CN117084032A - A control system and method for a self-propelled film-covered transplanting machine for rhizome Chinese medicinal materials - Google Patents

Abstract

The invention discloses a control system and method for a self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine in the technical field of Chinese herbal medicine planting machinery. It includes an equipment end and a rotating cab. The equipment end includes an electronic master control system, a visual sensor, The touch screen and electric actuator also include the corresponding connected transplanter self-propelled chassis device, rotary tillage soil loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation dust-proof device, soil covering device and mulching device. Self-propelled chassis device control module of electric actuators such as membrane device, rotary tillage and soil loosening device control module, solid particle fertilization device module, ditching device control module, electronically controlled transplanting device control module, irrigation dust-proof device control module, The soil covering device control module and the film covering device control module have a high degree of automation, improve work efficiency, eliminate the need for multiple people to work at the same time, save labor costs, and are creative.

Description

A self-propelled control system and method for a film-covered outcrop transplanting machine for rhizome Chinese medicinal materials

Technical field

The invention relates to the technical field of Chinese medicinal material planting machinery, and specifically relates to a control system and method for a self-propelled rhizome Chinese medicinal material outcrop and film-covered transplanting machine.

Background technique

Rhizome Chinese medicines refer to medicinal materials whose medicinal parts are rhizomes or underground stems with a small amount of roots or fleshy scales. With the rapid development of the Chinese medicinal materials industry, the demand for rhizome Chinese medicinal materials is increasing year by year. However, the cultivation of Chinese medicinal materials in China is still based on traditional methods. Mainly based on work methods, as labor costs continue to rise, labor costs at the source of traditional Chinese medicine will increase sharply, and the price of medicinal materials will remain high, which has affected the healthy and stable development of the traditional Chinese medicine industry. As we all know, rhizome Chinese medicinal materials generally adopt the seedling and transplanting model. During the seedling transplanting process, operations such as trenching, soil covering, and film covering are required. The traditional transplanting operation method requires multiple workers to complete it step by step. Not only is the operation efficiency low, the operation quality is poor, but the labor cost is high, so the actual production There is an urgent need to design an equipment for transplanting rhizome Chinese medicinal materials so that it can automatically complete trenching, soil covering, film covering, etc. Based on this, the present invention has designed a self-propelled rhizome Chinese medicinal material outcrop mulch. Film transplanting machine control system and method to solve the above problems.

Contents of the invention

The purpose of the present invention is to provide a control system and method for a self-propelled film-covered transplanting machine for rhizome Chinese medicinal materials, so as to solve the problems raised in the above background technology.

In order to achieve the above object, the present invention provides the following technical solution: a self-propelled control system for a film-covered rhizome Chinese medicinal material outcrop transplanting machine, including: an equipment end and a rotating cab. The equipment end includes an electronic master control system, a visual Sensors, touch display screens and electric actuators, which include self-propelled chassis devices, rotary tillage soil loosening devices, solid particle fertilization, ditching devices, electronically controlled transplanting devices, irrigation dust-proof devices, soil covering devices and Film coating device, the self-propelled chassis device, rotary tillage loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation dust-proof device, soil covering device and film coating device have one-to-one corresponding signal connections with automatic Walking chassis device control module, rotary tillage and loosening device control module, solid particle fertilization device module, ditching device control module, electronically controlled transplanting device control module, irrigation dust-proof device control module, soil covering device control module and film covering device Control module, the electronic total control system and visual sensor, touch display screen, self-propelled chassis device control module, rotary tillage soil loosening device control module, solid particle fertilization device module, ditching device control module, and electronically controlled transplanting device The control module, the irrigation dust-proof device control module, the soil covering device control module and the film covering device control module are signally connected. The electronic master control system is used to receive and send environmental monitoring data and commands to control the operation of the transplanter. The visual sensor Using dual cameras, installed on both sides of the front end of the self-propelled chassis device, the visual sensor can output the moving speed of the transplanter in real time based on the algorithm, and can obtain the real-time height parameters of the ground at the forward end of the transplanter, and can output the transplantation speed. The two-dimensional contour curve of the topography of the forward central axis of the transplanter. The touch screen is also equipped with an emergency stop button, a start button and a quick switching button. The start button controls the start and start of all electric actuators and control systems of the transplanter. Stop, the touch screen can display and control the status of the self-propelled chassis device, rotary tillage and loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation and dust-proof device, soil covering device and film covering device in real time. According to the operation parameters, the emergency stop button can immediately cut off the power and stop the operation of all device control modules. The quick switch button can quickly switch the direction of the rotating cab and the forward direction of the self-propelled chassis device.

Preferably, the irrigation dust-proof device includes a first flow pump connected between the water tank and the nozzle through a pipeline, the first flow pump is signally connected to the electronic master control system through the eighth PLC, and the water tank is installed on the self-propelled On the chassis device, the nozzle is installed through a pipe connected to the water tank and faces the ground.

Preferably, the self-propelled chassis device control module includes a diesel engine starting module and a diesel engine speed control module that are signal-connected to the diesel engine powered by the transplanting machine. The diesel engine starting module and the diesel engine speed control module are signal-connected to a first PLC, the first PLC signal is connected to the transfer case control module, the transfer case control module is connected to the joystick module and the transfer case with signals respectively, and the diesel engine speed control module is connected to the brake pedal module and the accelerator pedal module with signals, The joystick module is signal-connected to the quick switch button, and the diesel engine is also connected to the generator. The engine uses the charging module to charge the battery of the transplanter. The battery is connected to the first PLC through the start switch.

Preferably, the control module of the rotary tillage and loosening device includes a second PLC signal connected to the electronic master control system, and the second PLC signal is connected to the first electric push rod and the first electric push rod for controlling the height of the rotary tilling and loosening device. The rotary tillage drum motor of the soil device and the torque sensor connected to the rotary tillage blade shaft, the calculation expression of the telescopic length variable of the first electric push rod is:

_{Among them , L} The distance from the upper hinge point to the bottom of the crawler track is a fixed value; L is the length of the boom, which is a fixed value; L ₁ is the distance from the upper hinge point of the boom to the hinge point of the first electric push rod, which is a fixed value; L ₂ is the small The length of the arm is a fixed value; L ₃ is the length of the rotary blade, which is a fixed value; α is the vertical angle of the small arm, which is a fixed value; D is the diameter of the rotary drum motor, which is a fixed value.

Preferably, the solid particle fertilizer device module includes a third PLC signal connected with the electronic master control system. The third PLC signal is connected with a servo motor that controls the fertilizer discharge amount of the solid particle fertilizer device and extrusion agglomeration and large particle fertilizer. Block fertilizer drum motor.

Preferably, the trenching device control module includes a fourth PLC signal connected to the electronic master control system. The fourth PLC signal is connected to a second electric push rod for controlling the depth of the trenching device and a bionic drag reduction switch. The first vibrator of the groover, the calculation expression of the telescopic length variable of the second electric push rod is:

L _x2 =H ₂

Among them, L _x2 is the telescopic length of the second electric push rod, a variable control value; H ₂ is the trenching depth value, which is a user input value.

Preferably, the electronically controlled transplanting device control module includes a fifth PLC signal connected to the electronic master control system, and the fifth PLC signal is connected to a third electric push rod that can adjust the height of the electronically controlled transplanting device and the ground. A seedling drum motor for taking seedlings, a transport drum motor for transporting seedlings, and a sorting drum motor for sorting seedlings. The electronically controlled transplanting device controls the height of the sorting drum motor through a fourth electric push rod. , the seedling box of the electronically controlled transplanting device is equipped with a second vibrator for discharging seedlings, the fourth electric push rod and the second vibrator are also connected to the fifth PLC signal, and the third electric push rod The calculation expression of the push rod telescopic length variable is:

_Lx3 = _H3

Among them _{, L}

The calculation expression of the telescopic length variable of the fourth electric push rod is:

_Lx4 ＝ _H4

Among them, L _x4 is the telescopic length of the fourth electric push rod, variable control value; _H4 is the height value of the sorting drum motor, which is the user input value.

Preferably, the soil covering device control module includes a sixth PLC signal connected to the electronic master control system. The sixth PLC signal is connected to a fifth electric push rod that can adjust the height of the soil covering device and a soil covering roller that controls the rotation of the soil throwing blade. motor, the calculation expression of the telescopic length variable of the fifth electric push rod is:

L _x5 =H ₅

Among them, L _x5 is the telescopic length of the fifth electric push rod, a variable control value; H ₅ is the height value of the soil covering device, which is a user input value.

Preferably, the laminating device control module includes a seventh PLC signal connected to the electronic master control system, and the seventh PLC signal is connected to a sixth electric push rod and an adjustment adjuster that can adjust the height of the film cutting knife of the laminating device. The electronically controlled screw component of the film-coated horizontal position of the roll film, the calculation expression of the telescopic length variable of the sixth electric push rod is:

L _x6 =H ₆

_Among them, _L

A control method for a self-propelled film-covered transplanting machine for outcrops of rhizome Chinese medicinal materials. The film-covered transplanter is a film-covered transplanter control system according to any one of claims 1 to 9. The control method includes the following: step:

S1: Rotary tillage and trenching of the soil are carried out through the autonomous height-adjustable rotary tillage and furrowing device, so that the depth of the loosened soil meets the planting requirements;

S2: The electronically controlled transplanting device moves at a constant speed with the self-propelled chassis device to place the medicinal seedlings into the trench in an orderly manner and evenly spaced;

S3: Adjust the height of the soil covering device as needed to make the soil covering area flat;

S4: Finally, the lamination is carried out through the lamination device.

Compared with the existing technology, the beneficial effects of the present invention are: the present invention performs rotary tillage and ditching of soil through a rotary tillage and soil-digging device and a ditching device with adjustable upper and lower heights, and then uses a touch screen to trigger electronically controlled transplanting of seedlings When the device works, when the self-propelled chassis device moves at a constant speed, the medicinal seedlings are placed into the trench in an orderly manner and evenly spaced. Finally, the soil covering device and the film covering device are used to cover the soil and bury it with film. This device has a high degree of automation and improves work efficiency. There is no need for multiple people to work at the same time, saving labor costs and being creative.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings needed to describe the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the system of the present invention;

Figure 2 is a schematic diagram of the control module of the self-propelled chassis device in Figure 1;

Figure 3 is a schematic diagram of the control module of the rotary tillage and loosening device in Figure 1;

Figure 4 is a schematic diagram of the control module of the solid particle fertilization device in Figure 1;

Figure 5 is a schematic diagram of the control module of the trenching device in Figure 1;

Figure 6 is a schematic diagram of the control module of the electronically controlled seedling transplanting device in Figure 1;

Figure 7 is a schematic diagram of the control module of the soil covering device in Figure 1;

Figure 8 is a schematic diagram of the control module of the laminating device in Figure 1;

Figure 9 is a schematic diagram of a moving trajectory of the present invention.

In the drawings, the parts represented by each number are listed as follows:

1-Electronic master control system, 2-Visual sensor, 3-Touch display screen, 4-Self-propelled chassis device control module, 5-Rotary tillage and soil loosening device control module, 6-Solid particle fertilizer device module, 7-Trenching Device control module, 8-electrically controlled transplanting device control module, 9-irrigation and dust-proof device control module, 10-soil covering device control module, 11-film covering device control module.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside" and so on is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation. Specific orientations of construction and operation are therefore not to be construed as limitations of the invention.

Please refer to Figures 1-8. The present invention provides a technical solution: a control system for a self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine, including: an equipment end and a rotating cab. The equipment end includes an electronic master control system 1 , visual sensor 2, touch screen 3 and electric actuator. The electric actuator includes a self-propelled chassis device, a rotary tillage and soil loosening device, a solid particle fertilization device, a ditching device, an electronically controlled transplanting device, an irrigation and dust-proof device, and a soil covering device. device and film covering device, self-propelled chassis device, rotary tillage and soil loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation dust-proof device, soil covering device and film covering device, one-to-one corresponding signal connection with automatic Walking chassis device control module 4, rotary tillage and loosening device control module 5, solid particle fertilization device module 6, ditching device control module 7, electronically controlled transplanting device control module 8, irrigation dust-proof device control module 9, soil covering device Control module 10 and film covering device control module 11, electronic master control system 1 and visual sensor 2, touch screen 3, self-propelled chassis device control module 4, rotary tillage soil loosening device control module 5, solid particle fertilization device module 6 , ditching device control module 7, electronically controlled transplanting device control module 8, irrigation dust-proof device control module 9, soil covering device control module 10 and film covering device control module 11 signal connection, the electronic master control system 1 is used to receive and send Environmental monitoring data and commands to control the work of the transplanter. The visual sensor 2 uses dual cameras and is installed on both sides of the front end of the self-propelled chassis device. The visual sensor 2 can output the moving speed of the transplanter in real time based on the algorithm, and can obtain The real-time height parameters of the ground at the forward end of the transplanter can output the two-dimensional contour curve of the terrain along the forward central axis of the transplanter. The touch screen 3 is also equipped with an emergency stop button, a start button and a quick switching button. The start button controls transplanting. The touch screen 3 can start and stop all electric actuators and control systems of the machine. The touch screen 3 can display and control the self-propelled chassis device, rotary tillage and soil loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation and prevention device in real time. The emergency stop button can immediately cut off the power and stop the operation of all device control modules, and the quick switch button can quickly switch the direction of the rotating cab and the forward direction of the self-propelled chassis device.

Further, the irrigation dust-proof device includes a first flow pump connected between the water tank and the nozzle through a pipeline. The first flow pump is signally connected to the electronic master control system 1 through the eighth PLC. The water tank is installed on the self-propelled chassis device. The sprinkler head is installed through the pipe connected to the water tank and faces the ground. According to the forward speed of the transplanter and the irrigation water consumption instruction input on the touch screen 3, the first flow pump is controlled in real time through the electronic master control system 1 and the eighth PLC. The amount; specifically: the sprinkler head is installed on the front end of the soil covering device, which can not only sprinkle water on the seedlings, but also suppress dust during the soil covering operation of the soil covering device.

Further, the self-propelled chassis device control module 4 includes a diesel engine starting module and a diesel engine speed control module that are signal-connected to the diesel engine powered by the transplanting machine. The diesel engine starting module and the diesel engine speed control module are signal-connected to the first PLC. A PLC signal is connected to the transfer case control module. The transfer case control module is connected to the joystick module and the transfer case respectively. The diesel engine speed control module signal is connected to the brake pedal module and the accelerator pedal module. The joystick module is connected to the quick switch button signal. The diesel engine also drives and connects the generator. The engine uses the charging module to charge the battery of the transplanter. The battery is connected to the first PLC through the start switch. The joystick module includes joysticks A and B, which are used for forward, backward and steering respectively. The power output ends on both sides of the moving box are respectively connected to the power shafts of the track wheels on both sides of the transplanter. The rotation direction of the power on both sides and the working direction of the rotation motor of the rotating cab can be changed through the quick switch button. The generator provides power for the whole.

Further, the control module 5 of the rotary tillage and loosening device includes a second PLC signal connected to the electronic master control system 1. The second PLC signal is connected to the first electric push rod and the rotary tilling and loosening device for controlling the height of the rotary tilling and loosening device. The rotary tillage drum motor and the torque sensor connected to the rotary tillage blade shaft, input the rotary tillage soil thickness parameters on the touch screen 3, and according to the parameters such as speed, height and torque output by the visual sensor 2 and the torque sensor, the rotary tillage loosening is The soil device control module 5 automatically controls the rotary tillage drum motor speed and the first electric push rod stroke; when the soil hardness is large and the torque parameter obtained by the torque sensor is too large, the rotary tillage blade of the rotary tillage loosening device does not have enough torque to break the soil. It will automatically increase the output power of the rotary tillage drum motor and increase the output speed; when the rotary tillage blade touches a stone, hard object, etc. and gets stuck, and the output power exceeds the load of the rotary tillage drum motor, the rotary tillage loosening device control module 5 controls the rotary tillage blade. The tillage drum motor reduces the speed, and the first electric push rod automatically lifts the rotary tillage and loosening device to achieve overload protection; the first electric push rod can realize terrain-imitating control of rotary tillage according to the two-dimensional contour curve of the terrain along the forward central axis of the transplanter. The height of the soil loosening device realizes ground-like rotary plowing and loosening of soil to ensure the consistency of the thickness of the loose soil layer; in use: the calculation expression of the telescopic length variable of the first electric push rod is:

_{Among them , L} The distance from the upper hinge point to the bottom of the crawler track is a fixed value; L is the length of the boom, which is a fixed value; L ₁ is the distance from the upper hinge point of the boom to the hinge point of the first electric push rod, which is a fixed value; L ₂ is the small The length of the arm is a fixed value; L ₃ is the length of the rotary blade, which is a fixed value; α is the vertical angle of the small arm, which is a fixed value; D is the diameter of the rotary drum motor, which is a fixed value.

Further, the solid particle fertilizer device module 6 includes a third PLC signal connected to the electronic master control system 1. The third PLC signal is connected to a servo motor that controls the fertilizer discharge amount of the solid particle fertilizer device and a servo motor for extruding agglomeration and large-grain fertilizer blocks. The fertilizing roller motor can control the servo motor in real time according to the forward speed of the transplanter and the fertilizer amount instructions input on the touch screen 3, thereby controlling the amount of fertilizer discharge; and the fertilizing roller motor can control 2 on the solid particle fertilizing device The electronically controlled spiral auger component rotates in the opposite direction, which can squeeze and break the agglomerated and large-grained fertilizer blocks, ensuring the movement of the granular fertilizer at the fertilizer inlet and preventing blockage of the fertilizer discharge mechanism.

Further, the trenching device control module 7 includes a fourth PLC signal connected to the electronic master control system 1. The fourth PLC signal is connected to a second electric push rod that controls the depth of the trenching device and is used to connect the bionic drag reduction trencher. The first vibrator controls the second electric push rod, the first vibrator, and the second electric push rod according to the forward speed and height parameters of the transplanter output by the visual sensor 2 and the trench depth parameter command input on the touch screen 3. The push rod can adjust the height of the trenching device and the ground to control the trenching depth. The first vibrator can control the vibration frequency of the bionic drag-reducing trenching device of the trenching device to achieve drag-reducing trenching and ensure trenching quality. Medium: The calculation expression of the telescopic length variable of the second electric push rod is:

L _x2 =H ₂

Among them, L _x2 is the telescopic length of the second electric push rod, a variable control value; H ₂ is the trenching depth value, which is a user input value.

Further, the electronically controlled transplanting device control module 8 includes a fifth PLC signal connected to the electronic master control system 1. The fifth PLC signal is connected to a third electric push rod that can adjust the height of the electronically controlled transplanting device and the ground. The seedling drum motor for taking seedlings, the transport drum motor for transporting seedlings and the sorting drum motor for sorting seedlings. The electronically controlled transplanting device controls the height of the sorting drum motor through the fourth electric push rod. A second vibrator for discharging seedlings is installed on the seedling box of the planting device. The fourth electric push rod and the second vibrator are also connected to the fifth PLC signal. According to the forward speed of the transplanter and the input on the touch screen 3 The seedling transplanting spacing parameter command controls the third electric push rod, the second vibrator, the seedling drum motor, the fourth electric push rod, the sorting drum motor, and the conveying drum motor to ensure the best seedling extraction, seedling separation, Sorting and conveying transplanting operation quality, in use: The calculation expression of the third electric push rod telescopic length variable is:

_Lx3 = _H3

Among them _{, L}

The calculation expression of the telescopic length variable of the fourth electric push rod is:

_Lx4 ＝ _H4

Among them, L _x4 is the telescopic length of the fourth electric push rod, variable control value; _H4 is the height value of the sorting drum motor, which is the user input value.

Further, the soil covering device control module 10 includes a sixth PLC signal connected to the electronic master control system 1. The sixth PLC signal is connected to a fifth electric push rod that can adjust the height of the soil covering device and a soil covering drum motor that controls the rotation of the soil throwing blade. The fifth electric push rod is used to control the lifting and lowering of the soil covering device to control the height of the soil covering operation; the soil covering drum motor drives the soil throwing blade to rotate and cut the soil, throwing up the broken soil, and a part of the soil is used to cover the transplanted seedlings in the planting trench with soil again. The other part of the soil is thrown into the soil covering welding cover of the soil covering device for subsequent film soil covering operations. During use: the calculation expression of the telescopic length variable of the fifth electric push rod is:

L _x5 =H ₅

Among them, L _x5 is the telescopic length of the fifth electric push rod, a variable control value; H ₅ is the height value of the soil covering device, which is a user input value.

Further, the laminating device control module 11 includes a seventh PLC signal connected to the electronic master control system 1. The seventh PLC signal is connected to a sixth electric push rod that can adjust the height of the film cutter of the laminating device and to adjust the entire roll of film. The electronically controlled screw component of the film coating horizontal position can adjust the horizontal position of the bracket of the film coating device through the electronic control screw component, that is, adjust the film coating horizontal position of the entire roll of film to ensure the distance between the film side of the film and the seedling head. ; The film-tie roller part of the lamination device is designed with spikes in the middle. Under the weight of the film-tie roller, the film-tie roller can flatten the film and complete the lamination operation. At the same time, the film is punctured to break the film. , to facilitate the subsequent penetration of rainwater into the soil under the film and increase the moisture content of the soil under the film. The film cutting knife is installed under the rearmost end of the bracket of the soil covering device through the sixth electric push rod. The sixth electric push rod controls the film cutting knife to move up and down to cut off the film. The underhook on the inside of the film cutting knife hooks up one end of the cut film. , which can save the need for manual cutting of the film and lifting the remaining film, so as to facilitate subsequent film laying operations. In use: the calculation expression of the sixth electric push rod telescopic length variable is:

L _x6 =H ₆

_Among them, _L

A control method for a self-propelled film-covered outcrop transplanting machine for rhizome Chinese medicinal materials. The control method includes the following steps:

S1: Add granular fertilizer and water to the fertilizer tank and water tank of the transplanter respectively, place the entire bundle of rhizome seedlings in the tray of the transplanter, install the entire roll of film, check whether the visual sensor 2 is blocked; turn on the start button Start the transplanter and input on the touch screen 3: operating speed, thickness of rotary tillage soil, amount of fertilizer per acre, trenching depth, seedling transplanting row spacing and plant spacing, seedling height, and irrigation water amount per acre; do the transplanting well. Preparation work before planting; manually start the self-propelled chassis device control module 4 through the touch screen 3, and move the transplanter to the transplanting field through the joystick module, brake pedal module and accelerator pedal module installed in the rotating cab; The electronically controlled transplanting device control module 8 is manually started by touching the display screen 3 to control the electronically controlled transplanting device; the driver places the rhizome seedlings in the transplanter tray into the seedling box of the transplanter, and adjusts the electric The nut of the electronically controlled transplanting device adjusts the amplitude of the rear end of the seedling box; when the first seedling is about to land, the seedling filling area at the front end of the rubber flexible conveyor belt of the electronically controlled transplanting device is full of seedlings, and the power can be manually stopped. Control transplanting device operations;

Before starting the transplanting operation, one end of the entire roll of film needs to be manually pulled off, and the film is fixed with soil. Click the automatic operation command through the touch screen 3. The electronic master control system 1 starts the work of each device, and the transplanter automatically operates according to the input operation speed. Moving forward, the electric push rod automatically adjusts each device to the working position, and then starts the drum motor and private motor of each device to start working, performing rotary tillage and soil loosening operations, fertilization, trenching, transplanting, irrigation, soil covering, and film covering operations;

During the transplanting process, it is necessary to manually replenish the seedlings in the seedling box. The driver only needs to place the rhizome seedlings in the transplanter tray into the seedling box;

S2: When the first row of transplanting is completed, the driver can step on the pedal of the brake pedal module to stop the transplanting operation. At this time, the electronic master control system 1 controls the transplanter to stop immediately, and the drum motors and private motors of each device stop working. , the seventh electric push rod controls the film cutting knife to operate the film cutting operation. After the film cutting operation is completed, the remaining electric telescopic rods restore each device to its original position;

If you encounter a sudden accident midway, you can press the emergency stop button. At this time, all devices of the transplanter will immediately cut off power and stop working; after the accident is resolved, you need to turn on the start button again, the transplanter will restart, and the electronic master control system will automatically Control each electric telescopic rod to restore each device to its original position;

S3: Manual line wrapping or automatic line wrapping can be used; when the transplanter changes lines, the "V" type line wrapping method is given priority (refer to Figure 9) to complete the line wrapping operation and reduce surface indentations. When manually operating the "V" type line feed, the driver's left hand pushes the joystick A of the joystick module forward, and the transplanter moves forward. At the same time, the right hand can be used to push the joystick B of the joystick module left or right, and the transplanter can Turn left or right, and manually control the transplanter to move from the transplanting end point A of the first row to the U-turn area B of the second row. At this time, the orientation of the self-propelled chassis device remains unchanged and is aligned with the operation axis of the second row. Coincidence; at B, the driver pushes the joystick B of the joystick module forward or backward, and turns the cab to achieve a 180° rotation. The driver clicks the quick switch button, and the transplanter maintains the original operating mode. Push the left hand forward to control Using lever A of the lever module, the transplanter can still move forward from point B to point C where the second row starts transplanting, that is, the transplanting and row-changing operation is completed. During automatic "V" type wrap, the driver can click the automatic wrap command through the touch screen 3. The transplanter will automatically move from A to B, stop at B, automatically rotate the cab 180°, and then move from B to B. Move to C, park at C and wait for transplanting, and automatically execute the function of the quick switch button to maintain the original operating mode of the transplanter;

S4: After the row-changing operation is completed, the above-mentioned S1 and S2 operations can be repeated in sequence until the second row of transplanting is completed, and then the S3 operation is repeated until the entire transplanting task of the transplanted field is completed.

In the description of this specification, reference to the terms "one embodiment," "example," "specific example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one aspect of the invention. in an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are only intended to help illustrate the invention. The preferred embodiments do not describe all details, nor do they limit the invention to the specific implementations described. Obviously, many modifications and variations are possible in light of the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can better understand and utilize the present invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (10)

1. A self-propelled control system for a film-covered outcrop transplanting machine for rhizome Chinese medicinal materials, characterized in that the control system includes: an equipment end and a rotating cab, and the equipment end includes an electronic master control system (1), Vision sensor (2), touch screen (3) and electric actuator. The electric actuator includes a self-propelled chassis device, a rotary tillage and soil loosening device, a solid particle fertilization device, a ditching device, an electronically controlled transplanting device, and an irrigation device. Dust-proof device, soil-covering device and film-covering device, the self-propelled chassis device, rotary tillage and loosening device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation dust-proof device, soil-covering device and film-covering device One-to-one corresponding signal connections include the self-propelled chassis device control module (4), rotary tillage and loosening device control module (5), solid particle fertilization device module (6), trenching device control module (7), and electronically controlled transplanting Device control module (8), irrigation dust-proof device control module (9), soil covering device control module (10) and film covering device control module (11), the electronic master control system (1) and the visual sensor (2), Touch screen (3), self-propelled chassis device control module (4), rotary tillage and soil loosening device control module (5), solid particle fertilizer device module (6), trenching device control module (7), electronically controlled shifting The planting device control module (8), the irrigation dust-proof device control module (9), the soil covering device control module (10) and the film covering device control module (11) are signally connected. The electronic master control system (1) is used to receive and Send environmental monitoring data and commands to control the operation of the transplanter. The visual sensor (2) adopts dual cameras and is installed on both sides of the front end of the self-propelled chassis device. The visual sensor (2) can output in real time based on the algorithm. The moving speed of the transplanter can be obtained, and the real-time height parameters of the ground at the forward end of the transplanter can be obtained, and the two-dimensional contour curve of the terrain of the forward central axis of the transplanter can be output. The touch screen (3) is also provided with an emergency stop button. , start button and quick switching button. The start button controls the start and stop of all electric actuators and control systems of the transplanter. The touch display screen (3) can display and control the self-propelled chassis device, rotary tillage system in real time. The operating parameters of the soil device, solid particle fertilization, ditching device, electronically controlled transplanting device, irrigation dust-proof device, soil covering device and film covering device. The emergency stop button can immediately cut off the power and stop the operation of all device control modules. The quick switching button can quickly switch the direction of the rotating cab and the forward direction of the self-propelled chassis device. 2. A self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine control system according to claim 1, characterized in that: the irrigation dust-proof device includes a first pipe connected between the water tank and the nozzle through a pipeline. Flow pump, the first flow pump is signal-connected to the electronic master control system (1) through the eighth PLC, the water tank is installed on the self-propelled chassis device, and the nozzle is installed through a pipe connected to the water tank and faces the ground. 3. A control system for a self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine according to claim 1, characterized in that: the self-propelled chassis device control module (4) includes a module that provides power with the transplanting machine. The diesel engine starting module and the diesel engine speed control module are connected to the diesel engine signal. The diesel engine starting module and the diesel engine speed control module are connected to the first PLC signal. The first PLC signal is connected to the transfer case control module. The transfer case control module The box control module is connected to the joystick module and the transfer case with signals respectively. The diesel engine speed control module is connected with the brake pedal module and the accelerator pedal module with signals. The joystick module is connected with the quick switch button signal. The diesel engine is also connected to generate electricity. The engine uses the charging module to charge the battery of the transplanting machine, and the battery is connected to the first PLC through the start switch. 4. A self-propelled film-covered rhizome Chinese herbal medicine outcrop transplanting machine control system according to claim 1, characterized in that: the rotary tillage loosening device control module (5) includes an electronic master control system ( 1) A second PLC with signal connection. The second PLC signal is connected with the first electric push rod that controls the height of the rotary tillage and loosening device, the rotary tillage drum motor of the rotary tillage and loosening device, and the torque connected to the rotating shaft of the rotary tillage blade. Sensor, the calculation expression of the telescopic length variable of the first electric push rod is: _{Among them , L} The distance from the upper hinge point to the bottom of the crawler track is a fixed value; L is the length of the boom, which is a fixed value; L ₁ is the distance from the upper hinge point of the boom to the hinge point of the first electric push rod, which is a fixed value; L ₂ is the small The length of the arm is a fixed value; L ₃ is the length of the rotary blade, which is a fixed value; α is the vertical angle of the small arm, which is a fixed value; D is the diameter of the rotary drum motor, which is a fixed value. 5. A self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine control system according to claim 1, characterized in that: the solid particle fertilization device module (6) includes an electronic master control system (1) The third PLC signal is connected to the servo motor that controls the fertilizer discharge amount of the solid particle fertilizer device and the fertilizer drum motor that squeezes the agglomerated and large-grain fertilizer blocks. 6. A self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine control system according to claim 1, characterized in that: the ditching device control module (7) includes an electronic master control system (1) The fourth PLC is signal connected to a second electric push rod that controls the depth of the trenching device and a first vibrator used to connect the bionic drag reduction trenching device. The second electric push rod is telescopic. The length variable calculation expression is: L _x2 =H ₂ Among them, L _x2 is the telescopic length of the second electric push rod, a variable control value; H ₂ is the trenching depth value, which is a user input value. 7. A self-propelled film-covered rhizome Chinese medicinal material outcropping transplanting machine control system according to claim 1, characterized in that: the electronically controlled transplanting device control module (8) includes an electronic master control system ( 1) A fifth PLC with signal connection. The fifth PLC signal is connected with a third electric push rod that can adjust the height of the electronically controlled transplanting device and the ground, a seedling drum motor for taking seedlings, and a seedling drum motor for transporting seedlings. The conveying drum motor and the sorting drum motor used to sort the seedlings. The electronically controlled transplanting device controls the height of the sorting drum motor through the fourth electric push rod. The seedling box of the electronically controlled transplanting device is equipped with a The second vibrator discharges the seedlings. The fourth electric push rod and the second vibrator are also connected to the fifth PLC signal. The calculation expression of the telescopic length variable of the third electric push rod is: _Lx3 = _H3 Among them _{, L} The calculation expression of the telescopic length variable of the fourth electric push rod is: _Lx4 ＝ _H4 Among them, L _x4 is the telescopic length of the fourth electric push rod, variable control value; _H4 is the height value of the sorting drum motor, which is the user input value. 8. A self-propelled film-covered rhizome Chinese herbal medicine outcrop transplanting machine control system according to claim 1, characterized in that: the soil covering device control module (10) includes signals from the electronic master control system (1) The sixth PLC is connected. The sixth PLC signal is connected to a fifth electric push rod that can adjust the height of the soil covering device and a soil covering drum motor that controls the rotation of the soil throwing blade. The calculation expression of the telescopic length variable of the fifth electric push rod is: : L _x5 =H ₅ Among them, L _x5 is the telescopic length of the fifth electric push rod, a variable control value; H ₅ is the height value of the soil covering device, which is a user input value. 9. A control system for a self-propelled film-covered rhizome Chinese medicinal material outcrop transplanting machine according to claim 1, characterized in that: the film-covering device control module (11) includes an electronic master control system (1) The seventh PLC signal is connected to a sixth electric push rod that can adjust the height of the film cutting knife of the film laminating device and an electronically controlled screw component that adjusts the film horizontal position of the entire roll of film, The calculation expression of the sixth electric push rod telescopic length variable is: L _x6 =H _{6 Among} them, _L 10. A control method for a self-propelled film-coated transplanting machine for outcrops of rhizome Chinese medicinal materials, characterized in that the film-coated transplanting machine is a film-coated transplanting machine control system according to any one of claims 1 to 9, The control method includes the following steps: S1: Rotary tillage and trenching of the soil are carried out through the autonomous height-adjustable rotary tillage and furrowing device, so that the depth of the loosened soil meets the planting requirements; S2: The electronically controlled transplanting device moves at a constant speed with the self-propelled chassis device to place the medicinal seedlings into the trench in an orderly manner and evenly spaced; S3: Adjust the height of the soil covering device as needed to make the soil covering area flat; S4: Finally, the lamination is carried out through the lamination device.