CN109804757B - Automatic broadcasting depth regulation and control telescopic platform based on satellite navigation - Google Patents

Abstract

The invention discloses an automatic sowing depth regulation and control telescopic platform based on satellite navigation, which comprises a platform frame, an automatic guide walking mechanism, a suspension lifting device, a satellite navigation control system, a hydraulic power system, a sowing depth automatic control device, a sensor detection device and the like. The invention integrates navigation control technology, electromechanical integration technology and sensor monitoring technology. The automatic navigation technology can accurately regulate and control the sowing depth, effectively ensure the consistency of the sowing depth and meet the technical requirements of precision agriculture; the platform frame and the seeding machine form an integrated rigid connection nesting structure, so that the operation process is more stable and reliable; compared with the traditional tractor, the tractor has lighter weight, can reduce the grinding degree of wheels on soil, can reduce the operation oil consumption, and conforms to a resource-saving development mode; the seeder can carry various seeding machines with different operation mode requirements, and can complete agricultural seeding work in an unmanned state.

Description

A telescopic platform for automatic broadcast and depth control based on satellite navigation

technical field

The invention belongs to the technical field of agricultural automation, and relates to intelligent agricultural machinery equipment, in particular to a telescopic platform for automatic sowing depth regulation and control based on satellite navigation.

Background technique

As we all know, sowing is one of the important links in agricultural production, and its operation effect plays a decisive role in the high yield of crops. However, there are still many problems in mechanized sowing at this stage, which cannot fully meet the needs of modern agriculture. For example, most mechanical operations still require manual assistance, and labor cannot be fully liberated; when the surface of the field is undulating, most of the depth of sowing depends on the experience of the driver. Roughly adjusted, the adjustment accuracy and operation efficiency are not high; the planting operation is almost driven by the tractor with a large weight, the soil will be repeatedly rolled during the operation, and the degree of soil compaction will increase, resulting in soil compaction It is not conducive to the growth of crops and the recycling of soil; in addition, the combination of tractors equipped with seeding implements increases fuel consumption, which is not conducive to resource conservation and environmental protection.

In recent years, with the rapid development of information technology, automatic navigation technology has been widely used in agricultural production activities such as farming and sowing, field management and crop harvesting. The technology uses various sensors or positioning systems to obtain the current coordinates and attitude information of agricultural machinery (agricultural vehicles or agricultural implements), and makes it walk along the planned target path through program control to complete field operation tasks. The use of automatic navigation technology can effectively liberate the single repetitive work of the driver, reduce the manual technical operation requirements and enhance the operation efficiency; in addition, the automatic navigation technology can also accurately control the seeding depth, effectively ensure the consistency of the seeding depth, and meet the technical requirements of precision agriculture.

SUMMARY OF THE INVENTION

In order to overcome a series of defects existing in the prior art, the purpose of the present invention is to integrate the navigation control technology, the mechatronics technology and the sensor monitoring technology to provide an automatic broadcast depth control and retractable platform, which can be operated in an unmanned state. The agricultural seeding work is completed, and various problems existing in the prior art are effectively solved.

Different from the traditional tractor's three-point suspension connection, the frame of the platform of the present invention and the seeding implement are integrated into a nested rigid connection structure, which makes the operation process more stable and reliable; The compaction of the soil can also reduce the fuel consumption of the operation, which is in line with the development concept of resource conservation.

In order to achieve the above object, the present invention provides the following technical solutions:

A telescopic platform for automatic broadcast depth regulation based on satellite navigation, including a platform frame, an automatic guiding walking mechanism, a suspension lifting device, a satellite navigation control system, and a hydraulic power system, the platform frame includes a platform frame main beam 14 and Two platform frame side beams 16; the automatic guide running mechanism includes wheels 1 and wheel guide frames 2; the suspension lifting device includes a lifting guide rail and a single beam suspension lifting device; the hydraulic power system includes a hydraulic pump 20, Diesel engine 26 , hydraulic reversing valve 28 , single piston rod hydraulic cylinder 18 and main beam hydraulic cylinder; the satellite navigation control system includes controller 5 , satellite antenna 22 , signal receiver 24 and vehicle angle sensor 17 .

Specifically, there are two main beam hydraulic cylinders, which are respectively disposed on two end faces of the platform frame main beam 14 , and the platform frame main beam 14 is connected to all the main beam hydraulic cylinders through the two main beam hydraulic cylinders. The two platform frame side beams 16 are fixedly connected.

Specifically, the hydraulic reversing valve 28 responds to the program command of the controller 5 to distribute the oil circuit, pushes and pulls the main beam hydraulic cylinder on the main beam 14 of the platform frame to perform telescopic movement, thereby driving the The platform frame side beams 16 are moved away or closer to adjust the working width of the platform frame.

Specifically, the signal receiver 24 obtains the signal received by the satellite antenna 22, and processes the signal via the controller 5 to extract the vertical height of the satellite antenna 22 to the ground and the height of the satellite antenna 22 to the ground. The difference between the vertical heights of the trench bottom can be used to obtain the real-time sowing depth value during the operation.

Specifically, the vehicle angle sensor 17 located on the wheel guide frame 2 transmits the deflection signal detected by the wheel 1 to the controller 5, and by changing the valve body position of the hydraulic reversing valve 28, The flow direction of the oil circuit is regulated, and the single-piston rod hydraulic cylinder 18 is mobilized to perform telescopic motion, thereby driving the wheel guide frame 2 to control the rotation of the wheel 1 to change the steering angle.

Specifically, the lifting guide rail includes a guide rail base 11 , a sliding rail 8 , a rail slider 27 , a screw shaft 10 , a guide rail top cover 9 , a guide rail bottom cover, a nut fixing seat, and a workbench 12 .

Specifically, the worktable 12 is provided with a first hooking and fixing plate 7 and a second hooking and fixing plate 13, which are fixed on the worktable 12 (the first hanging position) with the planting frame 31 of the planting implement. catch.

Specifically, the single-beam suspension hoisting device includes a first hook fixing seat 3 , a second hook fixing seat 15 , a hook chute 34 , a hook nut 35 , a hook screw 37 and a suspension hook 38 .

Specifically, the hook nut 35 slides along the hook chute 34 to adjust the second hanging position, and the hanging hook 38 is released when aligning with the installation position of the hanging support frame 33 of the seeding implement, Hook up the planter.

Specifically, the controller 5 compares the deviation between the actual sowing depth value and the set sowing depth value, and sends a regulation signal to the suspension lifting device, and the hydraulic power system responds to the command of the controller 5 to adjust the hydraulic pressure The oil feed distance, so as to drive the lifting guide rail to control the up and down adjustment of the seeding implement to change the seeding depth.

The present invention has the following beneficial effects:

1) The present invention integrates navigation control technology, mechatronics technology and sensor monitoring technology, which can promote the integration of agricultural machinery operation and intelligent technology application, improve the operation efficiency and reliability of agricultural equipment, and promote the development of agricultural intelligence and informatization. have important practical significance;

2) The present invention can be equipped with a variety of seeding implements required by different operation modes, can complete agricultural seeding work in an unmanned state, liberate the driver from single repetitive labor, reduce manual technical operation requirements, and enhance operation efficiency;

3) The automatic navigation technology of the present invention can precisely control the seeding depth during the operation, effectively ensure the consistency of the seeding depth, and meet the technical requirements of precision agriculture;

4) Different from the traditional tractor three-point suspension connection mode, the platform frame of the present invention forms an integrated rigid connection nesting structure with the seeding implement, which can make the operation process more stable and reliable;

5) The weight of the whole machine of the present invention is lighter than that of the traditional tractor, which can not only reduce the rolling degree of the wheel on the soil, but also reduce the operation fuel consumption, and conform to the resource-saving development mode.

Description of drawings

Fig. 1 is the front view of the telescopic platform of automatic broadcast depth regulation and control based on satellite navigation of the present invention;

Fig. 2 is the right side view of the telescopic platform of automatic broadcast depth regulation and control based on satellite navigation of the present invention;

Fig. 3 is the sectional view of the automatic broadcast depth control telescopic platform based on satellite navigation of the present invention;

The reference numerals are described as:

1-wheel, 2-wheel guide frame, 3-first hook fixing seat, 4-connecting flange 5-controller, 6-satellite antenna plate, 7-first hook fixing plate, 8-slide rail, 9 - Guide rail top cover, 10- Screw shaft, 11- Guide rail base, 12- Work table, 13- Second hook fixing plate, 14- Platform frame main beam, 15- Second hook fixing seat, 16- Platform frame side beam, 17-car angle sensor, 18-single piston rod hydraulic cylinder, 20-hydraulic pump, 21-power box, 22-satellite antenna, 23-radio receiving antenna, 24-signal receiver, 25-engine Radiator, 26-diesel engine, 27-track slider, 28-hydraulic reversing valve, 31-planting rack, 33-hook support frame, 34-hook chute, 35-hook nut, 37-hook Hook screw, 38-hanging hook.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments and directional words described below with reference to the accompanying drawings are all exemplary, and are intended to be used to explain the present invention, but should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The automatic broadcast depth control telescopic platform based on satellite navigation of the present invention is an agricultural machinery operation platform integrating satellite navigation unmanned driving system, mechatronics technology and sensor monitoring technology, and can be recorded, stored and exported through the vehicle-mounted display terminal Operation data, real-time monitoring and effect analysis of the whole process of operation.

The following is an example of a preferred embodiment of the present invention, that is, a double-row corn seeding implement is used as an example, and the specific implementation of the present invention will be described in detail with reference to the accompanying drawings 1-3.

As shown in Figure 1-3, it shows the overall structure of the telescopic platform for automatic broadcast depth control based on satellite navigation. The platform mainly includes a platform frame, an automatic guiding walking mechanism, a suspension lifting device, a satellite navigation control system, a hydraulic power system, a broadcast depth automatic control device, a sensor detection device, and the like.

The platform frame has a concave structure as a whole, and includes a platform frame main beam 14 extending laterally, and the two ends of the platform frame main beam 14 are respectively fixed to the platform frame side beams 16 .

The self-guided traveling mechanism is located on the lower side of the platform frame as a whole, and is generally arranged in a left-right symmetrical structure, including wheels 1 , wheel guide frames 2 and connecting flanges 4 arranged in sequence from bottom to top.

The suspension lifting device includes a lifting guide rail installed vertically at the center position (the first suspension position) of the main beam 14 of the platform frame and a single beam suspension lifting device installed at the second suspension position.

The hydraulic power system is located on the upper side of the platform frame as a whole, including a hydraulic pump 20, a diesel engine 26, an engine radiator 25, a hydraulic reversing valve 28, a single-piston rod hydraulic cylinder 18 and a main beam hydraulic cylinder, etc., The main beam hydraulic cylinder is arranged on the platform frame main beam 14, and the platform frame main beam 14 is fixedly connected to the platform frame side beam 16 through the main beam hydraulic cylinder.

The satellite navigation control system is located on the upper end of the platform frame as a whole, and includes a controller 5, a satellite antenna plate 6, a satellite antenna 22, a radio receiving antenna 23, a signal receiver 24, a vehicle angle sensor 17, and the like.

In general, the controller 5 processes the received signals and converts them into program commands for various moving parts, that is, the diesel engine 26 drives the hydraulic pump 20 to make the hydraulic oil flow through the hydraulic reversing valve 28 to distribute the oil circuit and deliver To each motion execution component, in order to realize the functions such as the angle steering of the wheel 1 and the hooking and lifting of the implement.

Specifically, the hydraulic reversing valve 28 is arranged at the central position of the main beam 14 of the platform frame, which is carried out by responding to the program command of the controller 5 to distribute the oil circuit, pushing and pulling the main beam hydraulic cylinder on the main beam 14 of the platform frame. The telescopic movement further drives the side beams 16 of the platform frame to move away from or approach, so as to adjust the working width of the platform frame.

Specifically, a controller 5, a satellite antenna 22, a radio receiving antenna 23 and a signal receiver 24 are installed around the power box 21 to receive and process satellite signals.

The automatic control system for broadcasting depth is based on the principle of GNSS-R signal inversion. The signal received by the satellite antenna 22 is obtained through the signal receiver 24 installed around the power box 21, and the signal is processed by the controller 5 to extract the satellite antenna 22. The vertical height to the surface and the vertical height from the satellite antenna 22 to the bottom of the trench, and the difference Δh between the two can be calculated to obtain the real-time broadcast depth value during the operation, and transmit the signal to the display screen to record the broadcast depth change. process.

Specifically, when the path deviates, the vehicle angle sensor 17 located on the wheel guide frame 2 detects the deflection signal of the wheel 1 and transmits the relevant information to the controller 5. By changing the valve body position of the hydraulic reversing valve 28, The flow direction of the oil circuit is regulated, and then the single-piston rod hydraulic cylinder 18 is mobilized to perform telescopic motion, thereby driving the wheel guide frame 2 to control the rotation of the wheel 1 to change the steering angle.

Specifically, the lifting guide rail of the suspension lifting device mainly includes a guide rail base 11 , a sliding rail 8 , a rail slider 27 , a screw shaft 10 , a guide rail top cover 9 , a guide rail bottom cover, a nut fixing seat, and a workbench 12 etc., the worktable 12 is provided with a first hanging fixing plate 7 and a second hanging fixing plate 13, which are fixedly connected with the seeding frame 31 of the seeding implement on the worktable 12 (the first hanging position) The single-beam suspension lifting device mainly includes a first hook fixing seat 3, a second hook fixing seat 15, a hook chute 34, a hook nut 35, a hook screw 37 and a suspension hook 38, etc., The hanger nut 35 can slide along the hanger chute 34 to adjust the second hanging position. When aligning with the installation position of the hanger support frame 33 of the seeding implement, release the hanger hook 38, so as to facilitate the planting. The implement is hooked and fixed.

Specifically, the operator inputs the set sowing depth value on the display screen, the controller 5 will send a control signal to the suspension lifting device by comparing the deviation between the actual sowing depth value and the set sowing depth value, and the The hydraulic power system responds to the command of the controller 5 to adjust the hydraulic oil feeding distance, thereby driving the lifting guide rail to control the up and down adjustment of the seeding implement to change the sowing depth, so that the platform frame and the seeding implement form an integrated nested structure. The connection method can make the operation process more stable and reliable.

In addition to the double-row corn planter of the preferred embodiment of the present invention, other crop planters such as wheat, soybeans, and peanuts can also be attached, with good versatility; according to the actual operation requirements, the platform can also be adjusted according to the change of the number of sowing rows The width of the frame can be adapted to the needs of different working widths; the use of engineering lifting hooks as a component of the platform hooking device, and the use of other hooking devices such as electric hoists are equally protected by this patent.

The present invention can carry out agricultural seeding work in an unmanned state, and can adjust the pose state in real time according to the actual operation conditions in the field, so as to ensure accurate row alignment and consistent seeding depth during the mechanized seeding process, thereby improving seeding accuracy;

The platform can be attached to a variety of planting tools with different operating requirements, and the matching size of the platform frame can be adjusted according to different operating widths, and the operating tools can be accurately nested.

The platform uses GNSS-R technology to invert the seeding depth, analyzes the GNSS signal data collected by the satellite receiving antenna through the module, extracts the height component and establishes the seeding depth calculation model, and obtains the distance between the satellite antenna and the soil surface and the satellite antenna and the bottom of the trench. The height difference Δh finally realizes the inversion of the seeding depth.

In the actual sowing operation of the platform, the sowing depth value can be regulated by the controller 5 according to the fluctuation of the ground surface, so that the sowing depth value in the whole sowing process can be controlled within a certain error range, so as to ensure the basic consistency of the sowing depth during the operation. .

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. An automatic sowing depth regulation and control telescopic platform based on satellite navigation, which comprises a platform frame, an automatic guiding walking mechanism, a suspension lifting device, a satellite navigation control system and a hydraulic power system, and is characterized in that,

the platform frame comprises a platform frame main beam (14) and two platform frame side beams (16);

the automatic guiding walking mechanism comprises wheels (1) and a wheel guide frame (2);

the suspension lifting device comprises a lifting guide rail and a single-beam suspension lifting device;

the hydraulic power system comprises a hydraulic pump (20), a diesel engine (26), a hydraulic reversing valve (28), a single-piston-rod hydraulic cylinder (18) and a main beam hydraulic cylinder;

the satellite navigation control system comprises a controller (5), a satellite antenna (22), a signal receiver (24) and a vehicle angle sensor (17); the two main beam hydraulic cylinders are respectively arranged on two end surfaces of the main beam (14) of the platform frame, and the main beam (14) of the platform frame is fixedly connected with the two side beams (16) of the platform frame through the two main beam hydraulic cylinders; the hydraulic directional valve (28) responds to a program command of the controller (5) to distribute oil paths, pushes and pulls the main beam hydraulic cylinder on the main beam (14) of the platform frame to perform telescopic motion, and further drives the side beam (16) of the platform frame to be far away or close, so that the working width of the platform frame is adjusted;

the signal receiver (24) obtains a signal received by the satellite antenna (22), the signal is processed by the controller (5) to extract a difference value between the vertical height from the satellite antenna (22) to the ground surface and the vertical height from the satellite antenna (22) to the bottom of a trench ditch, a real-time broadcast depth value in the operation process is obtained, the vehicle angle sensor (17) on the wheel guide frame (2) transmits a detected deflection signal of the wheel (1) to the controller (5), the flow direction of an oil way is regulated and controlled by changing the position of a valve body of the hydraulic reversing valve (28), and then the single piston rod hydraulic cylinder (18) is regulated and moved to extend and retract, so that the wheel guide frame (2) is driven to control the rotation of the wheel (1) to change the steering angle.

2. The satellite navigation-based automatic broadcasting depth control telescopic platform according to claim 1, wherein the lifting guide rail comprises a guide rail base (11), a sliding rail (8), a rail slider (27), a screw shaft (10), a guide rail top cover (9) and a workbench (12).

3. The satellite navigation-based automatic sowing depth control telescopic platform according to claim 2, wherein the workbench (12) is provided with a first hanging fixed plate (7) and a second hanging fixed plate (13) which are fixedly connected with a first hanging position of a sowing frame (31) of a sowing machine.

4. The satellite navigation-based automatic broadcasting depth control telescopic platform according to claim 3, wherein the single-beam hanging and hoisting device comprises a first hook fixing seat (3), a second hook fixing seat (15), a hook sliding groove (34), a hook nut (35), a hook screw rod (37) and a hanging hook (38).

5. The satellite navigation-based automatic sowing depth control telescopic platform according to claim 4, wherein the hook nut (35) slides along the hook chute (34) to adjust the second hanging position, and when the mounting position of the hanging support frame (33) of the sowing implement is aligned, the hanging hook (38) is released to hook and fix the sowing implement.

6. The automatic seeding depth regulation telescopic platform based on satellite navigation is characterized in that the controller (5) compares the deviation between the actual seeding depth value and the set seeding depth value and sends a regulation signal to the suspension lifting device, and the hydraulic power system responds to the instruction of the controller (5) to adjust the hydraulic oil feeding distance so as to drive the lifting guide rail to control the seeding machine to adjust up and down to change the seeding depth.

Images