CN106647748A - Maize harvesting machine mechanical contact navigation control system and navigation method thereof - Google Patents
Maize harvesting machine mechanical contact navigation control system and navigation method thereof Download PDFInfo
- Publication number
- CN106647748A CN106647748A CN201611082089.6A CN201611082089A CN106647748A CN 106647748 A CN106647748 A CN 106647748A CN 201611082089 A CN201611082089 A CN 201611082089A CN 106647748 A CN106647748 A CN 106647748A
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- China
- Prior art keywords
- mechanical contact
- control system
- controller
- harvesting machine
- navigation control
- 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.)
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Links
- 240000008042 Zea mays Species 0.000 title claims abstract description 43
- 235000002017 Zea mays subsp mays Nutrition 0.000 title claims abstract description 43
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 title claims abstract description 37
- 238000003306 harvesting Methods 0.000 title claims abstract description 37
- 235000009973 maize Nutrition 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims description 12
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 claims description 6
- 235000005822 corn Nutrition 0.000 claims description 6
- 239000010902 straw Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract 2
- 230000006698 induction Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 235000013351 cheese Nutrition 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention discloses a maize harvesting machine mechanical contact navigation control system. The system comprises a touch screen, a controller, an electro-hydraulic proportional valve, a mechanical contact guide mechanism, a steering hydraulic cylinder and a steering detection sensor. The mechanical contact guide mechanism employs a Hall induction mode to detect the size of the deflection angle of a contact lever. When the maize harvesting machine mechanical contact navigation control system automatically perform work on line, the controller determines the deflecting direction of the machine tool according to the triggering signals fed back by the mechanical contact guide mechanism, the motions of the electro-hydraulic proportional valve and the steering hydraulic cylinder are regulated to allow the machine tool to perform deflection, and the returning of the steering wheel is controlled to complete the motion on line according to the deflection angle of the steering wheel detected by the steering detection sensor.
Description
Technical field
The present invention relates to a kind of agricultural machinery, especially a kind of maize harvesting machine mechanical contact navigation control system and lead
Boat method.
Background technology
China is large agricultural country, and talents for agri-mechanization automation and intellectuality are to realize China's modern agriculture farming scale
Premise and basic, with vast potential for future development.Although China achieves prominent achievement in terms of agricultural equipment mechanization,
The starting stage is also in terms of automation and intellectuality.Maize harvesting machine is equipped as large-scale agricultural harvesting, in farm work
When, on the one hand driver is careful drive machine, observation feed quantity is on the other hand kept a close eye on again, to row and engine
Working condition, prolonged mechanically actuated can increase the fatigue strength of driver, reduce harvesting efficiency.In order to mitigate the work of driver
Bear, improve operating efficiency, for maize harvesting machine row control technology is launched automatically to study, research and develop cropper Mechanical Contact
Formula navigation control system, cuts harvesting-platform and is accurately aimed at corn row, prevents the bad operation phenomenon such as wrong row operation from producing, and realizes
Harvesting-platform is automatically to row function.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of maize harvesting machine mechanical contact navigation system and navigation side
Method, the control system adopts mechanical-electrical-hydraulic integration control technology, harvesting-platform is detected to row state using sensing device, using control
Device controls the solenoid directional control valve of hydraulic steering cylinder, realizes turning to regulation, reaches harvesting-platform automatically to capable purpose.
In order to solve the technical problem, the technical solution used in the present invention is：A kind of maize harvesting machine mechanical contact
Navigation control system, including controller, mechanical contact guiding mechanism, electro-hydraulic proportional valve, hydraulic steering cylinder and steering detection
Sensor, the mechanical contact guiding mechanism mounted in pairs on machine cut road is harvested, each mechanical contact guiding mechanism
Front end is provided with the detection contact bar whether sailed to every trade of cropper, and the contact bar of each pair mechanical contact guiding mechanism is to setting
Put；The electro-hydraulic proportional valve controls the action of hydraulic steering cylinder, and hydraulic steering cylinder is connected with the steering mechanism of harvester steering wheel；
It is described to turn to the steering spindle top that detection sensor is arranged on deflecting roller, turn to the angle that detection sensor detects steered wheel rotation
And feed back to controller.
Maize harvesting machine mechanical contact navigation control system of the present invention, the mechanical contact guiding mechanism includes
Housing and the contact bar with housing into rotation connection, housing is arranged on and harvests on machine cut road, and enclosure interior is provided with rotary shaft, rotates
Axle is provided with Hall element, and rotary shaft is connected with contact bar.
Maize harvesting machine mechanical contact navigation control system of the present invention, the contact bar front end is circular arc.
Maize harvesting machine mechanical contact navigation control system of the present invention, the contact of each pair mechanical contact guiding mechanism
The front end of bar is at a distance.
Maize harvesting machine mechanical contact navigation control system of the present invention, is provided with installing hole, housing on the housing
It is connected with harvesting-platform by the bolt through installing hole.
Maize harvesting machine mechanical contact navigation control system of the present invention, the contact bar is fixed on shell by nut
In vivo in the rotary shaft in portion.
Maize harvesting machine mechanical contact navigation control system of the present invention, also including touch-screen, touch-screen, controller
It is indoor installed in driving.
The invention also discloses a kind of air navigation aid based on above-mentioned maize harvesting machine mechanical contact navigation control system,
First maize harvesting machine is gone on the basis of a line corn, and mechanical contact guide frame judges beautiful by the detection to reference row
Whether rice cropper is to row operation；During cropper normal operation, mechanical contact guiding mechanism will not touch reference row corn
Stalk, no signal feeds back to controller, and executing agency is failure to actuate；When cropper deviates reference row, mechanical contact Guiding machine
Structure touches maize straw, trigger signal feedback to controller, and controller judges cropper yawing moment, adjusts electric-hydraulic proportion
The action of valve, hydraulic steering cylinder, makes equipment deflecting roller deflect, while turning to the deflection angle that detection sensor detects deflecting roller
Degree, and detected value is fed back to into controller；After deflecting roller deflection angle reaches setting value, controller control hydraulic steering cylinder makes
Turn to samsara just, when steering detection sensor is detected turns to samsara just to the median of setting, controller stops to turning to
The regulation of wheel, navigation control system completes a navigation action.
Beneficial effects of the present invention：The deflection angle for contacting bar is converted to electricity by the mechanical contact guiding mechanism of the present invention
Pressure signal, turns to the angle that detection sensor detects steered wheel rotation, and controller is according to mechanical contact guiding mechanism and steering
The signal of detection sensor feedback, controls the action of electro-hydraulic proportional valve, realizes the flexible of hydraulic steering cylinder, reaches cropper automatic
To capable purpose.The mechanical contact guiding mechanism overall structure of the present invention is little, and dustproof and waterproof shock resistance is strong, is difficult by dry
Disturb.
Description of the drawings
Fig. 1 is the structural representation of maize harvesting machine mechanical contact navigation control system；
Fig. 2 is the structural scheme of mechanism of another kind of angle of maize harvesting machine mechanical contact navigation control system；
Fig. 3 is the structural representation of mechanical contact guiding mechanism；
Fig. 4 is flow chart of the present invention based on the air navigation aid of maize harvesting machine mechanical contact navigation control system；
In figure：1st, touch-screen, 2, controller, 3, electro-hydraulic proportional valve, 4, mechanical contact guiding mechanism, 5, hydraulic steering cylinder, 6,
Turn to detection sensor, 41, housing, 42, cheese head screw, 43, installing hole, 44, contact bar.
Specific embodiment
Below in conjunction with the accompanying drawings and it is embodied as that the present invention is further illustrated.
As shown in Figure 1, 2, a kind of maize harvesting machine mechanical contact navigation control system, including touch-screen 1, controller 2,
Electro-hydraulic proportional valve 3, mechanical contact guiding mechanism 4, hydraulic steering cylinder 5 and steering detection sensor.Touch-screen 1 and controller
2 are arranged on driving interior, and the setting and display of job parameter realize that the control of controller 2 executing agency completes right by touch-screen 1
Action is made.Electro-hydraulic proportional valve 3 is arranged on below driver's cabin, controls the action of hydraulic steering cylinder 5.The mechanical contact Guiding machine
Constitute to installed in harvesting on machine cut road, whether the front end of each mechanical contact guiding mechanism is provided with detection cropper to every trade
The contact bar sailed, the contact bar of each pair mechanical contact guiding mechanism is arranged oppositely.Hydraulic steering cylinder 5 and harvester steering wheel
Steering mechanism connects.The steering spindle top that detection sensor 6 is arranged on deflecting roller is turned to, the angle of steered wheel rotation is by turning to
Detection sensor 6 feeds back to controller 2.
As shown in figure 3, mechanical contact guiding mechanism 4 is by housing 41, cheese head screw 42, installing hole 43,44 groups of bar of contact
Into.Mechanical contact guiding mechanism 4 is utilized through the bolt of installing hole 43 and harvesting-platform is connected.Cheese head screw 42 will contact bar 44
It is fixed in the rotary shaft inside housing 41.Contact bar 44 drives the Hall element in rotary shaft to rotate, and is touched according to Hall element
The position of electricity signal is different, judges the size of the contact deflection angle of bar 44.
In the present embodiment, in order to ensure accuracy of detection, the contact bar front end is circular arc, and each pair mechanical contact is oriented to
The front end of mechanism contacts bar is separated by one end distance.
A kind of air navigation aid based on maize harvesting machine mechanical contact navigation control system is also disclosed in the present embodiment,
Methods described is：Maize harvesting machine is carried out automatically to being gone on the basis of a line corn during row operation, mechanical contact guiding mechanism 4
By the detection to reference row, judge equipment whether to row operation.When equipment normal operation, guiding mechanism will not touch base
There won't be any problem maize straw, no signal feeds back to controller 2, and executing agency is failure to actuate；When equipment deviates reference row, guiding mechanism is touched
Maize straw, trigger signal feedback to controller 2 are contacted, controller 2 judges equipment yawing moment, adjust electro-hydraulic proportional valve 3, turn
To the action of hydraulic cylinder 5, equipment deflecting roller is set to deflect, while the deflection angle that detection sensor 6 detects deflecting roller is turned to,
And detected value is fed back to into controller 2；After deflecting roller deflection angle reaches setting value, the control hydraulic steering cylinder 5 of controller 2 makes
Turn to samsara just, when steering detection sensor 6 is detected turns to samsara just to the median of setting, controller 2 stops to turning
To the regulation of wheel, navigation control system completes a Navigation Control action.
Controller 2 controls cropper carry out be to capable detailed process automatically：Mechanical contact guiding mechanism 4 is rotated, and is led
To signal triggering, controller 2 judges yawing moment, if cropper left avertence, the control electro-hydraulic proportional valve 3 of controller 2 is powered, electro-hydraulic ratio
Example valve 3 by hydraulic steering cylinder 5 control deflecting roller turn right, rear steering detection sensor 6 detection steered wheel rotation angle simultaneously
Controller 2 is fed back to, controller 2 judges the position of tire according to deflection angle, if tire turns interval still in left avertence, continued
Control deflecting roller is turned right, and judges tire location；Until tire location is in median, the control electro-hydraulic proportional valve 3 of controller 2 breaks
Electricity, deflecting roller is turned to and stopped, and waits targeting signal triggering next time.In the same manner, if cropper right avertence, control deflecting roller turns left,
And judge the position of tire, until tire location is in median, electro-hydraulic proportional valve power-off, deflecting roller is turned to and stopped, navigation control
System processed completes a Navigation Control action, and cropper is realized turning to regulation automatically to row.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of maize harvesting machine mechanical contact navigation control system, it is characterised in that：Lead including controller, mechanical contact
To mechanism, electro-hydraulic proportional valve, hydraulic steering cylinder and steering detection sensor, the mechanical contact guiding mechanism mounted in pairs
On machine cut road is harvested, the front end of each mechanical contact guiding mechanism is provided with the whether contact sailed to every trade of detection cropper
Bar, the contact bar of each pair mechanical contact guiding mechanism is arranged oppositely；The electro-hydraulic proportional valve controls the action of hydraulic steering cylinder,
Hydraulic steering cylinder is connected with the steering mechanism of harvester steering wheel；It is described to turn to the steering spindle that detection sensor is arranged on deflecting roller
Top, turns to the angle of detection sensor detection steered wheel rotation and feeds back to controller.
2. maize harvesting machine mechanical contact navigation control system according to claim 1, it is characterised in that：The machinery
Contact guiding mechanism includes housing and the contact bar with housing into rotation connection, and housing is arranged on and harvests on machine cut road, housing
Inside is provided with rotary shaft, and rotary shaft is provided with Hall element, and rotary shaft is connected with contact bar.
3. maize harvesting machine mechanical contact navigation control system according to claim 1 and 2, it is characterised in that：It is described
Contact bar front end is circular arc.
4. maize harvesting machine mechanical contact navigation control system according to claim 1 and 2, its special medical treatment is：Each pair
The front end of mechanical contact guiding mechanism contact bar is at a distance.
5. maize harvesting machine mechanical contact navigation control system according to claim 2, it is characterised in that：The housing
On be provided with installing hole, housing is connected by the bolt through installing hole with harvesting-platform.
6. maize harvesting machine mechanical contact navigation control system according to claim 2, it is characterised in that：The contact
Bar is fixed in the rotary shaft of enclosure interior by nut.
7. maize harvesting machine mechanical contact navigation control system according to claim 1, it is characterised in that：Also include touching
Screen is touched, touch-screen, controller are arranged on and drive indoor.
8. the air navigation aid of maize harvesting machine mechanical contact navigation control system described in claim 1 is based on, it is characterised in that：
Maize harvesting machine row on the basis of a line corn, mechanical contact guide frame judges that corn is received by the detection to reference row
Machine is obtained whether to row operation；During cropper normal operation, mechanical contact guiding mechanism will not touch reference row maize straw,
No signal feeds back to controller, and executing agency is failure to actuate；When cropper deviates reference row, mechanical contact guiding mechanism is touched
To maize straw, trigger signal feedback to controller, controller judges cropper yawing moment, adjusts electro-hydraulic proportional valve, turns to
The action of hydraulic cylinder, makes equipment deflecting roller deflect, while the deflection angle that detection sensor detects deflecting roller is turned to, and will
Detected value feeds back to controller；After deflecting roller deflection angle reaches setting value, controller control hydraulic steering cylinder makes deflecting roller
Hui Zheng, when steering detection sensor is detected turns to samsara just to the median of setting, controller stops the tune to deflecting roller
Section, navigation control system completes a navigation action.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082089.6A CN106647748A (en) | 2016-11-30 | 2016-11-30 | Maize harvesting machine mechanical contact navigation control system and navigation method thereof |
| NL2024547A NL2024547B1 (en) | 2016-11-30 | 2019-12-20 | Mechanical-contact navigation control system and navigation method of corn harvestre |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082089.6A CN106647748A (en) | 2016-11-30 | 2016-11-30 | Maize harvesting machine mechanical contact navigation control system and navigation method thereof |
| NL2024547A NL2024547B1 (en) | 2016-11-30 | 2019-12-20 | Mechanical-contact navigation control system and navigation method of corn harvestre |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647748A true CN106647748A (en) | 2017-05-10 |
Family
ID=78595199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082089.6A Pending CN106647748A (en) | 2016-11-30 | 2016-11-30 | Maize harvesting machine mechanical contact navigation control system and navigation method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106647748A (en) |
| NL (1) | NL2024547B1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109526445A (en) * | 2018-12-14 | 2019-03-29 | 山东省农业机械科学研究院 | Cotton topping automatic aligning device, combine and control method |
| CN109819757A (en) * | 2019-03-28 | 2019-05-31 | 华中农业大学 | A kind of the harvest boundary alignment tracking system and method for combined harvester |
| CN112162553A (en) * | 2020-09-22 | 2021-01-01 | 上海大学 | Automatic row alignment control system and method for cotton picker |
| NL2024547B1 (en) * | 2016-11-30 | 2021-09-02 | Shandong Academy Agricultural Machinery Sciences | Mechanical-contact navigation control system and navigation method of corn harvestre |
| CN113359741A (en) * | 2021-06-18 | 2021-09-07 | 青岛农业大学 | Automatic row guiding system of corn combine harvester |
| CN113406956A (en) * | 2021-05-17 | 2021-09-17 | 中国农业大学 | Deviation detection sensing device of corn combine harvester and automatic line aligning method |
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| CN101833334A (en) * | 2010-02-09 | 2010-09-15 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
| CN105066859A (en) * | 2015-09-30 | 2015-11-18 | 山东省农业机械科学研究院 | Crop row detection sensor for row-controlled operation of stalk crops |
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| US3991618A (en) * | 1973-12-18 | 1976-11-16 | Maschinenfabrik Fahr Aktiengesellschaft | Sensor for automatic steering system for row-crop harvester |
| YU121280A (en) * | 1979-05-16 | 1984-02-29 | Zahnradfabrik Friedrichshafen | Compensation device for a control circle of an automatic control arrangement |
| DE19539088A1 (en) * | 1995-10-20 | 1997-04-24 | Claas Ohg | Self-steering device with proportional valve |
| CN206378745U (en) * | 2016-11-30 | 2017-08-04 | 山东省农业机械科学研究院 | Maize harvesting machine mechanical contact navigation control system |
| CN106647748A (en) * | 2016-11-30 | 2017-05-10 | 山东省农业机械科学研究院 | Maize harvesting machine mechanical contact navigation control system and navigation method thereof |
-
2016
- 2016-11-30 CN CN201611082089.6A patent/CN106647748A/en active Pending
-
2019
- 2019-12-20 NL NL2024547A patent/NL2024547B1/en active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833334A (en) * | 2010-02-09 | 2010-09-15 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
| CN105066859A (en) * | 2015-09-30 | 2015-11-18 | 山东省农业机械科学研究院 | Crop row detection sensor for row-controlled operation of stalk crops |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2024547B1 (en) * | 2016-11-30 | 2021-09-02 | Shandong Academy Agricultural Machinery Sciences | Mechanical-contact navigation control system and navigation method of corn harvestre |
| CN109526445A (en) * | 2018-12-14 | 2019-03-29 | 山东省农业机械科学研究院 | Cotton topping automatic aligning device, combine and control method |
| CN109819757A (en) * | 2019-03-28 | 2019-05-31 | 华中农业大学 | A kind of the harvest boundary alignment tracking system and method for combined harvester |
| CN112162553A (en) * | 2020-09-22 | 2021-01-01 | 上海大学 | Automatic row alignment control system and method for cotton picker |
| CN112162553B (en) * | 2020-09-22 | 2023-07-14 | 上海大学 | Automatic alignment control system and method for cotton picker |
| CN113406956A (en) * | 2021-05-17 | 2021-09-17 | 中国农业大学 | Deviation detection sensing device of corn combine harvester and automatic line aligning method |
| CN113406956B (en) * | 2021-05-17 | 2022-11-18 | 中国农业大学 | Deviation detection sensing device of corn combine harvester and automatic line aligning method |
| CN113359741A (en) * | 2021-06-18 | 2021-09-07 | 青岛农业大学 | Automatic row guiding system of corn combine harvester |
| CN113359741B (en) * | 2021-06-18 | 2022-08-12 | 青岛农业大学 | Automatic row guiding system of corn combine harvester |
Also Published As
| Publication number | Publication date |
|---|---|
| NL2024547B1 (en) | 2021-09-02 |
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Application publication date: 20170510 |