adjacent traveling routes according to the distance of the seedling row of one rice transplanter. A rice planting system featuring. The acquisition unit includes a critical point acquisition module, a boundary acquisition module, and a region determination module that are communicably connected to each other.
The critical point acquisition module acquires a series of critical points of the farmland to be planted, and the boundary acquisition module acquires a boundary formed by a connecting line between two adjacent critical points. The rice planting system according to claim 10, wherein the area determination module determines the work area based on the boundary acquired by the boundary acquisition module. The acquisition unit further includes a point marking module to which the critical point acquisition module is communicably connected, and when the point marking module marks a point, the critical point acquisition module is the positioning provided by the positioning module. The rice planting system according to claim 11, wherein the critical point of the farmland to be planted is acquired based on the information. It ’s a rice transplanter,
With the car body
The planting part provided on the vehicle body so as to be driveable,
At least one seedling tray loading device provided on the vehicle body,
A controller provided on the vehicle body and capable of controlling the vehicle body to run along the rice planting route.
Including a shift device provided on the vehicle body and controllably connected to the controller.
The shift device is a rice transplanter, characterized in that the seedling tray mounted on the seedling tray loading device is transferred to the planting section, and the seedling tray is allowed to be planted by the planting section. The rice transplanter according to claim 13, wherein the seedling tray loading device is detachably attached to the vehicle body. The rice transplanter according to claim 14, wherein the number of the seedling tray loading devices is six. The seedling tray loading device includes a support unit and at least one transport unit, the support unit includes two support plates, has a storage space, and the storage spaces are provided so as to face each other. Formed between the support plates
The transport unit includes two rotating shafts and a conveyor belt, both ends of the two rotating shafts are rotatably mounted on two of the support plates, and both ends of the conveyor belt are each of two of the rotating parts. The rice planting machine according to claim 14, wherein the conveyor belt is rotatably held in the storage space of the support unit, which is provided on a shaft. The rice transplanter according to claim 16, wherein the transfer unit includes a driven gear provided at the end of one of the two rotating shafts. The conveyor unit includes two driven gears, the driven gears are provided at the ends of the two rotary shafts of the conveyor unit, respectively, and the two driven gears are held on opposite sides of the conveyor belt. The rice transplanter according to claim 16. The shift device includes a telescopic arm and a shift unit.
The shift unit further includes a frame, a drive motor, a drive shaft, rollers, and a conveyor belt.
The frame is provided at the free end of the telescopic arm, the drive motor is provided at the frame, the drive shaft and the roller are rotatably mounted at the ends of the frame, respectively, and the drive shaft is 16. The rice transplanter according to claim 16, wherein both ends of the transport belt are driveably connected to the drive motor and are provided on the drive shaft and the rollers, respectively. The shift device includes a telescopic arm and a shift unit.
The shift unit further includes a frame, a drive motor, a drive shaft, a roller, a conveyor belt, a drive wheel, and a direction adjusting wheel, and the frame is provided at the free end of the telescopic arm. The drive motor is provided on the frame, and the drive shaft and the roller are rotatably mounted on the ends of the frame, respectively.
Further, the drive shaft is driveably connected to the drive motor, both ends of the conveyor belt are provided on the drive shaft and the roller, respectively, the drive wheel is provided on the drive shaft, and the direction adjusting wheel is the direction adjustment wheel. The rice transplanter according to claim 17, which is connected so as to mesh with the drive wheels. The shift device includes a telescopic arm and a shift unit.
The shift unit further includes a frame, a drive motor, a drive shaft, a roller, a conveyor belt, a drive wheel, and a direction adjusting wheel, and the frame is provided at the free end of the telescopic arm. The drive motor is provided on the frame, and the drive shaft and the roller are rotatably mounted on the ends of the frame, respectively.
Further, the drive shaft is driveably connected to the drive motor, both ends of the conveyor belt are provided on the drive shaft and the roller, respectively, the drive wheel is provided on the drive shaft, and the direction adjusting wheel is the direction adjustment wheel. The rice transplanter according to claim 18, which is connected so as to mesh with the drive wheels.

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