CN110687911A - Intelligent automatic aligning device for agricultural machinery - Google Patents
Intelligent automatic aligning device for agricultural machinery Download PDFInfo
- Publication number
- CN110687911A CN110687911A CN201910991004.3A CN201910991004A CN110687911A CN 110687911 A CN110687911 A CN 110687911A CN 201910991004 A CN201910991004 A CN 201910991004A CN 110687911 A CN110687911 A CN 110687911A
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- Prior art keywords
- agricultural machinery
- farmland
- linear detector
- processing unit
- central processing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses an intelligent agricultural machinery automatic alignment device, which comprises a linear detector, a GPS positioning module, an infrared sensing device, a display screen, a farmland mapper and a central processing unit which are arranged on an agricultural machine, wherein the linear detector and the GPS positioning module are electrically connected with each other, the linear detector is used for detecting whether the agricultural machine runs along a straight line, the infrared sensing device comprises four groups of infrared sensors arranged around the agricultural machine, the infrared sensors are used for detecting obstacles around the agricultural machine and avoiding surrounding obstacles, the farmland mapper is used for collecting and detecting the area and shape information of the farmland, and the central processing unit is used for receiving the information collected by the farmland mapper and the GPS positioning module and processing related information. The invention adopts the combination of the linear detector, the GPS module, the infrared sensor and other structures, simplifies the automatic alignment structure of the agricultural machinery, has simple structure and reduces the production cost.
Description
Technical Field
The invention relates to the field of automatic alignment, in particular to an intelligent automatic alignment device for agricultural machinery.
Background
China is a big agricultural country in the world, ridge culture land is widely and importantly applied, as agricultural mechanization and automation degree are promoted, more automatic agricultural equipment is applied to agricultural machinery operation, when the agricultural machine working under the ridge culture condition goes forward along the ridge for working, the running direction can deflect due to the problems of ridge culture topography, manual operation and the like, the correction of such directional deflection is mostly performed by the judgment of the driver, sometimes causes the problems of inaccurate judgment, misoperation, etc., damages the ridge culture land, the driver repeatedly operates and corrects the walking deflection, the attention is highly concentrated, the labor intensity and fatigue of drivers are increased, the existing accurate positioning and automatic driving system is expensive, high in maintenance and repair cost, complex in structure and complex in operation, is not suitable for small and medium-sized machines, and is difficult to popularize in ridge culture mechanized production. Therefore, an intelligent agricultural machinery automatic row aligning device becomes a problem to be solved urgently in the whole society.
Disclosure of Invention
The invention aims to solve the technical problems that an automatic driving system in the prior art is expensive and inconvenient to popularize and the like.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides an automatic device of going of intelligence agricultural machinery, is including setting up sharp detector, GPS orientation module on agricultural machinery, infrared ray sensing device, display screen, farmland surveying ware and central processing unit, electric connection between sharp detector, GPS orientation module, infrared ray sensing device, farmland surveying ware and the central processing unit, the sharp detector is used for detecting whether the agricultural machinery is traveling along the straight line, infrared ray sensing device includes four sets of infrared ray sensors that set up around the agricultural machinery, infrared ray sensor is used for detecting the barrier around the agricultural machinery for avoid around the barrier, the farmland surveying ware is used for gathering and detecting the area and the shape information in farmland, central processing unit is used for receiving the information that farmland surveying ware and GPS orientation module gathered, carries out relevant information's processing for the demonstration of position.
Further, the linear detector is arranged in the middle of the front end of the agricultural machine.
Further, the farmland mapper is adapted to be disposed over a farmland.
Furthermore, a camera is connected to the central processing unit and used for collecting image information around the agricultural machinery.
Further, the linear detector is connected with a controller, and the controller is used for controlling the direction adjustment of the agricultural machinery.
Further, the linear detector comprises a first cross rod, a second cross rod and an angle sensor, wherein the first cross rod and the second cross rod are integrally formed with the agricultural machine, the second cross rod is fixedly connected with the first cross rod, the angle sensor is used for detecting an angle between the first cross rod and the second cross rod, and the angle sensor is used for detecting an angle between the first cross rod and the second cross rod.
Furthermore, the angle sensor is used for being electrically connected with the central processing unit and the controller.
Further, electric connection between display screen and farmland surveying ware, GPS orientation module and the central processing unit for show the area in farmland, the positional information at shape and agricultural machinery place.
Further, the display screen is an LED display screen.
Further, the first cross rod and the agricultural machine are on the same straight line.
Compared with the prior art, the invention has the advantages that: the intelligent automatic aligning device for the agricultural machinery effectively solves the problems in the prior art, and has the advantages of strong practicability, excellent performance and the like; the invention adopts the combination of the linear detector, the GPS module, the infrared sensor and other structures, simplifies the automatic alignment structure of the agricultural machinery, has simple structure and reduces the production cost; the arrangement of the infrared sensor can effectively help the agricultural machinery to avoid obstacles; the GPS positioning module can display the position of the agricultural machinery in real time; due to the arrangement of the display screen, the operation of the agricultural machine is more visual; the linear detector is simple in structure and more accurate in detection.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent agricultural machinery automatic alignment device of the invention;
fig. 2 is a schematic block diagram of an intelligent agricultural machinery automatic alignment device.
As shown in the figure: 1. the line detector, 2, GPS orientation module, 3, display screen, 4, farmland surveying ware, 5, central processing unit, 6, camera, 7, controller, 8, first horizontal pole, 9, second horizontal pole, 10, angle sensor, 11, infrared ray sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present invention will be described in detail with reference to the accompanying drawings.
The invention provides an intelligent agricultural machinery automatic alignment device, which comprises a linear detector 1, a GPS positioning module 2, an infrared sensing device, a display screen 3, a farmland mapper 4 and a central processing unit 5 which are arranged on an agricultural machinery, wherein the linear detector 1, the GPS positioning module 2, the infrared sensing device, the farmland mapper 4 and the central processing unit 5 are electrically connected, the linear detector 1 is used for detecting whether the agricultural machinery runs along a straight line, the infrared sensing device comprises four groups of infrared sensors 11 arranged around the agricultural machinery, the infrared sensors 11 are used for detecting obstacles around the agricultural machinery and avoiding surrounding obstacles, the farmland mapper 4 is used for acquiring and detecting the area and shape information of the farmland, the central processing unit 5 is used for receiving the information acquired by the farmland mapper 4 and the GPS positioning module 2, and processing the related information for displaying the position.
The linear detector 1 is arranged in the middle of the front end of the agricultural machine. The field mapper 4 is adapted to be positioned over a field. The central processing unit 5 is connected with a camera 6, and the camera 6 is used for collecting image information around the agricultural machinery. The linear detector 1 is connected with a controller 7, and the controller 7 is used for controlling the direction adjustment of the agricultural machinery. Linear detector 1 includes first horizontal pole 8 with agricultural machinery integrated into one piece, fixed connection's second horizontal pole 9 and the angle sensor 10 that is used for detecting, angle sensor 10 is used for detecting the angle that sets up between first horizontal pole 8, the second horizontal pole 9. The angle sensor 10 is used for electrically connecting with the central processing unit 5 and the controller 7. And the display screen 3 is electrically connected with the farmland surveying instrument 4, the GPS positioning module 2 and the central processing unit 5 and is used for displaying the area and the shape of the farmland and the position information of the agricultural machinery. The display screen 3 is an LED display screen. The first cross rod 8 and the agricultural machine are on the same straight line.
The specific implementation process of the intelligent agricultural machinery automatic alignment device is as follows: when the agricultural machinery is used, whether the agricultural machinery runs in a straight line or not is detected through the straight line detector 1 on the agricultural machinery when the agricultural machinery runs, the angle between the first cross rod 8 and the agricultural machinery is measured through the angle measurer 10, the direction of the agricultural machinery is adjusted through the controller 7 and the central processor 5, and when the first cross rod 8 and the second cross rod 9 are in a parallel state, the direction adjustment of the agricultural machinery is completed; in the operation process of the agricultural machine, the infrared sensors 11 arranged on the periphery can help the intelligent agricultural machine to avoid certain obstacles in the operation process; the farmland surveying instrument 4 can accurately detect the corresponding shape, area and other related information of the farmland; the GPS positioning module can display the position of the agricultural machinery in real time; the invention has low manufacturing cost and simple structure, and is suitable for popularization and use in society.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an automatic device of going of intelligence agricultural machinery which characterized in that: the agricultural machinery land obstacle avoidance system comprises a linear detector (1), a GPS positioning module (2), an infrared sensing device, a display screen (3), a farmland mapper (4) and a central processing unit (5) which are arranged on an agricultural machinery, wherein the linear detector (1), the GPS positioning module (2), the infrared sensing device, the farmland mapper (4) and the central processing unit (5) are electrically connected, the linear detector (1) is used for detecting whether the agricultural machinery runs along a straight line or not, the infrared sensing device comprises four groups of infrared sensors (11) arranged around the agricultural machinery, the infrared sensors (11) are used for detecting obstacles around the agricultural machinery and avoiding surrounding obstacles, the farmland mapper (4) is used for collecting and detecting the area and shape information of the farmland, and the central processing unit (5) is used for receiving the information collected by the farmland mapper (4) and the GPS positioning module (2), and processing the related information for displaying the position.
2. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the linear detector (1) is arranged in the middle of the front end of the agricultural machine.
3. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the farmland surveying instrument (4) is arranged above the farmland.
4. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the central processing unit (5) is connected with a camera (6), and the camera (6) is used for collecting image information around the agricultural machinery.
5. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the linear detector (1) is connected with a controller (7), and the controller (7) is used for controlling the direction adjustment of the agricultural machinery.
6. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the linear detector (1) comprises a first cross rod (8) integrally formed with the agricultural machinery, a second cross rod (9) fixedly connected with the agricultural machinery and an angle sensor (10) used for detecting, wherein the angle sensor (10) is used for detecting an angle between the first cross rod (8) and the second cross rod (9).
7. The intelligent agricultural machinery automatic row aligning device according to claim 6, wherein: the angle sensor (10) is used for being electrically connected with the central processing unit (5) and the controller (7).
8. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: electric connection between display screen (3) and farmland surveying ware (4), GPS orientation module (2) and central processing unit (5) for show the area in farmland, the positional information at shape and agricultural machinery place.
9. The intelligent agricultural machinery automatic row aligning device according to claim 1, characterized in that: the display screen (3) is an LED display screen.
10. The intelligent agricultural machinery automatic row aligning device according to claim 6, wherein: the first cross rod (8) and the agricultural machine are on the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910991004.3A CN110687911A (en) | 2019-10-18 | 2019-10-18 | Intelligent automatic aligning device for agricultural machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910991004.3A CN110687911A (en) | 2019-10-18 | 2019-10-18 | Intelligent automatic aligning device for agricultural machinery |
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| CN110687911A true CN110687911A (en) | 2020-01-14 |
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| CN201910991004.3A Pending CN110687911A (en) | 2019-10-18 | 2019-10-18 | Intelligent automatic aligning device for agricultural machinery |
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Citations (5)
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|---|---|---|---|---|
| EP3414982A1 (en) * | 2017-06-16 | 2018-12-19 | PÖTTINGER Landtechnik GmbH | Method and device for the identification of animals in the machine track of an agricultural field cultivating machine |
| CN109164808A (en) * | 2018-09-07 | 2019-01-08 | 农业部南京农业机械化研究所 | A kind of intelligent agricultural machinery automatic aligning device |
| WO2019124225A1 (en) * | 2017-12-18 | 2019-06-27 | 株式会社クボタ | Agricultural vehicle, work vehicle collision warning system, and work vehicle |
| WO2019127345A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Agricultural machine control method and device, and agricultural machine |
| CN110243372A (en) * | 2019-06-18 | 2019-09-17 | 北京中科原动力科技有限公司 | Intelligent agricultural machinery navigation system and method based on machine vision |
-
2019
- 2019-10-18 CN CN201910991004.3A patent/CN110687911A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3414982A1 (en) * | 2017-06-16 | 2018-12-19 | PÖTTINGER Landtechnik GmbH | Method and device for the identification of animals in the machine track of an agricultural field cultivating machine |
| WO2019124225A1 (en) * | 2017-12-18 | 2019-06-27 | 株式会社クボタ | Agricultural vehicle, work vehicle collision warning system, and work vehicle |
| WO2019127345A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Agricultural machine control method and device, and agricultural machine |
| CN109164808A (en) * | 2018-09-07 | 2019-01-08 | 农业部南京农业机械化研究所 | A kind of intelligent agricultural machinery automatic aligning device |
| CN110243372A (en) * | 2019-06-18 | 2019-09-17 | 北京中科原动力科技有限公司 | Intelligent agricultural machinery navigation system and method based on machine vision |
Non-Patent Citations (4)
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| 吴东明等: "基于GPS和机器视觉的自主导航定位农机设备研究", 《农机化研究》, no. 02, 1 February 2018 (2018-02-01) * |
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