CN-121621100-B - Self-adaptive linkage control submerged crop planting ship and accurate planting method

CN121621100BCN 121621100 BCN121621100 BCN 121621100BCN-121621100-B

Abstract

A submerged crop planting ship with self-adaptive linkage control and a precise planting method aim to solve the problems of poor scene adaptability, low planting precision and insufficient automation degree of the existing equipment. The planting ship comprises a ship body, a conveying member, a grabbing member, a planting mechanism and a self-adaptive linkage control system, wherein the control system comprises a main controller, a multi-sensor unit and an actuating mechanism driving module, and the members are controlled to cooperatively operate through closed-loop feedback. The planting mechanism adopts a pull rope linkage structure of the lifting adjusting piece and the planting claw piece to realize 'foundation pit excavation-crop release' integrated action, the grabbing component drives the double claw petals through a digital steering engine and completes nondestructive grabbing through combination of swing arm shaft rotation angle feedback, and the conveying component is controlled in a linkage manner through the speed of the conveying belt and the swing arm shaft rotation time sequence, so that accurate feeding is ensured. The invention realizes full-process automatic planting, the planting efficiency is more than 120 plants/hour, the planting depth error is less than or equal to +/-2 cm, and the method is suitable for complex water area scenes.

Inventors

ZHANG XIANGXIANG
SUN FEIFEI
ZHU LIANGCAI
WU YAO
ZHENG YANHAO
CHEN CHEN
LIN XUNPING
PENG DINGJIAN
ZHANG XINGYU
JIANG YONGHUI
YAN JUN

Assignees

中交上海航道勘察设计研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (16)

1. An adaptive coordinated control submerged crop planting vessel, comprising: the system comprises a ship body, a conveying member, a grabbing member, a planting mechanism and a self-adaptive linkage control system; the ship body is provided with a power system to drive the ship body to move in a planting area and provide energy supply; the conveying member is assembled on the ship body and used for conveying the submerged crops to the grabbing area; the grabbing component is assembled on the ship body and used for accurately grabbing submerged crops and transferring the submerged crops to the planting mechanism; The planting mechanism is assembled on the ship body, and integrated operation of foundation pit forming and submerged crop releasing is realized through the self-adaptive linkage control system; The planting mechanism comprises a planting barrel, a lifting adjusting piece, a planting claw piece and a planting piece; The lifting adjusting piece comprises a lifting rod, an installation seat and a pull rope, the lifting rod is assembled on the installation seat, the installation seat is assembled on the ship body, the planting barrel movably penetrates out of the installation seat and is connected with the lifting rod, one end of the pull rope is connected with a pull rope tensioning motor fixed on the installation seat, and the other end of the pull rope is connected with the planting claw piece; the planting claw piece comprises at least three fan-shaped curved surface structures, the three fan-shaped curved surface structures are respectively hinged and assembled at the bottom of the planting barrel, a cone-shaped body with a downward pointed cone is formed in a furled state, and integrated actions of excavation of a foundation pit and release of crops are realized through linkage of a pull rope and a lifting rod; The self-adaptive linkage control system comprises a main controller, a sensor unit electrically connected with the main controller, and an actuating mechanism driving module for receiving instructions of the main controller, wherein the main controller controls the actuating mechanism driving module to drive the conveying member, the grabbing member and the planting mechanism to cooperatively operate according to a self-adaptive linkage control algorithm through signals acquired by the sensor unit, so that self-adaptive linkage control is realized; The claw of the grabbing component, the bottom of the planting mechanism and the planting claw piece are provided with pressure sensors for detecting claw and planting claw clamping force, planting depth and silt pressure information, the opening and closing time of the planting claw piece is accurately matched with pushing of submerged crops, and the planting mechanism has self-adaptive capacity for planting depth and silt, so that planting depth errors are less than or equal to + -2 cm, and a planting boat can adapt to complex water area scenes; The self-adaptation capability is realized through a self-adaptation planting algorithm, namely, the opening angle of the planting claw is automatically adjusted through a fuzzy control algorithm according to the sludge pressure value fed back by the pressure sensor, a regular foundation pit with the depth of 15-20cm is formed, and the self-adaptation capability is suitable for bottom mud environments with different hardness; through the integrated design of the conveying component, the grabbing component and the planting mechanism, full-automatic operation from conveying and grabbing to planting of submerged crops is realized.
2. The adaptive linkage control submerged crop planting ship according to claim 1, wherein the mounting base comprises a frame body and a wheel body, the wheel body is assembled in the frame body, the planting barrel penetrates out of the frame body and is in rolling fit with the wheel body, the wheel body is made of polyurethane, and at least three of the wheel bodies are uniformly distributed on the inner frame of the frame body in an array mode.
3. The adaptive linkage control submerged crop planter according to claim 1, wherein the pull rope tensioning motor is integrated with a tension sensor, the pull rope tensioning motor is used for adjusting the tension of the pull rope, and the tension sensor detects the tension of the pull rope in real time and feeds back a detection signal to the main controller.
4. The self-adaptive linkage control submerged crop planting ship according to claim 1, wherein the planting piece comprises a planting frame, a driving gear, a limiting gear and a rack, the planting frame is assembled on a ship body, the rack is arranged in a penetrating hole of the planting frame in a penetrating mode, the driving gear is meshed with the rack, lifting of the rack is achieved through motor driving, the limiting gear is meshed with the other side of the rack to limit the position of the rack, and the rack is arranged opposite to a planting barrel and used for pushing submerged crops in the planting barrel to finish releasing.
5. The self-adaptive linkage controlled submerged crop planting ship according to claim 1, wherein the grabbing component adopts a double independent rotating shaft type connecting rod linkage grabbing structure, and comprises a swing arm driving piece, a swing arm shaft, a digital steering engine, a control connecting rod, a limit connecting rod, a claw handle and a claw; The two claw petals are respectively and fixedly connected with the corresponding claw petal handles to form two independent claw petal-handle assemblies, and each assembly is provided with an independent rotating shaft at the joint close to the claw petal and the claw petal handles, and the rotating shaft is rotationally connected with one end of the limiting connecting rod; The other end of the limiting connecting rod is rotationally connected with a limiting rotating shaft at the tail end of the swing arm shaft, the tail end of the claw valve handle is hinged with the control connecting rod, the other end of the control connecting rod is linked with an output shaft of the digital steering engine, two groups of limiting connecting rods, the claw valve handle, the control connecting rod and the swing arm shaft respectively form two groups of parallelogram connecting rod mechanisms, the two claw valves are respectively correspondingly controlled, and the digital steering engine synchronously realizes the opening and closing and telescoping actions of the claw valves by controlling the relative rotation of the two control connecting rods.
6. The self-adaptive linkage control submerged crop planting ship according to claim 5, wherein the swing arm driving piece is a swing arm motor and is in transmission connection with a swing arm shaft, and is used for driving the swing arm shaft to rotate, so that the accurate positioning of the angles of the grabbing members is realized, and the angle error is less than or equal to +/-1 degrees.
7. The adaptive linkage control submerged crop planting ship according to claim 1, wherein the conveying member comprises a conveying belt with a limit flange and a conveying basket, the conveying belt is made of rubber, the running speed can be precisely controlled by the main controller according to the planting flow, the conveying basket is used for placing submerged crops to be planted, and the submerged crops are conveyed to the grabbing area through the conveying belt.
8. The self-adaptive linkage control submerged crop planting ship according to claim 7, wherein the conveyor belt is driven by a conveyor motor, the conveyor motor is a direct current servo motor, the running speed of the conveyor belt can be accurately regulated within the range of 0.02-0.15m/s, the speed regulation precision is +/-0.01 m/s, and real-time feedback of the rotating speed and the position is realized through an encoder.
9. The self-adaptive linkage control submerged crop planting ship according to claim 1, wherein the power system comprises a power battery and a driving motor electrically connected with the power battery, the driving motor drives open wheels on two sides of the ship body to realize actions such as forward, backward, left turn or right turn, and the like, and the submerged crop planting ship can be controlled by a remote control device; the ship body adopts a single ship or a catamaran design, a through hole for the operation of the planting mechanism is arranged in the middle of the ship body, and the planting mechanism vertically stretches into water through the through hole to perform the planting operation.
10. The adaptive linkage controlled submerged crop planter of claim 1, wherein the sensor unit is electrically connected to the master controller and comprises an infrared sensor, a position sensor and a pressure sensor; the infrared sensor is arranged above the conveyor belt of the conveying member and is used for detecting the position of submerged crops on the conveyor belt; the position sensor is arranged on the swing arm shaft of the grabbing component and the lifting rod of the planting mechanism and is used for detecting the rotation angle of the swing arm shaft and the stroke of the lifting rod; The pressure sensor is arranged on a planting claw piece of the planting mechanism and a claw of the grabbing component and is used for detecting planting depth, silt pressure information and claw clamping force.
11. The adaptive coordinated control submerged crop planting vessel of claim 10, wherein the actuator drive module comprises: the swing arm motor is in transmission connection with the swing arm shaft of the grabbing component and is used for driving the swing arm shaft to rotate so as to realize the accurate positioning of the angles of the grabbing component; The digital steering engine is linked with the control connecting rod of the grabbing component and used for driving the opening and closing and telescopic actions of the claw flaps to realize nondestructive grabbing of submerged crops; The conveying motor is in transmission connection with the conveying belt of the conveying member and is used for driving the conveying belt to rotate and convey, so that accurate conveying of submerged crops is realized; the hydraulic proportional valve is in driving connection with the lifting rod of the planting mechanism and is used for controlling the lifting movement of the planting barrel so as to realize accurate control of planting depth; The planting piece motor is in driving connection with a rack of the planting piece of the planting mechanism and is used for driving the rack to lift and push submerged crops and realizing accurate release of the submerged crops.
12. A precise planting method based on the planting ship as claimed in claim 11, comprising the following steps: (1) The submerged crop conveying and positioning, namely conveying the submerged crop to a grabbing area by a conveying belt of a conveying member, feeding back to a main controller after detecting that the submerged crop is in place by an infrared sensor, and controlling the conveying belt to pause or slow down; (2) The main controller drives the digital steering engine to adjust the claw to be closed according to the swing arm shaft rotation angle fed back by the position sensor, and the clamping force is monitored in real time through the pressure sensor, so that nondestructive grabbing is ensured; (3) The swing arm shaft rotates to the position right above the planting barrel to release submerged crops, the main controller controls the lifting adjusting piece to drive the planting barrel to descend, the planting claw piece is controlled to open in a linkage mode through the tension degree of the pull rope, and the opening angle is adjusted adaptively according to the self-adaptive planting algorithm along with the hardness of the silt, so that a submerged crop planting foundation pit is formed; (4) And after the planting claw reaches the preset depth, the planting claw descends to push the submerged crop, and the submerged crop is released into the foundation pit by matching with the complete opening of the planting claw, and the lifting adjusting piece drives the planting barrel to ascend, so that the planting claw is folded and reset.
13. The precise planting method of the planting boat according to claim 12, wherein in the step (1), the infrared sensor is an infrared correlation sensor, a metal locating plate is arranged at the edge of the conveyor belt, a hall sensor is arranged at the side of the grabbing area, when the metal locating plate passes through the hall sensor, a pulse signal is output, and the main controller achieves precise locating of the conveyor basket by counting the number of pulses.
14. The precise planting method of the planting boat according to claim 12, wherein the self-adaptive planting algorithm in the step (3) is characterized in that the opening angle of the planting claw is automatically adjusted through a fuzzy control algorithm according to the sludge pressure value fed back by the pressure sensor, so that a regular foundation pit with the depth of 15-20cm is formed, and the self-adaptive planting method is suitable for bottom mud environments with different hardness.
15. The precise planting method of the planting boat according to claim 12, wherein the precise planting method of the planting boat is realized through software control logic, the software control logic adopts a PID control algorithm to realize action time sequence coordination of a conveying component, a grabbing component and a planting mechanism, and precise connection of actions of the mechanisms is ensured.
16. The precise planting method of the planting boat according to claim 12, further comprising the steps of planting the planting boat for planning a planting path and autonomous navigation, and realizing automatic cruising planting of the planting boat according to a preset path, comprising the following steps: (1) Importing a preset planting path through a handheld terminal or a cloud server, or generating multiple planting modes such as a parallel path, a diamond path, a checkerboard path and the like aiming at one key of a regular water area; (2) Autonomous navigation planting, namely calculating the running direction and distance of the ship body by the main controller according to the coordinate of the next planting point of the path planning module, driving the ship body to run along the planned path by the power system, feeding back a position signal by the positioning unit after the ship body reaches the next planting point, controlling the accurate stop of the ship body by the main controller, and starting planting circulation; (3) And (3) automatically returning, namely triggering inward bound programs by the main controller when the infrared sensor continuously detects no submerged crop for 3 times or the planting count reaches a preset value, and automatically running the ship body along a return path.

Description

Self-adaptive linkage control submerged crop planting ship and accurate planting method Technical Field The invention relates to the technical field of seaweed cultivation, in particular to a self-adaptive linkage control submerged crop planting ship and a precise planting method. Background At present, for planting of some aquatic crops, such as seaweed, either artificial planting or large-scale mechanical equipment is adopted, but large-scale planting equipment is not suitable for planting of aquatic crops in some complex scenes, such as planting scenes with more silt, if artificial planting, the labor cost is increased, the overall planting efficiency is also not high, and at present, the following technical bottlenecks exist in planting of aquatic crops: 1. The large-scale equipment has limited scene that the crawler-type transplanting machine and other equipment are only suitable for open shallow water areas, and are easy to sink or be blocked in areas with deep silt, narrow water areas or dense aquatic vegetation; 2. the precision of simple throwing equipment is insufficient, the throwing type or net-carried type planting relies on gravity or water flow diffusion, the seedling floating rate is high, the planting depth cannot be controlled, and the root system of the seedling cannot contact with the substrate sludge; 3. the automation degree is low, some prior art appears in recent years, and improvement is attempted to be carried out on the technical problems, for example, chinese patent No. 220755462U discloses a planting ship for planting submerged plants, a waterproof motor drives a telescopic rod to insert silt, a baffle is controlled to be opened and reset after seed throwing, and accurate planting of the seeds into the silt is realized. However, the planting ship is only suitable for submerged plant seeds, is not suitable for cultivation of aquatic plant seedlings, needs manual auxiliary feeding or positioning, does not form full-process automation of seedling supply-grabbing-planting, and still needs a large amount of manual cooperation. The prior art does not break through the synergic difficult problems of 'complex scene adaptability' and 'accurate and efficient planting', the terrain adaptability is sacrificed by large equipment pursuing efficiency, the planting precision and the survival rate cannot be ensured by simple equipment focusing on scenes, and the two generally lack of active control capability on 'foundation pit forming-accurate release', so that the root system of the aquatic crop cannot be stably rooted, and the later growth is influenced. Therefore, the development of the aquatic crop planting equipment with automation, scene suitability and planting accuracy becomes an urgent need for breaking through the development bottleneck of the aquatic plant cultivation technology industry. Disclosure of Invention In order to solve the technical problems, the first aim of the invention is to provide a self-adaptive linkage control submerged crop planting ship, and the second aim is to provide a precise planting method of the planting ship. In order to achieve the first object, the present invention provides a technical solution of a submerged crop planting ship with adaptive linkage control, including: the system comprises a ship body, a conveying member, a grabbing member, a planting mechanism and a self-adaptive linkage control system; the ship body is provided with a power system to drive the ship body to move in a planting area and provide energy supply; the conveying member is assembled on the ship body and used for conveying the submerged crops to the grabbing area; the grabbing component is assembled on the ship body and used for accurately grabbing submerged crops and transferring the submerged crops to the planting mechanism; The planting mechanism is assembled on the ship body, and integrated operation of foundation pit forming and submerged crop releasing is realized through the self-adaptive linkage control system; The self-adaptive linkage control system comprises a main controller, a sensor unit electrically connected with the main controller, and an actuating mechanism driving module for receiving instructions of the main controller, wherein the main controller controls the actuating mechanism driving module to drive the conveying member, the grabbing member and the planting mechanism to cooperatively operate according to a self-adaptive linkage control algorithm through signals acquired by the sensor unit, so that self-adaptive linkage control is realized. Further, the self-adaptive linkage refers to a dynamic cooperative control mode that state data such as positions, pressures, tensions and the like of a conveying member, a grabbing member and a planting mechanism are collected in real time through a sensor unit, and a main controller dynamically adjusts parameters such as action time sequences, running speeds, clamping forces and the like of all execution mechanisms