CN103676952A - Automatic guiding device for farm machinery - Google Patents
Automatic guiding device for farm machinery Download PDFInfo
- Publication number
- CN103676952A CN103676952A CN201310670998.1A CN201310670998A CN103676952A CN 103676952 A CN103676952 A CN 103676952A CN 201310670998 A CN201310670998 A CN 201310670998A CN 103676952 A CN103676952 A CN 103676952A
- Authority
- CN
- China
- Prior art keywords
- agricultural machinery
- sleeve
- motor
- rotor
- wheel assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to technical field of farm machinery and discloses an automatic guiding device for the farm machinery. The automatic guiding device comprises an electric steering wheel assembly, a vehicle-mounted control computer, a GPS receiver and an automatic motor steering controller. The electric steering wheel assembly is fixedly connected to a steering column of the farm machinery and is connected with the automatic motor steering controller. The automatic motor steering controller is connected with the vehicle-mounted control computer and the GPS receiver in sequence. The electric steering wheel assembly comprises a steering wheel, a driving motor, a sleeve and an optical-electricity encoder. The two ends of a rotor of the driving motor extend out of a stator. The sleeve is sleeved with the rotor. The lower end of the steering wheel and the upper end of the sleeve are fixedly connected with the upper end of the rotor through fastening parts. The optical-electricity encoder is fixedly connected with the lower end of the rotor through fastening parts. The automatic guiding device for the farm machinery is simple in structure, easy and convenient to install, low in energy consumption, friendly to environment, low in cost and high in guiding accuracy.
Description
Technical field
The present invention relates to agricultural machinery technological field, particularly relate to a kind of agricultural machinery autopilot.
Background technology
Existing agricultural machinery particularly tractor automatic navigation device is mainly partly comprised of vehicle-mounted control computing machine, high-precision fixed level sensor, steering controller, steering actuator etc., tractor automatic navigation device is mainly used in auxiliary agricultural machinery working, improve operation quality, effectively alleviate human pilot labour intensity simultaneously.As shown in Figure 1: the electric liquid automatic steering controller 1 of the many employings of existing tractor guider, proportioning valve group 2 coordinates steering angle sensor 3 to realize the control of tractor steering, proportioning valve group 2 connects steering pump 4 and hydraulic steering gear 5 by oil pipe, electricity liquid automatic steering controller 1 connects steering angle sensor 3 and proportioning valve group 2 by cable, be controlled by vehicle-mounted control computing machine 6, by gps receiver 7, pass the signal of coming, the action of regulation and control steering cylinder 8, thereby realize tractor self-steering, in figure, black solid line connecting line represents fluid pressure line, dotted line representation signal data cable.
In conjunction with Fig. 1, tractor automatic navigation system is installed on existing tractor, need to change the hydraulic steering system of existing tractor, between steering pump 4 and hydraulic steering gear 5, increase proportioning valve group 2, because related fluid pressure line is complicated, add tractor types of brand numerous, some tractor self installing space is limited, this has just caused existing tractor to increase while joining tractor guider, and the installation of the transformation of hydraulic circuit and proportioning valve group 2 is very difficult.
Secondly, in the retrofit process of hydraulic circuit, easily cause crude oil to leak, pollute and waste not environmental protection.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is how a kind of simple in structure, simple installation, low energy environmental protection, cost is low, navigation accuracy is high agricultural machinery autopilot are provided.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of agricultural machinery autopilot, it comprises electric steering wheel assembly, motor automatic steering controller, vehicle-mounted control computing machine and gps receiver, described gps receiver is connected with vehicle-mounted control computing machine, for the locating information receiving is in real time passed to described vehicle-mounted control computing machine, described vehicle-mounted control computing machine is connected with motor automatic steering controller, described vehicle-mounted control computing machine contrasts the positional information of current agricultural machinery according to the locating information receiving, to described motor automatic steering controller, send regulation and control instruction, electric steering wheel assembly is fixedly connected on agricultural machinery steering column, and be connected with motor automatic steering controller, described motor automatic steering controller sends action command according to the regulation and control instruction receiving, drive motor drives agricultural machinery steering column to complete auto-steering.
Wherein, described electric steering wheel assembly comprises bearing circle, drive motor, sleeve and photoelectric encoder, the rotor of described drive motor is socketed in stator, and extend outside described stator at the two ends of described rotor, described jacket casing is connected in described rotor, the lower end of described bearing circle is fixedly connected with the upper surface of described rotor by securing member with the upper end of sleeve, described photoelectric encoder is fixedly connected with the lower surface of described rotor by securing member, for gathering rotational angle and the running parameter of rotor.
Wherein, described drive motor is direct current torque motor.
Wherein, described electric steering wheel assembly also comprises splined sleeve, the upper end of described splined sleeve is fixedly connected with the lower end of described sleeve by web member, described agricultural machinery steering column comprises splined shaft and sleeve pipe, described splined shaft and sleeve pipe rotatably link together, and described splined shaft and described splined sleeve are connected.
Wherein, the upper end of described sleeve is provided with flange, the lower surface of described flange and the laminating of the upper surface of described rotor, the lower end of described sleeve is provided with for the through hole through described splined shaft, and the upper end of described splined shaft is connected with the bottom of described sleeve by nut, for preventing sleeve axial float.
Wherein, described electric steering wheel assembly also comprises electric motor fixation mechanism, and described direct current torque motor is fixedly connected on the sleeve pipe of described agricultural machinery steering column by described electric motor fixation mechanism.
Wherein, described electric motor fixation mechanism is fixed support axle, and the upper end of described fixed support axle is connected with described stator by web member, and the lower end of described fixed support axle is connected with described sleeve pipe by fixed connecting piece.
Wherein, described direct current torque motor is provided with direct current torque motor connecting line, and described photoelectric encoder is provided with photoelectric encoder connecting line, and described direct current torque motor connecting line is connected with described motor automatic steering controller respectively with photoelectric encoder connecting line.
Wherein, described web member or securing member are bolt, and described fixed connecting piece is U-bolt.
(3) beneficial effect
Compared with prior art, the present invention has the following advantages:
A kind of agricultural machinery autopilot provided by the invention, adopt electric steering wheel assembly to be fixedly connected on agricultural machinery steering column, utilizing described electric steering wheel assembly to drive agricultural machinery steering column to realize turns to, have advantages of that simple installation, low energy environmental protection, cost are low, and this electric steering wheel assembly is installed without damaging original Farm machinery parts, be convenient to transplant between different agricultural machinery, improved the service efficiency of automated navigation system, reduced use cost;
Described electric steering wheel assembly comprises direct current torque motor, and the rotor of described direct current torque motor is rigidly connected by the splined shaft of sleeve and splined sleeve and agricultural machinery steering column, for directly driving steering column to turn to, is swift in motion, accurately;
Described photoelectric encoder is connected with the rotor of direct current torque motor, and the duty for Real-time Feedback motor, has improved navigation accuracy;
Electric steering wheel assembly of the present invention is applicable to be arranged on the various agricultural machinery with bearing circle, highly versatile.
Accompanying drawing explanation
Fig. 1 is the farm machinery navigation schematic diagram of prior art;
Fig. 2 is the catenation principle figure of a kind of agricultural machinery autopilot of the present invention;
Fig. 3 is the structural representation of the electric steering wheel assembly in a kind of agricultural machinery autopilot of the present invention.
In figure: 1: automatic steering controller; 2: proportioning valve group; 3: steering angle sensor; 4: steering pump; 5: hydraulic steering gear; 6: vehicle-mounted control computing machine; 7:GPS receiver; 8: steering cylinder; 9: electric steering wheel assembly; 10: motor automatic steering controller; 11: agricultural machinery steering column; 111: splined shaft; 112: sleeve pipe; 12: splined sleeve; 13: photoelectric encoder; 14: bearing circle; 15: direct current torque motor; 151: rotor; 152: stator; 16: sleeve; 17: direct current torque motor connecting line; 18: photoelectric encoder connecting line; 19: electric motor fixation mechanism.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following instance is used for illustrating the present invention, but is not used for limiting the scope of the invention.
As shown in Figure 2, for a kind of agricultural machinery autopilot provided by the invention, it comprises electric steering wheel assembly 9, vehicle-mounted control computing machine 6, gps receiver 7 and motor automatic steering controller 10, described electric steering wheel assembly 9 is fixedly connected on agricultural machinery steering column 11, and be connected by data line with motor automatic steering controller 10, be used for driving agricultural machinery steering column 11 to realize auto-steering, described motor automatic steering controller 10 is connected by data line with vehicle-mounted control computing machine 6, described vehicle-mounted control computing machine 6 is connected by data line with gps receiver 7, in order to receive accurate locating information, described gps receiver 7 is preferably fixed on the ceiling of agricultural machinery, described vehicle-mounted control computing machine 6 is arranged on the place of driver's handled easily in pilothouse, described motor automatic steering controller 10 is fixed on the clear position of agricultural machinery pilothouse by web members such as bolts, described electric steering wheel assembly 9 replaces the bearing circle of original agricultural machinery, be fixedly connected on agricultural machinery steering column 11.
As shown in Figure 3, wherein, described electric steering wheel assembly 9 comprises bearing circle 14, drive motor, sleeve 16 and photoelectric encoder 13, the rotor 151 of described drive motor is socketed in stator 152, and extend outside described stator 152 at the two ends of described rotor 151, described rotor 151 be axially arranged with through hole, for described sleeve 16 is socketed in described rotor 151, the external diameter of described sleeve 16 is slightly less than the internal diameter of described rotor 151, so that dismounting, the upper end of the lower end of described bearing circle 14 and sleeve 16 is fixedly connected with the upper surface of described rotor 151 by securing members such as bolts, described photoelectric encoder 13 is fixedly connected with the lower surface of described rotor 151 by securing members such as bolts, for gathering rotational angle and the running parameter of rotor 151, and feed back to motor automatic steering controller 10.
When agricultural machinery enters self-navigation pattern, gps receiver 7 passes to vehicle-mounted control computing machine 6 the high-precision GPS positioning signal receiving in real time, vehicle-mounted control computing machine 6 contrasts positional information and the default farm machinery navigation trace information of current agricultural machinery according to positioning signal, judge current agricultural machinery with respect to the position of default track, other parameters together with navigation are also real-time, be presented at intuitively above the screen of vehicle-mounted control computing machine 6, then to motor automatic steering controller 10, send regulation and control instruction, motor automatic steering controller 10 sends action command according to regulation and control instruction to direct current torque motor 15, photoelectric encoder 13 feeds back rotational angle and the running parameter of direct current torque motors 15 in real time to motor automatic steering controller 10, according to these feedback informations and regulation and control instruction, motor automatic steering controller 10 is controlled direct current torque motor 15 and is driven agricultural machinery steering column 11, make agricultural machinery accurate, drive towards rapidly default track, in self-navigation process, if need manual operation, only need driver suddenly to beat bearing circle 14, while making bearing circle 14 be carried in moment on direct current torque motor 15 to be greater than its stall moment of torsion, self-navigation stops immediately, incision manual mode, as need be again started self-navigation, presses the navigation button on vehicle-mounted control computing machine 6.
Wherein, described drive motor is preferably direct current torque motor 15, the features such as described direct current torque motor 15 is a kind of specific type of electric machines with soft mechanical characteristic and wide speed regulating range, and described direct current torque motor 15 has the slow-speed of revolution, high pulling torque, overload capacity is strong, response is fast, the characteristic linearity is good, torque fluctuations is little.
Wherein, described electric steering wheel assembly 9 also comprises splined sleeve 12, described splined sleeve 12 is up-small and down-big tubular, in it, be provided with hub splines, the upper end of described splined sleeve 12 is fixedly connected with the lower end of described sleeve 16 by web members such as bolts, described agricultural machinery steering column 11 comprises splined shaft 111 and sleeve pipe 112, described sleeve pipe 112 is fixedly connected on agricultural machinery, described splined shaft 111 rotatably links together with sleeve pipe 112, and described splined shaft 111 is closely connected with the hub splines in described splined sleeve 12.
Wherein, the upper end of described sleeve 16 is provided with flange, the upper surface laminating of the lower surface of described flange and described rotor 151, utilize the securing members such as bolt through the lower end of described bearing circle 14, the flange of sleeve 16 is fixedly connected with rotor 151, the lower end of described sleeve 16 is provided with for the through hole through described splined shaft, the upper end of described splined shaft 111 is provided with external thread, is connected, for preventing sleeve 16 axial floats by screwing on nut with the bottom of described sleeve 16.
Wherein, described electric steering wheel assembly 9 also comprises electric motor fixation mechanism 19, and described direct current torque motor 15 is fixedly connected on the sleeve pipe 112 of described agricultural machinery steering column 11 by described electric motor fixation mechanism 19.
Wherein, described electric motor fixation mechanism 19 is fixed support axle, and the upper end of described fixed support axle is connected with described stator 152 by web members such as bolts, and the lower end of described fixed support axle is connected with described sleeve pipe 112 by fixed connecting pieces such as U-bolts.In addition, if the sponson of the sleeve pipe 112 of agricultural machinery steering column 11 falls short of, described electric motor fixation mechanism 19 will adopt another mounting means, its one end is fixedly connected with described stator 152, the other end can be fixing nearby according to cab environment, and the Main Function of described electric motor fixation mechanism 19 is exactly for fixed electrical machinery rotor 151.
Wherein, described direct current torque motor 15 is provided with direct current torque motor connecting line 17, described photoelectric encoder 13 is provided with photoelectric encoder connecting line 18, and described direct current torque motor connecting line 17 is connected with described motor automatic steering controller 10 respectively with photoelectric encoder connecting line 18.
When carrying out 9 installation of electric steering wheel assembly, first pull down the bearing circle that agricultural machinery carries, carrying when bearing circle is put well in order to dismounting Navigation Equipment, use again, then according to shown in Fig. 3, bearing circle 14, direct current torque motor 15, sleeve 16, splined sleeve 12 are enclosed within above agricultural machinery steering column 11 after assembling, the female spline of splined sleeve 12 and the male splines of steering column are closely cooperated, then use sleeve 16 instruments the nut screwing clamping on steering column top, prevent electric steering wheel assembly play Shang Xia 9.On shell below the last external stator 152 that with bolt, electric motor fixation mechanism 19 is fixed on again to direct current torque motor 15, confine on the sleeve pipe 112 of steering column outside with U-bolt lower end, tighten setting nut, can complete the installation of electric steering wheel assembly 9, then photoelectric encoder 13 connecting lines are connected with motor automatic steering controller 10 with direct current torque motor 15 connecting lines, described vehicle-mounted control computing machine 6 is connected with motor automatic steering controller 10, gps receiver 7 again, has so just completed the installation of whole tractor automatic navigation device.
A kind of agricultural machinery autopilot provided by the invention, adopt electric steering wheel assembly 9 to be fixedly connected on agricultural machinery steering column 11, utilizing described electric steering wheel assembly 9 to drive agricultural machinery steering column 11 to realize turns to, have advantages of that simple installation, low energy environmental protection, cost are low, and this electric steering wheel assembly 9 is installed without damaging original Farm machinery parts, be convenient to transplant between different agricultural machinery, improved the service efficiency of automated navigation system, reduced use cost.
Described electric steering wheel assembly 9 comprises direct current torque motor 15, the rotor 151 of described direct current torque motor 15 is rigidly connected with the splined shaft 111 of agricultural machinery steering column 11 by sleeve 16 and splined sleeve 12, for directly driving steering column to turn to, be swift in motion, accurately.
Described photoelectric encoder 13 is connected with the rotor 151 of direct current torque motor 15, and the duty for Real-time Feedback motor, has improved navigation accuracy.
Electric steering wheel assembly 9 of the present invention is applicable to be arranged on the various agricultural machinery with bearing circle, highly versatile.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. an agricultural machinery autopilot, it is characterized in that, it comprises electric steering wheel assembly, motor automatic steering controller, vehicle-mounted control computing machine and gps receiver, described gps receiver is connected with vehicle-mounted control computing machine, for the locating information receiving is in real time passed to described vehicle-mounted control computing machine, described vehicle-mounted control computing machine is connected with motor automatic steering controller, described vehicle-mounted control computing machine contrasts the positional information of current agricultural machinery according to the locating information receiving, to described motor automatic steering controller, send regulation and control instruction, electric steering wheel assembly is fixedly connected on agricultural machinery steering column, and be connected with motor automatic steering controller, described motor automatic steering controller sends action command according to the regulation and control instruction receiving, drive agricultural machinery steering column to complete auto-steering.
2. agricultural machinery autopilot as claimed in claim 1, it is characterized in that, described electric steering wheel assembly comprises bearing circle, drive motor, sleeve and photoelectric encoder, the rotor of described drive motor is socketed in stator, and extend outside described stator at the two ends of described rotor, described jacket casing is connected in described rotor, the lower end of described bearing circle is fixedly connected with the upper surface of described rotor by securing member with the upper end of sleeve, described photoelectric encoder is fixedly connected with the lower surface of described rotor by securing member, for gathering rotational angle and the running parameter of rotor.
3. agricultural machinery autopilot as claimed in claim 2, is characterized in that, described drive motor is direct current torque motor.
4. agricultural machinery autopilot as claimed in claim 3, it is characterized in that, described electric steering wheel assembly also comprises splined sleeve, the upper end of described splined sleeve is fixedly connected with the lower end of described sleeve by web member, described agricultural machinery steering column comprises splined shaft and sleeve pipe, described splined shaft and sleeve pipe rotatably link together, and described splined shaft and described splined sleeve are connected.
5. agricultural machinery autopilot as claimed in claim 4, it is characterized in that, the upper end of described sleeve is provided with flange, the lower surface of described flange and the laminating of the upper surface of described rotor, the lower end of described sleeve is provided with for the through hole through described splined shaft, and the upper end of described splined shaft is connected with the bottom of described sleeve by nut, for preventing sleeve axial float.
6. agricultural machinery autopilot as claimed in claim 5, is characterized in that, described electric steering wheel assembly also comprises electric motor fixation mechanism, and described direct current torque motor is fixedly connected on the sleeve pipe of described agricultural machinery steering column by described electric motor fixation mechanism.
7. agricultural machinery autopilot as claimed in claim 6, it is characterized in that, described electric motor fixation mechanism is fixed support axle, and the upper end of described fixed support axle is connected with described stator by web member, and the lower end of described fixed support axle is connected with described sleeve pipe by fixed connecting piece.
8. the agricultural machinery autopilot as described in claim 1-7 any one, it is characterized in that, described direct current torque motor is provided with direct current torque motor connecting line, described photoelectric encoder is provided with photoelectric encoder connecting line, and described direct current torque motor connecting line is connected with described motor automatic steering controller respectively with photoelectric encoder connecting line.
9. agricultural machinery autopilot as claimed in claim 8, is characterized in that, described web member or securing member are bolt, and described fixed connecting piece is U-bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310670998.1A CN103676952A (en) | 2013-12-10 | 2013-12-10 | Automatic guiding device for farm machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310670998.1A CN103676952A (en) | 2013-12-10 | 2013-12-10 | Automatic guiding device for farm machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103676952A true CN103676952A (en) | 2014-03-26 |
Family
ID=50314829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310670998.1A Pending CN103676952A (en) | 2013-12-10 | 2013-12-10 | Automatic guiding device for farm machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103676952A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104866820A (en) * | 2015-04-29 | 2015-08-26 | 中国农业大学 | Farm machine navigation line extraction method based on genetic algorithm and device thereof |
| CN105022393A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Autopilot |
| CN105654091A (en) * | 2014-11-27 | 2016-06-08 | 航天恒星科技有限公司 | Detection method and apparatus for sea-surface target |
| CN105691454A (en) * | 2015-12-30 | 2016-06-22 | 华南农业大学 | Method and device for mounting automatic navigation controller on steering shaft of vehicle |
| CN107966713A (en) * | 2017-10-19 | 2018-04-27 | 华南农业大学 | A kind of mounting structure of steering-wheel type automatic navigation control system on paddy field tractor |
| CN108313116A (en) * | 2018-03-12 | 2018-07-24 | 北京清博华创测控技术有限公司 | A kind of steering wheel motor-direct-drive type automatic steering device for tractor |
| CN109313446A (en) * | 2016-06-10 | 2019-02-05 | 天宝公司 | Pellucidly realize the self-navigation of mobile machine |
| CN110435755A (en) * | 2019-09-06 | 2019-11-12 | 上海联适导航技术有限公司 | A kind of automated driving system and its automatic Pilot steering control device |
| BE1027330A1 (en) | 2019-06-14 | 2021-01-06 | Univ Zhejiang | UNIVERSAL ELECTRIC DRIVING CONTROL DEVICE FOR AUTOMATIC NAVIGATION OF AN AGRICULTURAL MACHINE |
| CN112208618A (en) * | 2019-07-09 | 2021-01-12 | 丰疆智能科技股份有限公司 | Direction adjusting device and application thereof |
| CN112590916A (en) * | 2020-12-09 | 2021-04-02 | 北京农业智能装备技术研究中心 | Electric steering control system and method for agricultural machinery navigation |
| CN113064406A (en) * | 2019-12-30 | 2021-07-02 | 航天重型工程装备有限公司 | Double-control double-drive line control system |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3200241A1 (en) * | 1982-01-07 | 1983-08-18 | Bernd Ing.(grad.) 7550 Rastatt Niklaus | Control wheel |
| US4531427A (en) * | 1980-08-11 | 1985-07-30 | Skf Nova Ab | Apparatus with a planetary gear set |
| EP0771714A2 (en) * | 1995-11-02 | 1997-05-07 | Honda Giken Kogyo Kabushiki Kaisha | Steering angle correcting system in a vehicle |
| CN1792695A (en) * | 2004-12-21 | 2006-06-28 | 迪尔公司 | Additional steering system |
| DE102006026611A1 (en) * | 2006-06-08 | 2007-12-27 | Zf Lenksysteme Gmbh | Steering system particularly electrical steering system has gearbox with gearbox cover, input shaft connected with steering wheel and pivot mounted in gearbox cover, and has torque detection mechanism to detect torque |
| CN101157367A (en) * | 2007-11-06 | 2008-04-09 | 西北农林科技大学 | Motor vehicle direction control switching device |
| CN101547825A (en) * | 2007-04-11 | 2009-09-30 | 丰田自动车株式会社 | Vehicle Steering Control System |
| WO2010139013A1 (en) * | 2009-06-02 | 2010-12-09 | Topcon Precision Agriculture Pty Ltd | Vehicle guidance system |
| JP2012091677A (en) * | 2010-10-27 | 2012-05-17 | Jtekt Corp | Vehicle steering device |
| CN102470887A (en) * | 2009-12-01 | 2012-05-23 | 丰田自动车株式会社 | Steering system |
| CN103085858A (en) * | 2011-10-28 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Steering-wheel-typed agricultural machinery automatic-driving steering control device |
| CN103247213A (en) * | 2013-03-13 | 2013-08-14 | 北京农业智能装备技术研究中心 | Tractor automatic navigation experiment table |
-
2013
- 2013-12-10 CN CN201310670998.1A patent/CN103676952A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531427A (en) * | 1980-08-11 | 1985-07-30 | Skf Nova Ab | Apparatus with a planetary gear set |
| DE3200241A1 (en) * | 1982-01-07 | 1983-08-18 | Bernd Ing.(grad.) 7550 Rastatt Niklaus | Control wheel |
| EP0771714A2 (en) * | 1995-11-02 | 1997-05-07 | Honda Giken Kogyo Kabushiki Kaisha | Steering angle correcting system in a vehicle |
| CN1792695A (en) * | 2004-12-21 | 2006-06-28 | 迪尔公司 | Additional steering system |
| DE102006026611A1 (en) * | 2006-06-08 | 2007-12-27 | Zf Lenksysteme Gmbh | Steering system particularly electrical steering system has gearbox with gearbox cover, input shaft connected with steering wheel and pivot mounted in gearbox cover, and has torque detection mechanism to detect torque |
| CN101547825A (en) * | 2007-04-11 | 2009-09-30 | 丰田自动车株式会社 | Vehicle Steering Control System |
| CN101157367A (en) * | 2007-11-06 | 2008-04-09 | 西北农林科技大学 | Motor vehicle direction control switching device |
| WO2010139013A1 (en) * | 2009-06-02 | 2010-12-09 | Topcon Precision Agriculture Pty Ltd | Vehicle guidance system |
| CN102470887A (en) * | 2009-12-01 | 2012-05-23 | 丰田自动车株式会社 | Steering system |
| JP2012091677A (en) * | 2010-10-27 | 2012-05-17 | Jtekt Corp | Vehicle steering device |
| CN103085858A (en) * | 2011-10-28 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Steering-wheel-typed agricultural machinery automatic-driving steering control device |
| CN103247213A (en) * | 2013-03-13 | 2013-08-14 | 北京农业智能装备技术研究中心 | Tractor automatic navigation experiment table |
Non-Patent Citations (1)
| Title |
|---|
| 高雷 等: "面向精准农业应用的农机自动导航控制系统研究", 《2010 INTERNATIONAL CONFERENCE ON BROADCAST TECHNOLOGY AND MULTIMEDIA COMMUNICATION》, vol. 2, 31 December 2010 (2010-12-31) * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022393A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Autopilot |
| CN105654091A (en) * | 2014-11-27 | 2016-06-08 | 航天恒星科技有限公司 | Detection method and apparatus for sea-surface target |
| CN104866820B (en) * | 2015-04-29 | 2018-12-07 | 中国农业大学 | A kind of farm machinery navigation line drawing method and device based on genetic algorithm |
| CN104866820A (en) * | 2015-04-29 | 2015-08-26 | 中国农业大学 | Farm machine navigation line extraction method based on genetic algorithm and device thereof |
| CN105691454A (en) * | 2015-12-30 | 2016-06-22 | 华南农业大学 | Method and device for mounting automatic navigation controller on steering shaft of vehicle |
| CN105691454B (en) * | 2015-12-30 | 2019-05-07 | 华南农业大学 | A method and device for installing an automatic navigation controller on a vehicle steering shaft |
| CN109313446A (en) * | 2016-06-10 | 2019-02-05 | 天宝公司 | Pellucidly realize the self-navigation of mobile machine |
| CN109313446B (en) * | 2016-06-10 | 2021-07-30 | 天宝公司 | Transparently enabling automatic navigation of a mobile machine |
| CN107966713A (en) * | 2017-10-19 | 2018-04-27 | 华南农业大学 | A kind of mounting structure of steering-wheel type automatic navigation control system on paddy field tractor |
| CN108313116A (en) * | 2018-03-12 | 2018-07-24 | 北京清博华创测控技术有限公司 | A kind of steering wheel motor-direct-drive type automatic steering device for tractor |
| BE1027330A1 (en) | 2019-06-14 | 2021-01-06 | Univ Zhejiang | UNIVERSAL ELECTRIC DRIVING CONTROL DEVICE FOR AUTOMATIC NAVIGATION OF AN AGRICULTURAL MACHINE |
| CN112208618A (en) * | 2019-07-09 | 2021-01-12 | 丰疆智能科技股份有限公司 | Direction adjusting device and application thereof |
| CN110435755A (en) * | 2019-09-06 | 2019-11-12 | 上海联适导航技术有限公司 | A kind of automated driving system and its automatic Pilot steering control device |
| CN113064406A (en) * | 2019-12-30 | 2021-07-02 | 航天重型工程装备有限公司 | Double-control double-drive line control system |
| CN112590916A (en) * | 2020-12-09 | 2021-04-02 | 北京农业智能装备技术研究中心 | Electric steering control system and method for agricultural machinery navigation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103676952A (en) | Automatic guiding device for farm machinery | |
| CN206255058U (en) | A kind of steering control device for being applied to automatic Pilot | |
| CZ20022577A3 (en) | Wheel | |
| US20210129907A1 (en) | An automatic steering device of an agricultural machine | |
| CN205440522U (en) | Automatic drive steering control device | |
| CN108307746B (en) | Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device | |
| CN103894960A (en) | Multifunctional bolt tightening torque electric calibrator | |
| CN205615575U (en) | Vehicle autopilot assists a steering system | |
| CN106741157A (en) | For the double mode all-hydraulic valve driving and steering system of agricultural machinery front-wheel steer | |
| CN205149964U (en) | Electronic power assisted steering device of EPS of positive function is initiatively returned in area | |
| CN202193113U (en) | Automotive steering-by-wire road feeling simulation executive device | |
| CN102303656A (en) | Wheel leg type walking device | |
| CN101554882B (en) | Mixed and closed-loop EPS control system | |
| CN102632921A (en) | Electric drive pusher type steering system controlled by coupling force and displacement and control method | |
| CN204937210U (en) | A kind of driverless operation steering transmission linkage | |
| CN205499049U (en) | Steering control device is assisted to vehicle | |
| CN102785693A (en) | Electric power steering (EPS) and automobile | |
| CN110626423B (en) | Unmanned vehicle line control steering system and working method thereof | |
| CN209305648U (en) | A kind of unmanned pure electric vehicle truck and its wheel steering system | |
| CN103625532A (en) | Automobile steering-by-wire system for achieving aligning and road feel based on fluid power | |
| CN211943479U (en) | Automatic steering mechanism of unmanned intelligent sweeper | |
| CN202966656U (en) | Small integrated electric steering engine assembly | |
| CN115140160A (en) | Electric drive steering system suitable for fork truck uses | |
| CN210133177U (en) | Steering device for tractor | |
| CN208429135U (en) | A kind of electric pallet truck assisted power steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140326 |
|
| RJ01 | Rejection of invention patent application after publication |