CN117084032B - A control system and method for a self-propelled rhizome Chinese medicinal material exposed film-covered transplanting machine - Google Patents
A control system and method for a self-propelled rhizome Chinese medicinal material exposed film-covered transplanting machine Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 title claims description 19
- 210000002489 tectorial membrane Anatomy 0.000 claims abstract description 14
- 239000003814 drug Substances 0.000 claims abstract description 12
- 239000002689 soil Substances 0.000 claims description 57
- 238000003971 tillage Methods 0.000 claims description 53
- 239000002245 particle Substances 0.000 claims description 30
- 239000007787 solid Substances 0.000 claims description 25
- 238000003973 irrigation Methods 0.000 claims description 24
- 230000002262 irrigation Effects 0.000 claims description 23
- 238000004364 calculation method Methods 0.000 claims description 17
- 239000003337 fertilizer Substances 0.000 claims description 16
- 238000012163 sequencing technique Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 230000004720 fertilization Effects 0.000 claims description 11
- 238000005520 cutting process Methods 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000010030 laminating Methods 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 241000411851 herbal medicine Species 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000007888 film coating Substances 0.000 description 2
- 238000009501 film coating Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 239000003621 irrigation water Substances 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/02—Combined machines with two or more soil-working tools of different kind
- A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protection of plants
- A01G13/30—Ground coverings
- A01G13/37—Arrangements for laying out or removing ground coverings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Water Supply & Treatment (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a control system and a control method of a self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which belong to the technical field of traditional Chinese medicine planting machinery.
Description
Technical Field
The invention relates to the technical field of traditional Chinese medicine planting machinery, in particular to a control system and a control method of a self-propelled rhizome traditional Chinese medicine outcrop film-covering transplanting machine.
Background
The rhizome traditional Chinese medicine refers to underground stem medicinal materials with small quantity of roots or fleshy scaly leaves as the medicinal part, the requirements of the rhizome traditional Chinese medicinal materials are improved year by year along with the rapid development of the traditional Chinese medicinal material industry, but the traditional Chinese medicinal material planting in China is mainly carried out in a traditional manual operation mode, and the labor cost of a traditional Chinese medicine source is greatly increased along with the continuous increase of the labor cost, so that the price of the medicinal materials is high, and the healthy and stable development of the traditional Chinese medicinal material industry is influenced; as is well known, the rhizome Chinese herbal medicine generally adopts a seedling transplanting mode, ditching, soil covering, film covering and other operation links are needed in the seedling transplanting process, the traditional transplanting operation mode needs to be completed step by multiple manpower, the operation efficiency is low, the operation quality is poor, and the labor cost is high, so that in actual production, a device for transplanting the rhizome Chinese herbal medicine is needed to be designed, the ditching, soil covering, film covering and other operations can be automatically completed, and based on the control system and method of the self-propelled rhizome Chinese herbal medicine outcrop film covering transplanter, the control system and the control method are designed to solve the problems.
Disclosure of Invention
The invention aims to provide a control system and a control method for a self-propelled rhizome traditional Chinese medicinal material outcrop tectorial membrane transplanter, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a control system of a self-propelled rhizome Chinese medicinal material outcrop tectorial membrane transplanter comprises: the equipment end comprises an electronic main control system, a visual sensor, a touch display screen and an electric actuating mechanism, wherein the electric actuating mechanism comprises a self-propelled chassis device, a rotary tillage soil loosening device, a solid particle fertilization device, a ditching device, an electric control transplanting device, an irrigation dust-proof device, a soil covering device and a film covering device, the self-propelled chassis device, the rotary tillage soil loosening device, the solid particle fertilization device, the ditching device, the electric control transplanting device, the irrigation dust-proof device, the soil covering device and the film covering device are in one-to-one correspondence signal connection with a self-propelled chassis device control module, a rotary tillage soil loosening device control module, a solid particle fertilization device module, a ditching device control module, an electric control transplanting device control module, an irrigation dust-proof device control module and a film covering device control module, the electronic total control system is in signal connection with a visual sensor, a touch display screen, a self-propelled chassis device control module, a rotary tillage soil loosening device control module, a solid particle fertilizing device module, a ditching device control module, an electric control transplanting device control module, an irrigation dustproof device control module, a soil covering device control module and a film covering device control module, the electronic total control system is used for receiving and sending environment monitoring data and commands for controlling the operation of the transplanting machine, the visual sensor adopts a double camera and is arranged at the two sides of the forefront end of the self-propelled chassis device, the visual sensor can output the moving speed of the transplanting machine in real time according to an algorithm, can obtain the real-time height parameter of the ground of the advancing end of the transplanting machine, can output the two-dimensional profile curve of the advancing central axis topography of the transplanting machine, the touch display screen is also provided with an emergency stop button, a start button and a quick switch button, the automatic control device comprises a self-propelled chassis device, a rotary tillage scarification device, a solid particle fertilization device, a ditching device, an electric control transplanting device, an irrigation dustproof device, a covering device and a film covering device, wherein a starting button is used for controlling starting and stopping of all electric actuating mechanisms and control systems of the transplanting machine, a touch display screen can be used for displaying and controlling operation parameters of the self-propelled chassis device, the electric control transplanting device, the irrigation dustproof device, the covering device and the film covering device in real time, the emergency stop button can be used for immediately powering off and stopping operation of control modules of all devices, and the rapid switching button can be used for rapidly switching and rotating the direction of a cab and the advancing direction of the self-propelled chassis device.
Preferably, the irrigation dustproof device comprises a first flow pump connected between the water tank and the spray head through a pipeline, the first flow pump is in signal connection with the electronic main control system through an eighth PLC, the water tank is installed on the self-propelled chassis device, and the spray head is installed through a pipeline connected with the water tank and faces the ground.
Preferably, the self-propelled chassis device control module comprises a diesel engine starting module and a diesel engine speed regulation control module which are in signal connection with a diesel engine for providing power for a transplanter, the diesel engine starting module and the diesel engine speed regulation control module are in signal connection with a first PLC, the first PLC is in signal connection with a transfer case control module, the transfer case control module is respectively in signal connection with a control lever module and a transfer case, the diesel engine speed regulation control module is in signal connection with a brake pedal module and an accelerator pedal module, the control lever module is in signal connection with a quick switching button, the diesel engine is also in driving connection with a generator, the generator charges a storage battery of the transplanter by using a charging module, and the storage battery is connected with the first PLC through a starting switch.
Preferably, the rotary tillage loosener control module comprises a second PLC (programmable logic controller) connected with an electronic general control system in a signal manner, wherein the second PLC is connected with a first electric push rod for controlling the height of the rotary tillage loosener, a rotary tillage roller motor of the rotary tillage loosener and a torque sensor connected with a rotary tillage blade rotating shaft in a signal manner, and the calculation expression of the telescopic length variable of the first electric push rod is as follows:
Wherein L x1 is the telescopic length of the first electric push rod and the variable control value; h 0 is a rotary tillage depth value, which is a user input value; l M1 is the initial length of the first electric push rod and is a fixed value; h 1 is the distance value from the hinge point on the large arm to the bottom end of the crawler belt, and is a fixed value; l is the length of the big arm and is a fixed value; l 1 is the distance between the hinge point on the large arm and the hinge point of the first electric push rod, and is a fixed value; l 2 is the length of the small arm and is a fixed value; l 3 is the length of the rotary tillage cutter and is a fixed value; alpha is the vertical angle of the forearm and is a fixed value; d is the diameter of the rotary tillage roller motor and is a fixed value.
Preferably, the solid particle fertilizing device module comprises a third PLC (programmable logic controller) in signal connection with the electronic overall control system, and the third PLC is in signal connection with a servo motor for controlling the fertilizer discharge amount of the solid particle fertilizing device and a fertilizing roller motor for extruding agglomerated large-particle fertilizer blocks.
Preferably, the ditching device control module comprises a fourth PLC (programmable logic controller) connected with an electronic general control system signal, the fourth PLC is connected with a second electric push rod for controlling the depth of the ditching device and a first vibrator for connecting a bionic drag reduction ditcher, and the calculation expression of the variable of the telescopic length of the second electric push rod is as follows:
Lx2＝H2
Wherein, L x2 is the expansion length of the second electric push rod and the variable control value; h 2 is a ditching depth value and is a user input value.
Preferably, the control module of the electric control transplanting device comprises a fifth PLC (programmable logic controller) in signal connection with an electronic general control system, the fifth PLC is in signal connection with a third electric push rod capable of adjusting the height of the electric control transplanting device and the ground, a seedling taking roller motor for taking seedlings, a conveying roller motor for conveying seedlings and a sequencing roller motor for sequencing the seedlings, the electric control transplanting device controls the height of the sequencing roller motor through a fourth electric push rod, a second vibrator for discharging the seedlings is mounted on a seedling box of the electric control transplanting device, the fourth electric push rod and the second vibrator are also in signal connection with the fifth PLC, and the calculation expression of the telescopic length variable of the third electric push rod is as follows:
Lx3＝H3
wherein, L x3 is the expansion length of the third electric push rod and the variable control value; h 3 is an electric control transplanting device and ground height value, which is a user input value;
the fourth electric putter flexible length variable calculation expression is:
Lx4＝H4
Wherein, L x4 is the telescopic length of the fourth electric push rod and the variable control value; h 4 is a height value of the sequencing drum motor, which is a user input value.
Preferably, the earthing device control module includes the sixth PLC with the general control system signal connection of electron, sixth PLC signal connection has the earthing device height-adjustable's fifth electric putter and controls the earthing roller motor of throwing the blade pivoted, the flexible length variable calculation expression of fifth electric putter is:
Lx5＝H5
wherein, L x5 is the telescoping length of the fifth electric push rod and the variable control value; h 5 is the height value of the earthing device, and is a user input value.
Preferably, the control module of the film laminating device comprises a seventh PLC (programmable logic controller) in signal connection with an electronic general control system, the seventh PLC is in signal connection with a sixth electric push rod capable of adjusting the height of a film cutting knife of the film laminating device and an electric control screw rod component for adjusting the horizontal position of the film laminating of the whole roll of film, and the calculation expression of the telescopic length variable of the sixth electric push rod is as follows:
Lx6＝H6
Wherein, L x6 is the telescoping length of the sixth electric push rod and the variable control value; h 6 is the height value of the film cutter and is a user input value.
A control method of a self-propelled rhizome traditional Chinese medicinal material outcrop tectorial membrane transplanter comprises the following steps:
S1: rotary tillage and ditching of soil are carried out by a rotary tillage soil loosening device and a ditching device with adjustable self-up and down heights, so that the depth of loose soil meets the planting requirement;
S2: the electric control transplanting device uniformly places medicinal material seedlings into the grooves at orderly intervals along with uniform movement of the self-propelled chassis device;
S3: the height of the earthing device is adjusted according to the requirement, so that an earthing area is leveled;
s4: and finally, coating by a coating device.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, soil rotary tillage and ditching are carried out through the rotary tillage soil loosening device and the ditching device with adjustable upper and lower heights, then the touch display screen is used for triggering the electric control seedling transplanting device to work, medicinal seedlings are orderly and evenly placed into the grooves at intervals when the self-propelled chassis device moves at a constant speed, and finally the soil covering device and the film covering device are used for covering soil for burying and covering films.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a schematic diagram of a control module of the self-propelled chassis apparatus of FIG. 1;
FIG. 3 is a schematic diagram of a control module of the rotary tillage scarifier of FIG. 1;
FIG. 4 is a schematic diagram of a control module of the solid particle fertilizing apparatus of FIG. 1;
FIG. 5 is a schematic diagram of a control module of the ditching apparatus of FIG. 1;
FIG. 6 is a schematic diagram of a control module of the electrically controlled seedling transplanting device in FIG. 1;
FIG. 7 is a schematic diagram of a control module of the soil covering device of FIG. 1;
FIG. 8 is a schematic diagram of a control module of the membrane covering device in FIG. 1;
Fig. 9 is a schematic diagram of a movement track according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
The device comprises a 1-electronic main control system, a 2-visual sensor, a 3-touch display screen, a 4-self-propelled chassis device control module, a 5-rotary tillage soil loosening device control module, a 6-solid particle fertilization device module, a 7-ditching device control module, an 8-electronic control transplanting device control module, a 9-irrigation dustproof device control module, a 10-earthing device control module and an 11-tectorial membrane device control module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: a control system of a self-propelled rhizome Chinese medicinal material outcrop tectorial membrane transplanter comprises: the equipment end and the rotating cab, the equipment end comprises an electronic general control system 1, a visual sensor 2, a touch display screen 3 and an electric actuating mechanism, the electric actuating mechanism comprises a self-propelled chassis device, a rotary tillage soil loosening device, solid particle fertilization, a ditching device, an electric control transplanting device, an irrigation dustproof device, a soil covering device and a film covering device, the self-propelled chassis device, the rotary tillage soil loosening device, the solid particle fertilization, the ditching device, the electric control transplanting device, the irrigation dustproof device, the soil covering device and the film covering device are in one-to-one correspondence signal connection with a self-propelled chassis device control module 4, a rotary tillage soil loosening device control module 5, a solid particle fertilization device module 6, a ditching device control module 7, an electric control transplanting device control module 8, an irrigation dustproof device control module 9, a soil covering device control module 10 and a film covering device control module 11, the electronic total control system 1 is in signal connection with a visual sensor 2, a touch display screen 3, a self-propelled chassis device control module 4, a rotary tillage and soil loosening device control module 5, a solid particle fertilizing device module 6, a ditching device control module 7, an electric control transplanting device control module 8, an irrigation dustproof device control module 9, a soil covering device control module 10 and a film covering device control module 11, wherein the electronic total control system 1 is used for receiving and sending environment monitoring data and commands for controlling the operation of a transplanting machine, the visual sensor 2 adopts a double camera and is arranged at the two sides of the forefront end of the self-propelled chassis device, the visual sensor 2 can output the moving speed of the transplanting machine in real time according to an algorithm, can obtain real-time height parameters of the ground of the advancing end of the transplanting machine, can output a two-dimensional profile curve of the advancing central axis topography of the transplanting machine, and an emergency stop button is further arranged on the touch display screen 3, the starting button controls the starting and stopping of all electric actuating mechanisms and control systems of the transplanting machine, the touch display screen 3 can display and control the operation parameters of the self-propelled chassis device, the rotary tillage soil loosening device, the solid particle fertilization device, the ditching device, the electric control transplanting device, the irrigation dustproof device, the earthing device and the film covering device in real time, the emergency stop button can be powered off immediately to stop the operation of all device control modules, and the quick switching button can be used for quickly switching the direction of a rotating cab and the advancing direction of the self-propelled chassis device.
Further, the irrigation dustproof device comprises a first flow pump connected between a water tank and a spray head through a pipeline, the first flow pump is in signal connection with the electronic total control system 1 through an eighth PLC, the water tank is arranged on the self-propelled chassis device, the spray head is arranged through a pipeline connected with the water tank and faces the ground, and the irrigation quantity is controlled in real time through the electronic total control system 1 and the eighth PLC according to the advancing speed of the transplanting machine and the irrigation water mu quantity instruction input on the touch display screen 3; the method comprises the following steps: the shower nozzle is installed on earthing device front end, not only can carry out watering irrigation to the seedling, but also can restrain the raise dust of earthing device earthing operation in-process simultaneously.
Further, self-propelled chassis device control module 4 includes diesel engine start module and diesel engine speed governing control module with the diesel engine signal connection of transplanter power, diesel engine start module and diesel engine speed governing control module signal connection have first PLC, first PLC signal connection transfer case control module, transfer case control module signal connection control lever module and transfer case respectively, diesel engine speed governing control module signal connection brake pedal module and accelerator pedal module, control lever module and quick switch button signal connection, the diesel engine still drives and connects the generator, the battery that the generator utilized the charging module to the transplanter charges, the battery passes through start switch and connects first PLC, wherein, control lever module includes control lever A and B, be used for advancing and backing respectively and turn to, the power shaft of the crawler belt wheel of both sides of transplanter is connected respectively to the both sides power output end of transfer case, can change the rotation direction of both sides power and the rotation motor direction of rotation driver's cabin through quick switch button, the generator is whole power supply.
Further, the rotary tillage and soil loosening device control module 5 comprises a second PLC which is in signal connection with the electronic general control system 1, the second PLC is in signal connection with a first electric push rod which controls the height of the rotary tillage and soil loosening device, a rotary tillage roller motor of the rotary tillage and soil loosening device and a torque sensor which is connected with a rotary tillage blade rotating shaft, rotary tillage and soil loosening thickness parameters are input into the touch display screen 3, and the rotary tillage and soil loosening device control module 5 automatically controls the rotating speed of the rotary tillage roller motor and the stroke of the first electric push rod according to the parameters such as the speed, the height and the torque which are output by the visual sensor 2 and the torque sensor; when the soil hardness is large and the torque parameter obtained by the torque sensor is too large, the torque of the rotary tillage blade of the rotary tillage scarifier is insufficient, the output power of the rotary tillage roller motor can be automatically increased, and the output rotating speed is improved; when the rotary tillage blade touches stones, hard objects and the like to be blocked, and the output power exceeds the load of a rotary tillage roller motor, the rotary tillage and soil loosening device control module 5 controls the rotary tillage roller motor to reduce the rotating speed, and the first electric push rod automatically lifts the rotary tillage and soil loosening device to realize overload protection; the first electric push rod can control the height of the rotary tillage and soil loosening device by imitating the terrain according to the two-dimensional contour curve of the advancing central axis terrain of the transplanter, so that the rotary tillage and soil loosening by imitating the land is realized, and the consistency of the soil loosening layer thickness is ensured; in use: the calculation expression of the telescopic length variable of the first electric push rod is as follows:
Wherein L x1 is the telescopic length of the first electric push rod and the variable control value; h 0 is a rotary tillage depth value, which is a user input value; l M1 is the initial length of the first electric push rod and is a fixed value; h 1 is the distance value from the hinge point on the large arm to the bottom end of the crawler belt, and is a fixed value; l is the length of the big arm and is a fixed value; l 1 is the distance between the hinge point on the large arm and the hinge point of the first electric push rod, and is a fixed value; l 2 is the length of the small arm and is a fixed value; l 3 is the length of the rotary tillage cutter and is a fixed value; alpha is the vertical angle of the forearm and is a fixed value; d is the diameter of the rotary tillage roller motor and is a fixed value.
Further, the solid particle fertilizing device module 6 comprises a third PLC (programmable logic controller) in signal connection with the electronic general control system 1, and the third PLC is in signal connection with a servo motor for controlling the fertilizer discharge amount of the solid particle fertilizing device and a fertilizing roller motor for extruding and agglomerating large particle fertilizer blocks, so that the servo motor can be controlled to work in real time according to the advancing speed of the transplanting machine and a fertilizing mu amount instruction input on the touch display screen 3, and further the fertilizer discharge amount is controlled; and the fertilizing roller motor can control 2 electric control spiral auger parts on the solid particle fertilizing device to ensure that the rotating directions of the parts are opposite, agglomerated large-particle fertilizer blocks can be extruded and crushed, the movement of the particle fertilizer at the fertilizer inlet position is ensured, and meanwhile, the blockage of a fertilizer mechanism is prevented.
Further, the ditching device control module 7 includes the fourth PLC with the general control system 1 signal connection of electron, fourth PLC signal connection has the second electric putter of control ditching device degree of depth and is used for connecting the first vibrator of bionical drag reduction furrow opener, according to the transplanter speed of advancing and the altitude parameter of visual sensor 2 output, combine the ditching degree of depth parameter instruction of input on the touch display screen 3, control second electric putter, first vibrator, the adjustable ditching device of second electric putter is high with ground, the control ditching degree of depth, the vibration frequency of the bionical drag reduction furrow opener of first vibrator steerable ditching device realizes drag reduction ditching, guarantee ditching quality, in use: the second electric putter flexible length variable calculation expression is:
Lx2＝H2
Wherein, L x2 is the expansion length of the second electric push rod and the variable control value; h 2 is a ditching depth value and is a user input value.
Further, the control module 8 of the electric control transplanting device comprises a fifth PLC (programmable logic controller) in signal connection with the electronic general control system 1, the fifth PLC is in signal connection with a third electric push rod capable of adjusting the height between the electric control transplanting device and the ground, a seedling taking roller motor for taking seedlings, a conveying roller motor for conveying seedlings and a sequencing roller motor for sequencing the seedlings, the electric control transplanting device controls the height of the sequencing roller motor through the fourth electric push rod, a second vibrator for discharging seedlings is arranged on a seedling box of the electric control transplanting device, the fourth electric push rod and the second vibrator are also in signal connection with the fifth PLC, and according to the advancing speed of the transplanting machine and a seedling transplanting plant spacing parameter instruction input on the touch display screen 3, the third electric push rod, the second vibrator, the seedling taking roller motor, the fourth electric push rod, the sequencing roller motor and the conveying roller motor are controlled, so that optimal seedling taking, seedling dividing, sequencing and transplanting operation quality are ensured, and in use: the calculation expression of the telescopic length variable of the third electric push rod is as follows:
Lx3＝H3
wherein, L x3 is the expansion length of the third electric push rod and the variable control value; h 3 is an electric control transplanting device and ground height value, which is a user input value;
The fourth electric putter flexible length variable calculation expression is:
Lx4＝H4
Wherein, L x4 is the telescopic length of the fourth electric push rod and the variable control value; h 4 is a height value of the sequencing drum motor, which is a user input value.
Further, the earthing device control module 10 comprises a sixth PLC (programmable logic controller) in signal connection with the electronic general control system 1, a fifth electric push rod capable of adjusting the height of the earthing device and an earthing roller motor for controlling the rotation of an earthing blade are in signal connection with the sixth PLC, and the earthing device is controlled to lift through the fifth electric push rod to control the earthing operation height; the earthing roller motor drives the rotary cutting soil of the earthing blade, throws the broken soil, and a part of soil carries out secondary earthing to the seedling that transplants in the planting ditch, and another part of soil throws in earthing welding housing of earthing device, carries out subsequent film earthing operation, in use: the calculation expression of the telescopic length variable of the fifth electric push rod is as follows:
Lx5＝H5
wherein, L x5 is the telescoping length of the fifth electric push rod and the variable control value; h 5 is the height value of the earthing device, and is a user input value.
Further, the film covering device control module 11 comprises a seventh PLC (programmable logic controller) in signal connection with the electronic general control system 1, the seventh PLC is in signal connection with a sixth electric push rod capable of adjusting the height of a film cutting knife of the film covering device and an electric control screw rod component capable of adjusting the film covering horizontal position of the whole roll of film, and the electric control screw rod component can be used for adjusting the bracket horizontal position of the film covering device, namely adjusting the film covering horizontal position of the whole roll of film, so that the distance between the film side of the film and the head of a seedling is ensured; the middle design of the film-binding roller component of the film-coating device is provided with a spike, under the weight effect of the film-binding roller, the film-binding roller can lay flat the film to finish film-coating operation, and meanwhile, the film is spiked to break the film, so that later rainwater can conveniently infiltrate into soil under the film, and the water content of the soil under the film is improved. The film cutting knife is arranged below the rearmost end of the support of the earthing device through a sixth electric push rod, the sixth electric push rod controls the film cutting knife to move up and down, films can be cut off, the inner side of the film cutting knife is hooked up by the inverted hook, one end of the cut films can be saved, the films can be manually cut, the rest films can be lifted, the follow-up continuous film laying operation is facilitated, and in use: the sixth electric putter flexible length variable calculation expression is:
Lx6＝H6
Wherein, L x6 is the telescoping length of the sixth electric push rod and the variable control value; h 6 is the height value of the film cutter and is a user input value.
A control method of a self-propelled rhizome Chinese medicinal material outcrop tectorial membrane transplanter comprises the following steps:
S1: respectively adding granular fertilizer and water into a fertilizer box and a water tank of a transplanter, placing whole bundles of rhizome seedlings in a tray of the transplanter, mounting a whole roll of film, and checking whether the vision sensor 2 is shielded; opening the start button starts the transplanter, and inputs on the touch display screen 3: the operation speed, the rotary tillage soil loosening thickness, the fertilizer application acre consumption, the ditching depth, the seedling transplanting row spacing and plant spacing, the seedling throwing height and the irrigation water acre consumption; preparing before transplanting; manually starting a self-propelled chassis device control module 4 through a touch display screen 3, and moving the transplanter to a transplanting field through a control rod module, a brake pedal module and an accelerator pedal module which are arranged in a rotating cab; manually starting a control module 8 of the electric control transplanting device through the touch display screen 3 to control the electric control transplanting device; the driver places the rhizome seedlings in the tray of the transplanter in a seedling box of the transplanter, and adjusts the amplitude of the rear end of the seedling box by adjusting nuts of the electric control transplanting device; when the first seedling falls to the ground, the seedling filling areas at the front ends of the rubber flexible conveying belts of the electric control transplanting devices are filled with seedlings, so that the electric control transplanting devices can be stopped manually;
Before starting transplanting operation, one end of the whole roll of film is required to be torn off manually, the film is fixed by soil, an automatic operation command is clicked through a touch display screen 3, an electronic main control system 1 starts each device to work, a transplanting machine automatically advances according to an input operation speed, an electric push rod automatically adjusts each device to a working position, and then a roller motor and a private clothes motor of each device are started to start working to perform rotary tillage soil loosening operation, fertilization, ditching, transplanting, irrigation, earthing and film covering operation;
In the transplanting process, seedling boxes and seedlings are required to be manually replenished, and only a driver is required to place rhizome seedlings in a tray of the transplanting machine into the seedling boxes;
S2: when the first row of transplanting is finished, a driver can step on a pedal of a brake pedal module to stop transplanting operation, at the moment, the electronic main control system 1 controls the transplanting machine to stop immediately, a roller motor and a private clothes motor of each device stop working, a seventh electric push rod controls a film cutting knife to operate film cutting operation, and after the film cutting operation is finished, the rest electric telescopic rods restore each device to the original position;
If sudden accidents happen in the middle, the emergency stop button can be pressed, and at the moment, all devices of the transplanting machine are immediately powered off to stop working; after the accident is relieved, the starting button is required to be restarted, the transplanter is restarted, and the electronic main control system 1 automatically controls each electric telescopic rod to restore each device to the original position;
S3: manual operation line feed or automatic line feed can be adopted; when the transplanting machine is in line change, the V-shaped line change mode (shown in reference to fig. 9) is preferentially executed, the line change operation is completed, and the surface indentation can be reduced. When the V-shaped change is manually operated, the driver pushes the operating rod A of the operating rod module forwards by the left hand, the transplanter moves forwards, meanwhile, the operating rod B of the operating rod module can be pushed leftwards or rightwards by the right hand, the transplanter can turn left or right, the transplanter is manually controlled to move from the first row transplanting end point A to the second row turning area B, and at the moment, the self-propelled chassis device is unchanged in orientation and coincides with the second row operation axis; and (3) pushing the operating lever B of the operating lever module forwards or backwards by a driver at the position B, rotating the cab to realize 180-degree rotation and turning, clicking a quick switching button by the driver, maintaining the original operating mode of the transplanter, pushing the operating lever A of the operating lever module forwards by the left hand, and still moving the transplanter forwards, wherein the transplanter moves from the position B to a transplanting point C from the second row, namely, the transplanting and line changing operation is completed. When the automatic V-shaped line is changed, a driver can click an automatic line changing command through the touch display screen 3, the transplanter automatically moves from the A position to the B position, the transplanter is stopped at the B position, the automatic rotation cab rotates 180 degrees, then moves from the B position to the C position, the transplanter is stopped at the C position to wait for transplanting, the function of a quick switching button is automatically executed, and the original operation mode of the transplanter is maintained;
s4: after the line changing operation is finished, the operations of S1 and S2 can be repeated in sequence until the second line is transplanted, and the operation of S3 is repeated until the whole transplanting task of the transplanting field is finished.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular 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 intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (8)
1. The utility model provides a self-propelled rhizome class chinese-medicinal material outcrop tectorial membrane transplanter control system, its characterized in that, control system includes: the equipment end and a rotating cab, the equipment end comprises an electronic total control system (1), a visual sensor (2), a touch display screen (3) and an electric actuating mechanism, the electric actuating mechanism comprises a self-propelled chassis device, a rotary tillage soil loosening device, a solid particle fertilizing device, a ditching device, an electric control transplanting device, an irrigation dustproof device, a soil covering device and a film covering device, the self-propelled chassis device, the rotary tillage soil loosening device, the solid particle fertilizing device, the ditching device, the electric control transplanting device, the irrigation dustproof device, the soil covering device and the film covering device are in one-to-one signal connection with a self-propelled chassis device control module (4), a rotary tillage soil loosening device control module (5), a solid particle fertilizing device control module (6), a ditching device control module (7), an electric control transplanting device control module (8), an irrigation dustproof device control module (9), a soil covering device control module (10) and a film covering device control module (11), and the electronic total control system (1) and the visual sensor (2), the touch display screen (3), the self-propelled chassis device control module (4), the fertilization device control module (5), the rotary tillage soil loosening device control module (6), the solid particle loosening device control module (8), the solid particle control module (8), the irrigation device control module (8), the solid particle control module (8) and the irrigation device control module (8) The automatic control system comprises a covering device control module (10) and a film covering device control module (11), wherein the electronic overall control system (1) is used for receiving and sending environment monitoring data and commands for controlling the operation of the transplanting machine, the visual sensor (2) adopts double cameras and is arranged at two sides of the forefront end of a self-propelled chassis device, the visual sensor (2) can output the moving speed of the transplanting machine in real time according to an algorithm, the real-time height parameter of the ground of the advancing end of the transplanting machine can be obtained, the two-dimensional profile curve of the advancing central axis of the transplanting machine can be output, the touch display screen (3) is also provided with an emergency stop button, a start button and a fast switching button, the start button is used for controlling the starting and stopping of all electric actuators and control systems of the transplanting machine, and the touch display screen (3) can display and control the operation parameters of the self-propelled chassis device, the ditching device, the electric control transplanting device, the irrigation device, the covering device and the film covering device in real time, the emergency stop button can immediately stop the operation of all devices, and the fast-speed-switching of the self-propelled chassis device can switch the directions of the advancing directions of the driving cab;
The control module (8) of the electric control transplanting device comprises a fifth PLC (programmable logic controller) which is in signal connection with the electronic general control system (1), wherein the fifth PLC is in signal connection with a third electric push rod which can adjust the height of the electric control transplanting device and the ground, a seedling taking roller motor used for taking seedlings, a conveying roller motor used for conveying seedlings and a sequencing roller motor used for sequencing the seedlings, the electric control transplanting device controls the height of the sequencing roller motor through a fourth electric push rod, a second vibrator used for discharging the seedlings is arranged on a seedling box of the electric control transplanting device, the fourth electric push rod and the second vibrator are also in signal connection with the fifth PLC, and the variable calculation expression of the telescopic length of the third electric push rod is as follows:
Lx3 = H3
Wherein, L x3 is the expansion length of the third electric push rod and the variable control value; h 3 is an electric control transplanting device and ground height value, which is a user input value;
the fourth electric putter flexible length variable calculation expression is:
Lx4 = H4
Wherein, L x4 is the telescopic length of the fourth electric push rod and the variable control value; h 4 is a height value of the sequencing drum motor, which is a user input value.
2. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the irrigation dustproof device comprises a first flow pump connected between a water tank and a spray head through a pipeline, the first flow pump is connected with an electronic main control system (1) through an eighth PLC (programmable logic controller) signal, the water tank is arranged on a self-propelled chassis device, and the spray head is arranged through the pipeline connected with the water tank and faces the ground.
3. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the self-propelled chassis device control module (4) comprises a diesel engine starting module and a diesel engine speed regulation control module which are in signal connection with a diesel engine of a transplanter to provide power, the diesel engine starting module and the diesel engine speed regulation control module are in signal connection with a first PLC, the first PLC is in signal connection with a transfer case control module, the transfer case control module is in signal connection with a control lever module and a transfer case respectively, the diesel engine speed regulation control module is in signal connection with a brake pedal module and an accelerator pedal module, the control lever module is in signal connection with a quick switching button, the diesel engine is also in driving connection with a generator, the generator charges a storage battery of the transplanter by using a charging module, and the storage battery is connected with the first PLC through a starting switch.
4. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the solid particle fertilizer application device control module (6) comprises a third PLC (programmable logic controller) in signal connection with the electronic overall control system (1), and the third PLC is in signal connection with a servo motor for controlling the fertilizer discharge amount of the solid particle fertilizer application device and a fertilizing roller motor for extruding agglomerated large-particle fertilizer blocks.
5. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the ditching device control module (7) comprises a fourth PLC (programmable logic controller) which is in signal connection with the electronic general control system (1), a second electric push rod which is in signal connection with the depth of the ditching device and a first vibrator which is used for connecting the bionic drag reduction ditching device are connected, and the calculation expression of the telescopic length variable of the second electric push rod is as follows:
Lx2 = H2
Wherein, L x2 is the expansion length of the second electric push rod and the variable control value; h 2 is the value of the ditching depth,
Values are entered for the user.
6. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the earthing device control module (10) comprises a sixth PLC (programmable logic controller) in signal connection with the electronic general control system (1), wherein the sixth PLC is in signal connection with a fifth electric push rod capable of adjusting the height of the earthing device and an earthing roller motor for controlling the rotation of an earthing blade, and the calculation expression of the telescopic length variable of the fifth electric push rod is as follows:
Lx5 = H5
wherein, L x5 is the telescoping length of the fifth electric push rod and the variable control value; h 5 is the height value of the earthing device, and is a user input value.
7. The control system of the self-propelled rhizome traditional Chinese medicine outcrop tectorial membrane transplanter, which is characterized in that: the control module (11) of the film laminating device comprises a seventh PLC which is in signal connection with the electronic general control system (1), the seventh PLC is in signal connection with a sixth electric push rod which can adjust the height of a film cutting knife of the film laminating device and an electric control screw rod component which can adjust the film laminating horizontal position of the whole roll of film,
The sixth electric putter flexible length variable calculation expression is:
Lx6 = H6
wherein, L x6 is the telescoping length of the sixth electric push rod and the variable control value; h 6 is the height value of the film cutter and is a user input value.
8. A control method of a self-propelled rhizome traditional Chinese medicinal material outcrop film-covering transplanter, which is characterized by being realized based on the film-covering transplanter control system as claimed in any one of claims 1-7, and comprising the following steps:
s1: rotary tillage and ditching of soil are carried out by a rotary tillage soil loosening device and a ditching device with adjustable self-up and down heights, so that the depth of loose soil meets the planting requirement;
S2: the electric control transplanting device uniformly places medicinal material seedlings into the grooves at orderly intervals along with uniform movement of the self-propelled chassis device;
S3: the height of the earthing device is adjusted according to the requirement, so that an earthing area is leveled;
s4: and finally, coating by a coating device.
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| CN110278729B (en) * | 2019-06-13 | 2024-02-13 | 农业农村部南京农业机械化研究所 | Full-automatic transplanting combined operation machine |
| CN111919558B (en) * | 2020-08-07 | 2022-08-30 | 山东省农业机械科学研究院 | Inner channel type seed taking and direction changing device and garlic film planting machine |
| CN116018918B (en) * | 2023-01-10 | 2024-06-04 | 农业农村部南京农业机械化研究所 | A rhizome Chinese medicinal material exposed head film-covered whole roll laying type transplanting machine and planting method |
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