CN109677485A - Autosteerer and high-speed transplanter - Google Patents
Autosteerer and high-speed transplanter Download PDFInfo
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- CN109677485A CN109677485A CN201910007321.7A CN201910007321A CN109677485A CN 109677485 A CN109677485 A CN 109677485A CN 201910007321 A CN201910007321 A CN 201910007321A CN 109677485 A CN109677485 A CN 109677485A
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- Prior art keywords
- clutch
- steering
- autosteerer
- steering motor
- direction device
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- 235000007164 Oryza sativa Nutrition 0.000 claims description 74
- 235000009566 rice Nutrition 0.000 claims description 74
- 230000005540 biological transmission Effects 0.000 claims description 47
- 238000012790 confirmation Methods 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 11
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
- B62D5/0439—Controllable friction clutches
Abstract
The invention discloses an autosteerer and high-speed transplanters, wherein the autosteerer includes an environment acquisition device, one direction device, one main control unit and a steering motor, wherein the environment acquisition device acquires the side running environment information of the high-speed transplanter, the traveling executive device that wherein direction device triggers the high-speed transplanter executes traveling variation, wherein the main control unit is according to the running environment information, analyze the operation change executed needed for direction device, form a course changing control information, wherein the steering motor is according to the course changing control information, direction device is controlled to corresponding operating position, so that direction device triggers the traveling variation that the traveling executive device executes response, to improve working efficiency.
Description
Technical field
The present invention relates to high-speed transplanter fields, in more detail are related to an autosteerer and high-speed transplanter,
The auto-steering for realizing the high-speed transplanter improves intelligence and the working efficiency of rice transplanter.
Background technique
The 2018-2025 of China's Industry investigation net publication is global and rice in China rice transplanter Industry is researched and analysed and
Prediction of the development trend report thinks that rice is maximum China's cultivated area, per unit area yield and the highest cereal crops of total output, does a good job of it water
Rice production, the target for restoring and developing grain-production to realization have very important influence.Greatly develop Rice Production machinery
Change, can effectively fight for farming season, the influence withstood natural calamities, it is ensured that and expand cultivated area, rice yield is improved, life is saved
Produce cost.Rice main producing region production mechanization is promoted, technological applications, cost-saving synergistic and the disaster relief mitigation energy of Rice Production are enhanced
Power is to reinforce production capacity of rice construction, restores and develop the important material base and technological means of grain-production.
Currently, China market rice transplanter product is broadly divided into hand-held transplanter and saddle type rice transplanter.It is hand steered when operation
Formula rice transplanter needs operator's hand transplanting machine, pushes and rice transplanter is followed to advance；And saddle type rice transplanter needs operator to sit
On rice transplanter, the steering wheel of rice transplanter is controlled, to manipulate the direction of rice transplanter.That is, current rice transplanter product
It is still liberation manpower completely and realization complete mechanical, the operation of rice transplanter also needs to execute by operator.Moreover, operator
Need just be completely familiar with the operation of rice transplanter by special study and training.
This expands cultivated area to fighting for farming season, and it is simultaneously unfavorable to save production cost.On the one hand, the time in busy farming season, large area
Paddy field needs to plant, but the energy of operator is limited, and can not cultivating in time for part paddy field is unfavorable for rice yield.
On the other hand, as the expansion of cultivated area, the time of operator and human cost increase, operating pressure is increasing, efficiency
It can not further increase.
Summary of the invention
It is an object of the present invention to provide an autosteerer and high-speed transplanters, are filled by the auto-steering
It sets, auto-steering may be implemented in the high-speed transplanter, without human intervention, liberates manpower, improves efficiency, and realizes intelligent.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
Device can identify road conditions or farmland situation etc., turn to automatically control the high-speed transplanter.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
The technologies such as device can identify by depth camera, two-dimentional imaging identification, long-range monitoring identification realize road conditions or farmland situation
Discriminance analysis.That is, road conditions used by the autosteerer or farmland situation acquiring technology are not intended to limit, production
Quotient can choose or assemble suitable technique device according to cost, technical need or iteration etc..
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
Device can realize the control to the high-speed transplanter direction by mechanical means, to the structural modification of existing high-speed transplanter
Less, cost is relatively low.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the high speed rice transplanting
Machine has both automatic driving mode and pilot steering mode, and can switch in both modes according to demand, different to adapt to
Job requirements.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the high speed rice transplanting
Machine is full-automatic driving rice transplanter, compares existing rice transplanter, and more intelligence is further liberated the productive forces with efficiently.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
Device can be installed in the enclosure interior of the high-speed transplanter, without exposure, reduce extraneous occupied space.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
Device can detecte the rotation direction and rotational angle of a direction device, is turned to and is executed correctly with one traveling executive device of confirmation,
It is rationally and correct to guarantee that the high-speed transplanter turns to.
It is another object of the present invention to provide an autosteerer and high-speed transplanters, wherein the auto-steering
Device can detecte the direction device when front direction and current operation angle, according to the road conditions or farmland situation, analysis
Rotation direction needed for the direction device and rotational angle, to realize that the high-speed transplanter driving direction changes automatically.
One aspect under this invention, the present invention further provides one be suitable for high-speed transplanter autosteerer,
Include:
One environment acquisition device, wherein the environment acquisition device acquires the side running environment letter of the high-speed transplanter
Breath；
One direction device, wherein the traveling executive device that the direction device triggers the high-speed transplanter executes traveling
Variation；
One main control unit, wherein the main control unit analyzes the direction device according to the running environment information
The operation change of required execution forms a course changing control information；And
One steering motor, wherein the steering motor according to the course changing control information, controls the direction device to right
The operating position answered, so that the direction device triggers the traveling variation that the traveling executive device executes response.
According to one embodiment of present invention, the autosteerer further comprises a rotation direction sensor, wherein institute
It states rotation direction sensor and is installed in the direction device, measure the direction device works as front direction state, wherein the master control
Device processed forms the course changing control information according to front direction state, direction change needed for analyzing the direction device is worked as.
According to one embodiment of present invention, the autosteerer further comprises a steering angle sensor,
Described in steering angle sensor be installed in the direction device, measure the current angular state of the direction device, wherein
The main control unit is according to current angular state, angle change needed for analyzing the direction device, forms the steering control
Information processed.
According to one embodiment of present invention, the autosteerer further comprises that a rotation direction sensor and one turn to
Angular transducer, wherein the rotation direction sensor and the steering angle sensor are installed in one turn of the high-speed transplanter
To wheel, measure the steered wheel when front direction and angle state, wherein the main control unit according to when front direction with
Angle state, direction needed for analyzing the direction device and angle change form the course changing control information.
According to one embodiment of present invention, the autosteerer further comprises a transmission device, wherein described
Transmission device is driveably installed on the steering motor, and the direction device is driveably installed on the transmission dress
It sets, wherein the transmission device transmits dynamic between the steering motor and the direction device when steering motor work
Power, so that the direction device is operated according to the course changing control information.
According to one embodiment of present invention, the main control unit includes a direction controlling module, wherein the direction
Control module is according to running environment information, direction change needed for judging the direction device, forms the course changing control information.
According to one embodiment of present invention, the main control unit includes a controlling steering angle module, wherein described
Controlling steering angle module is according to the running environment information, direction change angle needed for judging the direction device, is formed
The course changing control information.
According to one embodiment of present invention, the main control unit includes a confirmation module, wherein when the direction fills
It sets by after steering motor driving, the execution state of the direction device is fed back to the confirmation execution module, wherein institute
Confirmation module is stated according to the course changing control information, judges whether the direction device is correct by operation, forms one and execute instruction,
For judging whether to authorize the traveling executive device to execute variation.
According to one embodiment of present invention, the direction device includes a turning-bar, wherein the transmission device includes
One driving wheel, a driven wheel and a transmission belt, wherein the driving wheel is driveably coupled in the steering motor, it is described from
Driving wheel is fixed in the turning-bar, drives the turning-bar, wherein the transmission belt is movably fixed on the driving wheel
With the driven wheel, power is transmitted therebetween.
According to one embodiment of present invention, the direction device includes a turning-bar, wherein the transmission device includes
One driving wheel, a driven wheel and an intermediate gear, wherein the driving wheel is driveably coupled in the steering motor, it is described
Driven wheel is fixed in the turning-bar, drives the turning-bar, wherein the intermediate gear connects the driving wheel and described
Driven wheel is for increasing speed ratio.
According to one embodiment of present invention, the direction device includes a turning-bar, wherein the transmission device includes
One driving gear and a driven gear, wherein the sliding tooth wheel is driveably coupled in the steering motor, it is described driven
Gear is fixed in the turning-bar, drives the turning-bar, wherein the sliding tooth wheel and driven gear intermeshing.
According to one embodiment of present invention, the autosteerer further comprises a mode-changeover device, wherein
The mode-changeover device is installed between the steering motor and transmission device, controls the steering motor and the transmission
Power transmission between device, to switch the operating mode of the high-speed transplanter.
According to one embodiment of present invention, the mode-changeover device is implemented as the motor supply source of the steering motor
Device or arrangement of clutch.
According to one embodiment of present invention, the autosteerer further comprises an arrangement of clutch, wherein described
Arrangement of clutch includes a clutch friction plate and a clutch price fixing, wherein the clutch Moving plate is slidably housed within the driving
On rotary gear axis axis, wherein the bottom side for being snugly fixed on the driving gear of the clutch friction, with the clutch
Moving plate is equipped with default spacing, wherein generating electromagnetic force, the clutch Moving plate and the clutch friction when the clutch price fixing is powered
Piece, which offsets, generates frictional force, so that the driving gear and the steering motor are driveably connected as one, to realize certainly
Dynamic driving mode work；When the clutch price fixing no power, the clutch Moving plate is separated with the clutch price fixing, causes the drive
Moving gear and steering motor separation, the steering motor can not drive the driving gear, thus pilot steering module work
Make.
According to one embodiment of present invention, the autosteerer further comprises an arrangement of clutch, wherein described
Arrangement of clutch includes a clutch friction plate and a clutch price fixing, wherein the clutch Moving plate is slidably housed within the driving
On wheel shaft axis, wherein the bottom side for being snugly fixed on the driving wheel of the clutch friction, with the clutch Moving plate
Equipped with default spacing, wherein generating electromagnetic force, the clutch Moving plate and the clutch friction plate phase when the clutch price fixing is powered
To frictional force is generated, so that the driving wheel and the steering motor are driveably connected as one, to realize automatic Pilot
Mode work；When the clutch price fixing no power, the clutch Moving plate is separated with the clutch price fixing, cause the driving wheel and
The steering motor separation, the steering motor can not drive the driving wheel, so that pilot steering module works.
Other side under this invention, the present invention further provides a high-speed transplanters, comprising:
One autosteerer, wherein the autosteerer includes:
One environment acquisition device, wherein the environment acquisition device acquires the side running environment letter of the high-speed transplanter
Breath；
One direction device, wherein the traveling executive device that the direction device triggers the high-speed transplanter executes traveling
Variation；
One main control unit, wherein the main control unit analyzes the direction device according to the running environment information
The operation change of required execution forms a course changing control information；And
One steering motor, wherein the steering motor according to the course changing control information, controls the direction device to right
The operating position answered, so that the direction device triggers the traveling variation that the traveling executive device executes response；And one insert
Seedling machine ontology automatically controls the rice transplanter ontology wherein the autosteerer is installed in a rice transplanter ontology
It turns to.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of a high-speed transplanter of first embodiment according to the present invention.
Fig. 2 is the stereoscopic schematic diagram of an autosteerer of the first preferred embodiment according to the present invention.
Fig. 3 is the sectional perspective schematic diagram of the autosteerer of above-mentioned first embodiment according to the present invention.
Fig. 4 is the structural block diagram of the high-speed transplanter of above-mentioned first embodiment according to the present invention.
Fig. 5 is the stereoscopic schematic diagram of a high-speed transplanter of second embodiment according to the present invention.
Fig. 6 is a kind of stereoscopic schematic diagram of autosteerer of second embodiment according to the present invention.
Fig. 7 is a kind of partial schematic diagram of autosteerer of second embodiment according to the present invention.
Fig. 8 is the pattern switching schematic diagram of another autosteerer of second embodiment according to the present invention.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, term " one "
It should not be understood as the limitation to quantity.
As shown in Figure 1, it elaborates an autosteerer 100 of a preferred embodiment of the invention, it is described from turn
It is installed in a rice transplanter ontology 200 to device 100, automatically controls the steering of the rice transplanter ontology 200, realizes a high speed
The intelligence of rice transplanter improves working efficiency.That is, the high-speed transplanter include the rice transplanter ontology 200 and by
It is set to the autosteerer 100 of the rice transplanter ontology 200, wherein the autosteerer 100 can be realized
The auto-steering of the rice transplanter ontology 200.
The rice transplanter ontology 200 includes that a traveling executive device 210 and one plant seedling device 220.The traveling executes dress
Set 210 be have the running vehicle body of driving wheel, such as can be the four-wheel drive car body with a pair of of front-wheel and a pair of rear wheels, or
Person can be the driving car body etc. with a pair of of Athey wheel, and the present invention is not intended to limit.For example, the traveling executive device
210 can be the rotary power of an engine, by a transmission device or and a fluid pressure type stepless speed change device, be transferred to
One gearbox.Rotary power speed change is transferred to the wheel of driving car body by the gearbox, so that the rice transplanter ontology 200 can
It is travelled with advance, retrogressing or turning.
The cultivation seedling device 220 may be implemented as the cultivation seedling equipment of various specifications, for example, can be plantation 2 plants, 6 plants or
The cultivation seedling equipment of the rice shoots such as 8 plants, the present invention are not intended to limit.For example, the cultivation seedling device 220 can be through a fortune seedling band
Rice shoot is transported one by one to accordingly seedling taking mouth, a cultivation device plants the rice shoot of seedling taking mouth.For example, working as institute
Stating and planting seedling device is when planting the structure of 8 plants of rice shoots, and accordingly, the cultivation seedling device has 8 seedling taking mouths, the cultivation device
It can be 8 corresponding plantation mechanical arms.
Further, the rice transplanter ontology 200 can further include a fertilizer apparatus.Fertilizer is put into deposit one to deposit
Funnel is stored up, the portion of spilling is released by one and quantitatively or conditionally discharges the fertilizer stored in funnel, and guide to a fertilizing tube.
The fertilizer apparatus includes a grooving part, and the grooving part is located at the front side of the fertilizing tube fertilization mouth, in plantation seedling
Seedling is formed about a fertilising slot.The fertilizing tube can guide fertilizer to the fertilising slot.
Specifically, the structure of the rice transplanter ontology 200 is not intended to limit, those skilled in the art can be using known to it
Any structure or device assembling.It is also merely illustrative herein, is not limitation.In other words, those skilled in the art
Member will be appreciated that the specific structure and manufacturing method of the rice transplanter ontology 200, and details are not described herein again.
It as shown in Figures 1 to 4, is the autosteerer and high-speed transplanter of the first embodiment of the present invention.First
In embodiment, full-automatic driving is may be implemented in the autosteerer 100, without manual operation, is liberated the productive forces comprehensively,
Improve operating efficiency.
The autosteerer 100 includes an environment acquisition device 110 and a main control unit 120.The environment obtains
It takes device 110 to detect the running environment information on 200 periphery of rice transplanter ontology, and is transferred to the main control unit 120.Institute
Main control unit 120 is stated according to running environment information, the variation of driving status needed for judging the rice transplanter ontology 200 is formed
One course changing control information, so that the traveling executive device 210 executes steering, so that the rice transplanter ontology 200 automatically turns
To.
The environment acquisition device 110 can be realized using technologies such as depth camera, two-dimentional camera shooting, infrared inductions to traveling
Environmental information is acquired.For example, the environment acquisition device 110 uses depth camera technology, by each depth camera
Mo Zu is installed on the side all around of the rice transplanter ontology 200 respectively, carries out to the side environment of the rice transplanter ontology 200
Depth camera, by gained depth camera image transmission to the main control unit 120.The running environment information is the rice transplanting
The traffic information on the periphery of machine ontology 200, or be in the farmland farmland Zhong Shi condition information etc., such as the rice transplanter ontology
Whether 200 sides have river, field, dell, slope, or in farmland operation, and whether the 200 turn side of rice transplanter ontology
There is rice shoot etc..
The main control unit 120 is according to running environment information, driving status needed for analyzing the rice transplanter ontology 200
Variation forms a course changing control information.The main control unit 120, which may be implemented as server, computer, CPU etc., has place
The device of reason analysis data function.Specifically, the main control unit 120 includes a direction controlling module 121, according to traveling ring
Border information, the variation of driving direction needed for judging the rice transplanter ontology 200.That is, the course changing control information includes
But it is not limited to direction change control information, for example whether continuing to keep straight on, whether turning, whether in slope traveling etc..
For example, when high-speed transplanter operation in farmland, the environment acquisition device 110 traveling ring collected
Border information shows that front is field, i.e. operation field boundary, and the direction controlling module 121 then judges the high-speed transplanter
Need turning driving.And the environment acquisition device 110 running environment information collected further displays, the high-speed transplanter
Right side is field or has a rice shoot planted, left side is non-operation farmland, then the direction controlling module 121 judges the height
Degree rice transplanter needs to turn to the left, to continue operation.
Alternatively, in another scenario, the environment acquisition device 110 running environment information collected is shown, front
For field, left side is field, and right side is the rice shoot planted, i.e., farmland operation has terminated at this time, then the direction controlling mould
Block 121 judges that the high-speed transplanter need to leave operation farmland.Further, near the field of running environment information display front
There are the road high-speed transplanter traveling described enough, or the display front field high-speed transplanter traveling described enough, then the side
Judge that the height rice transplanter needs to keep straight on to control module 121, steps up front field, subsequent turning to the road near field straight
Road is directly travelled along field.
Further, the main control unit 120 includes a controlling steering angle module 122, is believed according to the running environment
Breath, driving direction angle changing needed for judging the rice transplanter ontology 200.That is, the course changing control information according to
Different running environment information, correspondingly can be different.Specifically, including but not limited to controlling steering angle information includes but not
It is limited to direction change angle control information, such as the angle of turn for turning left or turning right.
For example, road ahead is turning road when the high-speed transplanter travels on road.The environment acquisition device
The turn direction and angle of turn in 110 running environment information display turning roads collected.The direction controlling module 121 then by
This judges thus turn direction, the controlling steering angle module 122 judge traveling turning needed for the high-speed transplanter
Angle, to form the course changing control information.It is appreciated that running environment information can be continuous during turning
Update, angle of turn can with the high-speed transplanter turning road form and constantly change.Accordingly, the course changing control
Module 122 will be updated the course changing control information, so that the high-speed transplanter angle of turn agrees with bend in driving process and becomes
Change.
Alternatively, in another case, the high-speed transplanter is in farmland operation.After the completion of a column rice shoot is planted,
The high-speed transplanter, which needs to turn, to continue to plant another column and carries out operation, and the controlling steering angle module 122 can be at this time
According to the spacing of rice transplanter and field, fuselage width, travel speed etc., turning angle needed for analysis obtains the high-speed transplanter
Degree.
Further, the autosteerer 100 includes a sensor device 130 and a direction device 140.Described turn
The manipulation that can be the direction device 140 made based on the high-speed transplanter current running state to control information is become
The judgement of change amount.The direction device 140 executes traveling variation for triggering the traveling executive device 210.
Specifically, the sensor device 130 includes a rotation direction sensor 131, wherein the rotation direction sensor 131 is pacified
A turning-bar 141 loaded on the direction device 140.When the direction device 140 rotates, the turning-bar 141 is rotated with,
The rotation direction sensor 131 can measure the direction of rotation of the execution of the direction device 140.The sensor device 130
It further comprise a steering angle sensor 132, wherein the steering angle sensor 132 is for measuring the direction device
The steering angle of 140 execution.The steering angle sensor 132 can be installed in the turning-bar 141, or be mounted
In the connected bar of the steered wheel of the traveling executive device 210, according to the measurement such as collapsing length of torque or measuring rod
The steering angle of direction device 140.
The sensor device 130, i.e., the described steering angle sensor 132 and the rotation direction sensor 131, by the side
The main control unit 120 is fed back to the current state of device 140.The controlling steering angle module 122 and the direction
The current state of the direction device 140 of the control module 121 based on acquisition, including work as front direction state and current angular shape
State, and according to running environment information, direction and angle change needed for judging the direction device 140.For example, the high speed is inserted
Seedling machine current state is straight trip, and accordingly, it is preset in-line position that the direction device 140, which is in current state, i.e., currently
Direction device 140 does not turn to, steering angle 0.According to running environment information, the high-speed transplanter need to be right with 60 degree of angles
Turn, be then based on current state, the course changing control information is that the operation direction device 140 is turned right to the corresponding position for executing 60 degree
It sets.
Or the high-speed transplanter current state is to be turned right with 60 degree of angles, i.e., current direction device 140, which is in, to be executed
The position of 60 degree of right-hand rotation.According to running environment information, the lower driving status of high-speed transplanter is to turn right 55 degree, then is based on working as
Front position, the course changing control information are that the operation direction device turns left to the corresponding position for executing 55 degree.
That is, the direction device 140 can be based on current state operation change according to the course changing control information
Amount, thus the next driving status executed needed for reaching the high-speed transplanter.It will be appreciated by persons skilled in the art that right
In next another driving status, next driving status is the current state of another driving status, and it is described again
One driving status can be operated obtained by the course changing control information based on next driving status.
Optionally, the sensor device 130 can also directly be installed in the bogie car of the rice transplanter ontology 200
Wheel, i.e.,.By taking steered wheel is front-wheel as an example, the rotation direction sensor 131 and the steering angle sensor 132 measure front-wheel
Direction of rotation and steering angle information, and feed back to the main control unit 120.
Specifically, the autosteerer 100 further comprises a steering motor 160, wherein the direction device 140
The course changing control information is executed by the steering motor 160.That is, the steering motor 160 communicatedly connects institute
Main control unit 120 is stated, according to the course changing control information, the direction device 140 is controlled and operates.Specifically, in the present invention
An embodiment in, a transmission device 161 described in the steering motor 160, the direction device 140 is driveably connected to
The transmission device 161 of the steering motor 160, wherein the steering motor 160 drives institute by the transmission device 161
State direction device 140.The transmission device 161 may be implemented as a tyre type transmission device or a gear transmission device
Deng the present invention is not intended to limit.For example, in one embodiment of this invention, the transmission device 161 includes 1611 He of a driving wheel
One driven wheel 1612.The driving wheel 1611 is driveably coupled in the steering motor 160, such as the driving wheel 1611
Driveably it is socketed on the output shaft of the steering motor 160.The driven wheel 1612 is fixed in the direction device 140
The turning-bar 141, drive the turning-bar 141 and or the rotating wheel 142.One transmission belt 1613 is movably fixed on
The driving wheel 1611 and the driven wheel 1612, transmit power therebetween.
When the steering motor 160 work, the driving wheel 1611 is driven according to the course changing control information, it is described
Transmission belt 1613 is driven, and then the driven wheel 1612 is driven.Further, the driven wheel 1612 drives the turning-bar
141 and or deflecting roller rotated according to the course changing control information.The traveling being drivingly connected with the direction device 140
Executive device 210 is executed by accordingly triggering, and executes traveling variation according to the operation of the direction device 140, thus described
High-speed transplanter is automatically steered to.
In another embodiment of the invention, the transmission device 161 includes an intermediate gear, is implemented instead of the example above
Transmission belt in example.That is, the transmission device 161 include the driving wheel 1611, the intermediate gear and it is described from
Driving wheel 1612, wherein the driving wheel 1611 is driveably coupled in the steering motor 160, the driven wheel 1612 is consolidated
Due to the turning-bar 141, the intermediate gear connects the driving wheel 1611 and the driven wheel 1612 for increasing speed ratio.
Preferably, in order to ensure the safety of automatic Pilot and accuracy, the main control unit 120 further comprises one
Confirmation module 123 authorizes the traveling execution for confirming that it is correct that the direction device 140 executes the course changing control information
Device 210 executes.After the direction device 140 is according to the course changing control information operation change, the steering angle sensing
The execution state of the direction device 140 at this time is fed back to the confirmation execution module by device 132 and the rotation direction sensor 131
123.The confirmation module 123 judges whether the direction device 140 is correct by operation, shape according to the course changing control information
It is executed instruction at one.When the direction device 140 executes correctly, then described execute instruction instructs for Authorization execution, the traveling
Executive device 210, which is authorized to, executes variation；It is when the direction device 140 execution mistake, then described to execute instruction to forbid executing
Instruction, the traveling executive device 210 are prohibited to execute variation.At this point, if steering motor 160 or transmission device 161 are damaged
Etc. reasons to cause the direction device 140 to be performed incorrect, the confirmation module 123 can also prevent wrong behaviour in time
Make.
It is noted that in the first embodiment of the present invention, the autosteerer 100 can be mounted directly
In the high-speed transplanter enclosure interior, i.e., without exposure to the external world, especially direction device 140.At this point, the high speed rice transplanting
Full-automatic driving may be implemented in machine, and entity steering wheel can directly be cancelled, and avoids occupied space.
Further, while the direction device 140 executes steering angle to a setting value, the rice transplanter ontology
200 cultivation seedling device rises preset height automatically, without human intervention.Specifically, the main control unit 120 receives steering angle
The steering angle information for spending the steered wheel that sensor 132 is fed back is analyzed and is exported and plants seedling device action control signal, the cultivation
Seedling device rises automatically.
It is the transfer and high-speed transplanter of the second embodiment of the present invention as shown in Fig. 5 to Fig. 8.It is real originally second
Apply in example, the high-speed transplanter has both automatic Pilot and pilot steering both of which, conveniently adapt to different operating environment and
Operating condition.
In the present embodiment, a rice transplanter ontology 200A of the high-speed transplanter can still go out as shown in the first embodiment
State, that is, the rice transplanter ontology 200A include one traveling executive device 210A, one plant seedling device 220A and/or one fertilising
Device etc., the present embodiment is not intended to limit.The traveling executive device 210A, seedling device 220A and the fertilizer apparatus of planting
Specific structure can also be as in the first embodiment or using other structures, and details are not described herein again.The high-speed transplanter is into one
Step includes an autosteerer 100A, wherein the autosteerer 100A is installed in the rice transplanter ontology 200A,
It realizes that the steering for automatically controlling the rice transplanter ontology 200A and manual control steering have both, and can be cut between two-mode
It changes.
The autosteerer 100A includes an environment acquisition device 110A and is connected to the environment acquisition device
A main control unit 120A of 110A.The environment acquisition device 110A detects the traveling ring on the periphery rice transplanter ontology 200A
Border information, and it is transferred to the main control unit 120A.The environment acquisition device 110A can be taken the photograph using depth camera, two dimension
The realization of the technologies such as picture, infrared induction is acquired running environment information.
The autosteerer 100A includes that direction device a 140A, the direction device 140A is arranged at described insert
Seedling machine ontology 200A, with the direction of travel for controlling the rice transplanter ontology 200A, wherein the main control unit 120A root
According to running environment information, it is based on the direction device 140A current state, makes the manipulation variable quantity of the direction device 140A
Judgement forms a course changing control information.Specifically, the main control unit 120A includes a direction controlling module 121A and one turn
To angle control module 122A, respectively according to running environment information, direction change needed for judging the direction device 140A and
Angle variable quantity.
Specifically, the direction device 140A includes an a steering wheel 143A and turning-bar 141A.The turning-bar 143A
Extend from the bottom side the steering wheel 143A, the steering wheel 143A is fixed in a fixing end of the turning-bar 143A, described
Turning-bar 141A is arranged at the rice transplanter ontology 200A.
The autosteerer 100A further comprises that sensor device a 130A, the sensor device 130A includes
One rotation direction sensor 131A, wherein the rotation direction sensor 131A is installed in the turning-bar of the direction device 140A
141A.When the steering wheel 143A rotates, the turning-bar 141A is rotated with, and the rotation direction sensor 131A can be measured
The direction of rotation of the execution of the direction device 140A.The sensor device 130A further comprises a steering angle sensor
132A, wherein the steering angle sensor 132A be used to measure the steering angle of the execution of the direction device 140A, institute
It states steering angle sensor 132A and is installed in the turning-bar 141A.Or in another embodiment of the invention, described turn
It is installed in the bar of the deflecting roller of the traveling executive device 210A to angular transducer 132A, passes through the collapsing length of measuring rod
Obtain steering angle.
The sensor device 130A, i.e., the described steering angle sensor 132A and the rotation direction sensor 131A, by institute
The current state for stating direction device 140A feeds back to the main control unit 120A, for the course changing control information.
Specifically, under automatic driving mode, the autosteerer 100A includes a steering motor 160A, wherein institute
It states direction device 140A and is operably connected to the steering motor 160A, wherein the direction device 140A is turned by described
The course changing control information is executed to motor 160A.That is, the steering motor 160A communicatedly connects the main control
Device 120A controls the direction device 140A operation according to the course changing control information.
In one embodiment of this invention, the steering motor 160A includes a transmission device 161A, wherein the direction
Device 140A is driveably connected to the transmission device 161A, wherein the steering motor 160A passes through the transmission device
161A drives the direction device 140A.The transmission device 161A may be implemented as a tyre type transmission device or a gear
Formula transmission device etc., the present invention is not intended to limit.For example, in one embodiment of this invention, the transmission device 161A includes one
Drive a gear 1611A and driven gear 1612A.The driving gear 1611A is driveably coupled in the steering motor
160A, such as the driving gear 1611A are driveably socketed on the output shaft of the steering motor 160A.The driven gear
1612A is fixed in the turning-bar 141A of the direction device 140A, drives the turning-bar 141A.The driven gear
1612A extends outward from the peripheral wall of the turning-bar 141A.The driving gear 1611A and the driven gear 1612A are nibbled
It closes, transmits power therebetween.
When steering motor 160A work, the driving gear 1611A is driven according to the course changing control information.
The driving gear 1611A drives the driven gear 1612A of engagement.Further, the driven wheel 1612A drives described turn
It is rotated to bar 141A according to the course changing control information.The turning-bar 141A and or the deflecting roller 142A accordingly drive
The steering wheel 143A.It is accordingly triggered with the traveling executive device 210A that the direction device 140A is drivingly connected
It executes, and traveling variation is executed according to the operation of the direction device 140A, so that the high-speed transplanter is automatically steered to.
It is noted that the steering wheel 143A is installed in the top of the transmission device 161A, the transmission dress
The top end part that 161A is installed in the turning-bar 141A is set, so as to retain pilot steering mode.The auto-steering dress
Setting 100A further comprises a mode-changeover device 170A, convenient for switching between automatic driving mode and pilot steering mode.?
In one embodiment of the invention, the mode-changeover device 170A is implemented as a motor supply device, as shown in Figure 6.When need
When being switched to pilot steering mode from automatic driving mode, the steering motor power supply, i.e. closing motor supply source can be cut off
Device.The steering motor does not work, driver can control by operating the steering wheel 143A i.e. the turning-bar 141A and
The deflecting roller 142A, to control the high-speed transplanter.When needs are from pilot steering pattern switching to automatic driving mode
When, motor supply device can be opened, the steering motor work can automatically control the direction device 140A.
Or in another embodiment of the invention, the mode-changeover device 170A may be implemented as clutch dress
It sets.For example, the arrangement of clutch is fixed between the driving gear 1611A and the steering motor 160A, such as Fig. 8
It is shown.The arrangement of clutch 170A includes a clutch Moving plate 171A, a clutch friction plate 172A and a clutch price fixing 173A.It is described
Clutch price fixing 173A is fixed between the driving gear 1611A and the steering motor 160A, such as can be secured within
Shell is fixed by a fixed plate.The clutch Moving plate 171A is slidably housed within the driving gear 1611A rotation
On axis axis.The one side of the clutch friction plate 172A be snugly fixed on it is described driving gear 1611A bottom side, and with it is described
Clutch Moving plate 171A is equipped with default spacing.The clutch price fixing, which is powered, generates electromagnetic force, the clutch Moving plate 171A and it is described from
Conjunction friction plate 172A, which offsets, generates frictional force, so that the driving gear 1611A and the steering motor 160A driveably connect
It is connected in one, to realize that power transmits, i.e., automatic driving mode works.When the clutch price fixing no power, the clutch is dynamic
Disk is separated with the clutch price fixing, causes the driving gear 1611A and steering motor 160A to separate, the steering motor
160A can not drive the driving gear 1611A, i.e. pilot steering module works, and steering motor 160A does not influence the side at this time
It works to device 140A.
Those skilled in the art are it is appreciated that above-described embodiment is merely illustrative not limits.Art technology
Personnel can realize the switching of automatic mode and artificial mode using other technologies or structure.For example, of the invention second implements
Example can also be using the drive mechanism in first embodiment, in conjunction with the mode-changeover device in second embodiment to implementation pattern
Switching.Alternatively, drive mechanism in the first embodiment can also be cut using the drive mechanism in second embodiment, removal mode
Changing device.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (18)
1. one is suitable for the autosteerer of high-speed transplanter characterized by comprising
One environment acquisition device, wherein the environment acquisition device acquires the side running environment information of the high-speed transplanter；
One direction device, wherein the traveling executive device that the direction device triggers the high-speed transplanter executes traveling and becomes
Change；
One main control unit, wherein the main control unit is analyzed needed for the direction device according to the running environment information
The operation change of execution forms a course changing control information；And
One steering motor, wherein the steering motor according to the course changing control information, controls the direction device to corresponding
Operating position, so that the direction device triggers the traveling variation that the traveling executive device executes response.
2. autosteerer according to claim 1 further comprises a rotation direction sensor, wherein the steering senses
Device is installed in the direction device, measure the direction device when front direction state, wherein the main control unit according to
When front direction state, direction change needed for analyzing the direction device forms the course changing control information.
3. autosteerer according to claim 1 further comprises a steering angle sensor, wherein the steering
Angular transducer is installed in the direction device, measures the current angular state of the direction device, wherein the main control
Device is according to current angular state, angle change needed for analyzing the direction device, forms the course changing control information.
4. autosteerer according to claim 2 further comprises a steering angle sensor, measures the direction
The current angular state of device, wherein the main control unit is analyzed needed for the direction device according to current angular state
Angle change forms the course changing control information.
5. autosteerer according to claim 1 further comprises a rotation direction sensor and steering angle sensing
Device, wherein the rotation direction sensor and the steering angle sensor are installed in a steered wheel of the high-speed transplanter,
Measure the steered wheel works as front direction and angle state, wherein the main control unit is according to when front direction and angle shape
State, direction needed for analyzing the direction device and angle change form the course changing control information.
6. autosteerer according to any one of claims 1 to 5 further comprises a transmission device, wherein the biography
Dynamic device is driveably installed on the steering motor, and the direction device is driveably installed on the transmission device,
Wherein when the steering motor works, the transmission device transmits power between the steering motor and the direction device,
So that the direction device is operated according to the course changing control information.
7. autosteerer according to any one of claims 1 to 5, wherein the main control unit includes a direction controlling
Module, wherein the direction controlling module, according to running environment information, direction change needed for judging the direction device is formed
The course changing control information.
8. autosteerer according to any one of claims 1 to 5, wherein the main control unit includes a steering angle
Control module, wherein the controlling steering angle module judges needed for the direction device according to the running environment information
Direction change angle forms the course changing control information.
9. autosteerer according to any one of claims 1 to 5, wherein the main control unit includes a confirmation mould
Block, wherein the execution state of the direction device is fed back to described after the direction device is driven by the steering motor
Execution module is confirmed, wherein the confirmation module judges whether the direction device is operated according to the course changing control information
Correctly, it forms one to execute instruction, for judging whether to authorize the traveling executive device to execute variation.
10. autosteerer according to claim 6, wherein the main control unit includes a confirmation module, wherein
After the direction device is driven by the steering motor, the execution state of the direction device is fed back to the confirmation and executes
Module, wherein the confirmation module according to the course changing control information, judges whether the direction device is correct by operation, is formed
One executes instruction, for judging whether to authorize the traveling executive device to execute variation.
11. autosteerer according to claim 6, wherein the direction device includes a turning-bar, wherein described
Transmission device includes a driving wheel, a driven wheel and a transmission belt, wherein the driving wheel is driveably coupled in described turn
To motor, the driven wheel is fixed in the turning-bar, drives the turning-bar, wherein the transmission belt is movably fixed
In the driving wheel and the driven wheel, power is transmitted therebetween.
12. autosteerer according to claim 6, wherein the direction device includes a turning-bar, wherein described
Transmission device includes a driving wheel, a driven wheel and an intermediate gear, wherein the driving wheel be driveably coupled in it is described
Steering motor, the driven wheel are fixed in the turning-bar, drive the turning-bar, wherein described in intermediate gear connection
Driving wheel and the driven wheel are for increasing speed ratio.
13. autosteerer according to claim 6, wherein the direction device includes a turning-bar, wherein described
Transmission device includes a driving gear and a driven gear, wherein the sliding tooth wheel is driveably coupled in the steering electricity
Machine, the driven gear are fixed in the turning-bar, drive the turning-bar, wherein the sliding tooth wheel and the driven tooth
Wheel intermeshing.
14. autosteerer according to claim 6 further comprises a mode-changeover device, wherein the mode
Switching device is installed between the steering motor and transmission device, is controlled between the steering motor and the transmission device
Power transmission, to switch the operating mode of the high-speed transplanter.
15. autosteerer according to claim 14, wherein the mode-changeover device is implemented as the steering
The motor supply device or arrangement of clutch of motor.
16. autosteerer according to claim 13 further comprises an arrangement of clutch, wherein the arrangement of clutch
Including a clutch friction plate and a clutch price fixing, wherein the clutch Moving plate is slidably housed within the sliding tooth wheel rotation
On axis axis, wherein the bottom side for being snugly fixed on the driving gear of the clutch friction, is equipped with the clutch Moving plate
Default spacing, wherein generate electromagnetic force when the clutch price fixing is powered, the clutch Moving plate and the clutch friction plate offset production
Raw frictional force, so that the driving gear and the steering motor are driveably connected as one, to realize automatic Pilot mould
Formula work；When the clutch price fixing no power, the clutch Moving plate is separated with the clutch price fixing, cause the driving gear and
The steering motor separation, the steering motor can not drive the driving gear, so that pilot steering module works.
17. autosteerer according to claim 11 further comprises an arrangement of clutch, wherein the arrangement of clutch
Including a clutch friction plate and a clutch price fixing, wherein the clutch Moving plate is slidably housed within the driving wheel shaft
On axis, wherein the bottom side for being snugly fixed on the driving wheel of the clutch friction, is equipped with default with the clutch Moving plate
Spacing, wherein generate electromagnetic force when the clutch price fixing is powered, the generation that offsets of the clutch Moving plate and the clutch friction plate rubs
Power is wiped, so that the driving wheel and the steering motor are driveably connected as one, to realize that automatic driving mode works；
When the clutch price fixing no power, the clutch Moving plate is separated with the clutch price fixing, causes the driving wheel and the steering
Motor separation, the steering motor can not drive the driving wheel, so that pilot steering module works.
18. a high-speed transplanter characterized by comprising
The autosteerer as described in claim 1 to 17 is any；With
One rice transplanter ontology automatically controls the rice transplanting wherein the autosteerer is installed in a rice transplanter ontology
The steering of machine ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910007321.7A CN109677485A (en) | 2019-01-04 | 2019-01-04 | Autosteerer and high-speed transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007321.7A CN109677485A (en) | 2019-01-04 | 2019-01-04 | Autosteerer and high-speed transplanter |
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Family
ID=66192044
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| CN201910007321.7A Pending CN109677485A (en) | 2019-01-04 | 2019-01-04 | Autosteerer and high-speed transplanter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020134217A1 (en) * | 2018-12-26 | 2020-07-02 | 丰疆智能科技股份有限公司 | Automatic steering system and automatic steering method for high-speed rice transplanter |
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Address after: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Hubei Province Applicant after: Fengjiang Intelligent Technology Co., Ltd. Address before: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Xiangyang City, Hubei Province Applicant before: Fengjiang Intelligent Agriculture Co., Ltd. |