CN110809951A - Full-hydraulic crawler-type unmanned rape direct seeder - Google Patents

Abstract

The invention discloses a full-hydraulic crawler-type unmanned rape seeding machine, which relates to the technical field of agricultural equipment and includes a chassis, a hydraulic device, a seeding device and a control device. The live broadcast machine adopts a rubber crawler chassis and is driven by a hydraulic motor. The chassis is equipped with a hydraulic oil tank, the hydraulic device and the control device are fixed on the oil tank, and the seeding device is installed at the rear of the body. The live broadcast machine adopts hydraulic pressure as the power to realize the lifting and lowering of the chassis walking, steering and seeding device. The unmanned control system constructed by software control system, electronically controlled hydraulic valve group, satellite positioning receiver, visual sensor, electronic compass, photoelectric sensor, data acquisition card and signal processing module can automatically complete the geographic information of the field and the location of the machine. Information collection, path planning and tracking, field U-turn and obstacle avoidance, seeding device lifting and speed-seeking and other processes. The invention adopts a modular design, has a compact structure, is light and flexible, has good field passability and is easy to realize automatic control.

Description

A fully hydraulic crawler type unmanned rapeseed direct seeding machine

technical field

The invention relates to the technical field of agricultural equipment, in particular to a full hydraulic crawler type unmanned rape seeding machine.

Background technique

China's rape planting area ranks among the top in the world, with about 100 million mu of annual planting. Among them, winter rapeseed accounts for more than 85%, and the middle and lower reaches of the Yangtze River are the main producing areas of winter rapeseed in my country. In the middle and lower reaches of the Yangtze River, the previous crops of winter rapeseed are mostly rice, and the soil is hard and sticky, while traditional rapeseed seeding machinery is generally cumbersome, and the field is prone to slipping and subsidence. Factors such as small and scattered fields severely limit operations. efficiency, resulting in a low level of mechanized sowing of rapeseed. Traditional rapeseed seeders cannot meet the requirements of rapeseed seeding in this area. With the innovation and development of agricultural technology, small and lightweight rapeseed direct seeding machines with good field passability have appeared, but such seeders usually need to be controlled by the driver. As well as the operation process, it is not only difficult to operate continuously for a long time, but also the seeding effect depends to a large extent on the driver's experience, which is difficult to guarantee. This production model will consume a lot of labor costs. Under the current situation of the shortage of rural laborers, it is very unfavorable for the intelligent and industrialized development of rapeseed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a fully hydraulic crawler type unmanned rapeseed direct seeding machine to solve the problems existing in the prior art. The whole adopts modular design, has a compact structure, is light and flexible, has good field passability and is easy to realize automatic control. The whole machine runs smoothly and has a high degree of automation, which can meet the requirements of unmanned automatic operation of rapeseed live broadcast.

For achieving the above object, the present invention provides the following scheme:

The invention provides a fully hydraulic crawler-type unmanned rapeseed direct seeding machine, which can realize the rapeseed direct seeding operations such as ditching, sowing, and soil covering under unattended conditions, saves time, labor, and efficiency, and highly liberates labor resources in agricultural production; A car body, the car body includes a chassis, a hydraulic device, a seeding device and a control device; the chassis is symmetrically provided with driving wheels on both sides, and the driving wheels on the same side are covered and connected by a rubber track; the hydraulic The device includes a hydraulic oil tank, the hydraulic oil tank is fixedly arranged on the beam of the chassis, and the hydraulic oil tank is located between the two rubber tracks; the top of the hydraulic oil tank is fixedly provided with a vehicle body platform; the hydraulic oil tank A hydraulic device is installed on the front and rear sides of the vehicle body and on the vehicle body platform; the rear part of the vehicle body is connected with the sowing device through a suspension device; the control device is installed on the vehicle body platform.

Optionally, the hydraulic device further includes a hydraulic station, a hydraulic drive device and a hydraulic lifting device; the hydraulic station includes the hydraulic oil tank mounted on the chassis, a gasoline engine mounted on the vehicle body platform, A battery, a hydraulic pump, a pipeline filter and a valve group installed on the front side plate of the hydraulic oil tank; the valve group includes an oil circuit block and an electromagnetic relief valve installed on the oil circuit block, a first Proportional reversing valve, second proportional reversing valve, electromagnetic reversing valve, two-way throttle valve, first hydraulic lock, second hydraulic lock, third hydraulic lock, pressure gauge and pressure measuring joint; The gasoline engine is driven by a pulley, and the oil inlet of the hydraulic pump is connected to the hydraulic oil tank through an oil suction hard pipe; the pipeline filter is installed between the hydraulic pump and the valve group, and the pipeline filter The two ends are respectively connected with the oil outlet of the hydraulic pump and the main oil inlet in the valve group through hoses; the oil circuit block is fixedly connected with the hydraulic oil tank, and the oil return port of the oil circuit block It communicates with the type hole on the tank wall of the hydraulic oil tank. The oil circuit block is fixedly connected with the oil tank, and the hydraulic oil returns to the oil tank through the oil return port of the oil circuit block and the shaped hole on the oil tank wall to form an oil return circuit.

Optionally, the hydraulic drive device includes two hydraulic motors symmetrically mounted on the chassis, and the output shafts of the two hydraulic motors are respectively connected with the driving wheels on both sides of the chassis; The hydraulic motor is provided with a first oil inlet, and the other hydraulic motor is provided with a second oil inlet, and the first oil inlet is exchanged with the oil circuit block and the first ratio through a hard pipe. The direction valves are connected in sequence, the second oil inlet is connected to the oil circuit block and the second proportional reversing valve in sequence through a hard pipe, and the external oil drain ports of the two hydraulic motors are respectively connected to each other through a hard pipe. the hydraulic oil tank. The two hydraulic motors change the hydraulic oil flow at the oil inlet by controlling the first proportional reversing valve and the second proportional reversing valve, thereby controlling the rotational speed of the two tracks.

Optionally, the hydraulic lifting device includes a lifting cylinder, an upper rod, a left lower rod and a right lower rod; the lifting cylinder is arranged on the rear side of the hydraulic oil tank, and one end of the lifting cylinder is hinged with the rear side plate of the oil tank , the other end is hinged with the upper pull rod, the oil port of the oil cylinder plug cavity of the lifting oil cylinder is connected to the valve group through a hose, and the oil port of the oil cylinder rod cavity of the lifting oil cylinder is connected to the hydraulic oil tank through a hose; the One end of the upper pull rod is hinged with the L-shaped bracket, and the other end is hinged with the top of the planting device. The L-shaped bracket is fixed at the rear of the vehicle body platform; one end of the left and right pull-down rods is connected to the rear of the fuel tank The side plates are hinged respectively, and the other end is hinged with the bottom of the planting device; the hinge point between the upper pull rod and the L-shaped bracket and the hinged connection between the left and right pull down rods and the rear side plate of the fuel tank The points lie on the same plane.

Optionally, the planting device includes a planting frame provided with a ground wheel, a hanger connected with the hydraulic lifting device, an opener support beam provided with a plurality of openers, and one end of the opener is installed on the opener. The sowing rack is fixedly connected to the hanger frame; the opener support beam is fixedly connected to the sowing rack; the opener is provided with a soil covering plate, and the opener It is fixedly connected with one end of the adjusting rod; the adjusting rod is provided with a plurality of pin holes, which are connected with the support beam of the opener, and can be adjusted up and down with the rod sleeve on the support beam of the opener; it also includes installation A multi-row centrifugal seed metering device on the sowing rack, the other end of the seed guiding tube is connected with the seed outlet of the centrifugal seed metering device.

Optionally, the control device includes a vehicle-mounted software control system, a control box, a satellite positioning receiver, an electronic compass and a visual sensor installed on the vehicle body platform; the software control system provides hardware communication, control execution, algorithm support and human The control box, the visual sensor, the satellite positioning receiver and the electronic compass are respectively connected with the software control system through the USB and the serial port; the control box includes a data acquisition card, a signal conditioning module and a power supply; The encoder on the motor and the speed-dependent seed metering system installed on the seeding frame; the encoder is connected with the small shaft of the hydraulic motor to collect the rotational speed of the hydraulic motor; the speed-dependent seed metering system includes a coaxial installation with the ground wheel. The photoelectric code disc, the photoelectric sensor fixed on the seeding frame, the battery and the DC motor installed on the sowing frame, the photoelectric code disc and the photoelectric sensor collect the rotation speed of the ground wheel, and the output shaft of the DC motor drives the centrifugal seed metering device for seeding; The encoder and the seed metering system with speed are electrically connected with the control box; the control valve in the valve group is electrically connected with the control box.

Optionally, the hydraulic oil tank has a cuboid structure, the hydraulic oil tank is provided with a liquid level thermometer, and the vehicle body platform includes square steel plates welded on both sides of the top of the hydraulic oil tank and the top of the hydraulic oil tank. .

The present invention has achieved the following technical effects with respect to the prior art:

The fully hydraulic crawler-type unmanned rapeseed seeding machine provided by the present invention adopts a crawler-type chassis, and has the advantages of good traction and adhesion performance, low vibration, low subsidence rate, in-situ turning, etc. , the soil disturbance after ploughing is small, the layout is compact, and it is suitable for rapeseed seeding operations in different field sizes and terrain environments, especially in hilly and mountainous areas; the invention adopts a full hydraulic transmission structure, and relies on the large torque output by the hydraulic motor. Realize the crawler chassis walking, steering and other movements in the field; the hydraulic transmission is stable, the adjustment and control are convenient, and it has the characteristics of stepless speed regulation, so that the live broadcast machine works stably and is controllable in the whole process; the present invention is equipped with a control device, including motion control, lifting control and The live broadcast machine can be controlled manually through the remote control; it can also be combined with satellite and visual combined navigation, through scientific and accurate operation path planning, and fully automatic control of walking, obstacle avoidance, seeding device lifting and seeding speed to achieve unmanned Driving automatic operation reduces labor intensity and ensures the efficiency and stability of sowing.

The present invention is equipped with a centralized seed metering device, and one seed metering device can efficiently complete multiple rows of seed metering operations at the same time. The seed metering technology is adopted, and the speed of the seed metering device is adjusted according to the traveling speed of the live broadcast machine to achieve stable seeding. The hydraulic lifting device of the present invention adopts a three-point suspension design, which can stably realize the vertical lifting of the seeding device; both ends of the pull rod of the hydraulic lifting device are connected by a joint bearing hinge, and the seeding device can swing horizontally relative to the chassis, which improves the unmanned operation of the live broadcast machine. The automatic operation is linear; during the operation, the planting device is profiling to the ground to ensure the consistency of the sowing depth; after the operation, the planting device is raised to facilitate walking and climbing in the field. The present invention can realize direct seeding of rapeseed with different widths and different planting densities by replacing the seeding device. By loading the fertilizer discharge device, the integrated operation of fertilization and sowing can also be realized, and the effect of one machine with multiple uses can be achieved.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

Fig. 1 is the whole machine mechanism schematic diagram of the full hydraulic crawler type unmanned rape direct seeding machine of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the valve group structure schematic diagram of the full hydraulic crawler type unmanned rape direct seeding machine of the present invention;

Fig. 4 is the hydraulic oil tank structure schematic diagram of the full hydraulic crawler type unmanned rape seeding machine of the present invention;

Fig. 5 is the structure schematic diagram of the hydraulic lifting device of the full hydraulic crawler type unmanned rape direct seeding machine of the present invention;

Fig. 6 is a schematic diagram of the structure of the seeding device of the fully hydraulic crawler type unmanned rapeseed direct seeding machine of the present invention;

Fig. 7 is the hydraulic oil circuit schematic diagram of the full hydraulic crawler type unmanned rape direct seeding machine of the present invention;

Among them, 1 is the chassis, 2 is the driving wheel, 3 is the hydraulic oil tank, 4 is the encoder, 5 is the hydraulic motor, 6 is the valve group, 7 is the visual sensor, 8 is the L-shaped support, 9 is the lifting cylinder, and 10 is the Seeding device, 11 is a suspension device, 12 is a vehicle body platform, 13 is an on-board computer, 14 is a fuel tank cover, 15 is an electronic compass, 16 is a control box, 17 is a satellite positioning receiver, 18 is a battery, 19 is a gasoline engine, 20 is the pulley, 21 is the hydraulic pump, 22 is the oil suction pipe, 23 is the pipeline filter, 24-1 is the first oil inlet, 24-2 is the second oil inlet, 25 is the two-way throttle valve, 26 -1 is the first hydraulic lock, 26-2 is the second hydraulic lock, 26-3 is the third hydraulic lock, 27 is the electromagnetic reversing valve, 28-1 is the first proportional reversing valve, and 28-2 is the second Proportional reversing valve, 29 is the electromagnetic relief valve, 30 is the pressure gauge, 31 is the main oil inlet of the valve group, 32 is the pressure measuring connector, 33 is the oil circuit block, 34 is the oil inlet of the lifting cylinder, and 35 is the air filter Cleaner, 36 is the rib plate, 37 is the hydraulic motor drain port, 38 is the valve group oil return port, 39 is the oil tank drain port, 40 is the liquid level and temperature gauge, 41 is the right pull down rod, 42 is the oil cylinder plug Cavity oil port, 43 is the left lower rod, 44 is the first double clevis hinge seat, 45 is the rear side plate of the fuel tank, 46 is the oil return port of the lifting cylinder, 47 is the upper pull rod, 48 is the joint bearing, 49 is the cylinder rod cavity Oil port, 50 is the soil cover plate, 51 is the opener, 52 is the seeding frame, 53 is the ground wheel, 54 is the photoelectric encoder, 55 is the photoelectric sensor, 56 is the second double earring hinge seat, 57 is the hanger , 58 is centrifugal seed metering device, 59 is DC motor, 60 is battery, 61 is seed tube, 62 is opener support beam, 63 is adjusting rod, 64 is hydraulic pump drain pipe, 65 is hydraulic motor drain pipe , 66 is oil suction coarse filter.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. 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 purpose of the present invention is to provide a fully hydraulic crawler type unmanned rapeseed direct seeding machine to solve the problems existing in the prior art. The whole adopts modular design, has a compact structure, is light and flexible, has good field passability and is easy to realize automatic control. The whole machine runs smoothly and has a high degree of automation, which can meet the requirements of unmanned automatic operation of rapeseed live broadcast.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The invention provides a full hydraulic crawler type unmanned rapeseed direct seeding machine, which comprises a chassis, a hydraulic device, a seeding device and a control device. The live broadcast machine adopts a rubber crawler chassis and is driven by a hydraulic motor. The chassis is equipped with a hydraulic oil tank, the hydraulic device and the control device are fixed on the oil tank, and the seeding device is installed at the rear of the body. The live broadcast machine adopts hydraulic pressure as the power to realize the lifting and lowering of the chassis walking, steering and seeding device. The unmanned control system constructed by software control system, electronically controlled hydraulic valve group, satellite positioning receiver, visual sensor, electronic compass, photoelectric sensor, data acquisition card and signal processing module can automatically complete the geographical information of the field and the location of the machine. Information collection, path planning and tracking, field U-turn and obstacle avoidance, seeding device lifting and speed-seeking and other processes. The invention adopts a modular design, has a compact structure, is light and flexible, has good field passability and is easy to realize automatic control. The whole machine is light in weight, high in automation, and can meet the requirements of unmanned automatic operation of rapeseed live broadcast.

Referring specifically to FIG. 1 and in conjunction with FIGS. 2 to 7 , it includes a chassis 1, a hydraulic device, a seeding device 10 and a control device, wherein the chassis 1 is a rubber crawler chassis 1, and a hydraulic oil tank 3 is mounted on the chassis 1; the hydraulic oil tank 3 is six The rectangular parallelepiped formed by welding a piece of steel plate is placed flat between the tracks on both sides, and the bottom of the hydraulic oil tank 3 is welded and fixed to the beam of the chassis 1; The top plate of the fuel tank is provided with a hydraulic pump suction port, and the front side plate of the fuel tank is provided with a fuel tank drain port 39, a hydraulic motor drain port 37 and a valve group return port 38. As shown in Figure 7, the hydraulic motor drain port 37 is provided with hydraulic The motor oil drain pipe 65 is communicated with the hydraulic oil tank 3, and the rear side plate 45 of the oil tank is provided with a lifting oil cylinder oil return port 46; The vehicle body platform 12; the vehicle body platform 12 is welded with a plurality of mounting seats and positioning holes for the fixing of various components; the hydraulic oil tank 3 is loaded with hydraulic oil inside, and the outside is equipped with a hydraulic device, a seeding device 10 and a control device, and the seeding device 10 is suspended by hanging The device 11 is installed on the vehicle body platform 12, and serves as a hydraulic functional element and also functions as a vehicle body frame, and has a compact structure, which makes the whole machine lighter.

The hydraulic device includes a hydraulic station, a hydraulic drive device and a hydraulic lifting device; the hydraulic station includes a hydraulic oil tank 3 , a gasoline engine 19 , a battery 18 , a hydraulic pump 21 , a pipeline filter 23 and a valve group 6 . The gasoline engine 19 and the hydraulic pump 21 are driven by the pulley 20, installed on the vehicle body platform 12, and fixed with a mounting seat, and the mounting seat is provided with a pulley tensioning device; the oil inlet of the hydraulic pump is connected with the oil suction hard pipe 22; the oil suction hard pipe The end of 22 is connected to the oil suction coarse filter 66, which is submerged in the hydraulic oil; the pipeline filter 23 is fixed on the vehicle body platform 12 by bolting, and is connected to the main oil circuit of the hydraulic device through a hose, and its two ends are respectively connected with the hydraulic pump 21 and the valve group. 6 are connected.

The valve group 6 includes an oil circuit block 33, an electromagnetic relief valve 29, a first proportional reversing valve 28-1, a second proportional reversing valve 28-2, an electromagnetic reversing valve 27, a two-way throttle valve 25, a first hydraulic valve The lock 26-1, the second hydraulic lock 26-2, the third hydraulic lock 26-3, the pressure gauge 30 and the pressure measuring joint 32; the oil circuit block 33 is of a cuboid structure, which is fixed to the front side plate of the fuel tank by bolts to play the role of The role of pipeline integration; control valves such as electromagnetic relief valve 29 are installed in sequence on the front side of the oil circuit block 33, among which the first proportional reversing valve 28-1, the second proportional reversing valve 28-2 and the first hydraulic lock 26 -1. The second hydraulic lock 26-2, the third hydraulic lock 26-3, the electromagnetic reversing valve 27 and the two-way throttle valve 25 are all superimposed installations; The main oil inlet 31 of the valve block, the first oil inlet 24-1 of one of the hydraulic motors 5, the second oil inlet 24-2 of the other hydraulic motor 5, and the lift cylinder oil inlet 34; the left side is provided with a pressure In Table 30, there is a lift cylinder oil inlet 34 on the right side; the hydraulic oil enters the valve group 6 through the main oil inlet 31 of the valve group, and returns to the hydraulic oil tank 3 through the control valve and the valve group oil return port 38.

The hydraulic drive device includes two hydraulic motors 5 installed on the chassis 1. The output shafts of the two hydraulic motors 5 are respectively directly connected to the driving wheels 2 of the chassis 1 to provide torque for driving the crawler; the first of the two hydraulic motors 5 The oil inlet 24-1 and the second oil inlet 24-2 are connected to the oil inlet of the oil circuit block 33 through hard pipes, and the proportional reversing valve in the valve group 6 is used to control the entry into the first oil inlet 24-1 and the flow rate of the second oil inlet 24-2, thereby controlling the rotational speed and steering of the output shafts of the two hydraulic motors 5, changing the posture of the body under the cooperation of the output torques of the two hydraulic motors 5, and realizing the walking and steering of the whole machine .

The hydraulic lifting device adopts a three-point suspension design, including the lifting cylinder 9 installed on the rear side of the hydraulic oil tank 3, the upper pull rod 47, the left pull down rod 43 and the right pull rod 41, which are used to realize the lifting and lowering of the seeding device 10; Both ends of the pull rod 47, the left pull rod 43 and the right pull rod 41 are provided with joint bearings 48, one end of which is hinged on the rear side plate 45 of the fuel tank and the L-shaped support 8 through the first double clevis hinge seat 44, and the other end is hinged on the L-shaped support 8. It is hinged with the seeding device 10; one end earring of the lifting cylinder 9 is hinged with the hinge seat on the rear side plate 45 of the fuel tank, and the other end is hinged with the upper pull rod 47, and the extension of the cylinder piston rod drives the swing of the upper pull rod 47; the oil port 42 of the cylinder plug cavity passes through The hose is connected to the valve group 6, the oil port 49 of the cylinder rod cavity is connected to the oil tank, and the telescopic, stop and floating state of the oil cylinder is realized by means of the electromagnetic reversing valve 27, the hydraulic lock and the two-way throttle valve 25 in the valve group 6. During the operation of the live broadcast machine, by controlling the electromagnetic reversing valve 27, the lifting cylinder 9 is unloaded, and the seeding device 10 can float up and down according to the ground, so that the seeding device 10 can follow the ground.

The seeding device 10 includes a hanger 57 provided with a second double earring hinge seat 56, the hanger 57 is welded on the seeding frame 52, and the ground wheel 53 and a multi-row centrifugal row are installed on the seeding frame 52. Seed device 58, the seed outlet of the seed metering device is connected to one end of the seed guide pipe 61, and the other end of the seed guide pipe 61 is installed in the opener 51; a plurality of openers 51 are evenly installed on the opener support beam 62 , the height of the opener 51 can be adjusted by connecting the adjusting rod 63; the seed meter discharges the seeds from the seed outlet, and the seeds are slid by gravity through the seed guide tube 61 into the groove formed by the opener 51, and then the soil cover plate 50 Cover soil.

The control device is used to control the actions of the hydraulic driving device, the hydraulic lifting device and the seeding device 10, which includes the vehicle-mounted software control system carried on the vehicle body platform 12, the control box 16, the visual sensor 7, the satellite positioning receiver 17, and the electronic compass 15. The encoder 4 installed on the hydraulic motor 5 and the speed-seeking system installed on the seeding device 10.

The on-board software control system is the on-board computer 13, which provides hardware communication, control execution, algorithm and human-computer interaction support for the present invention; the control box 16, the visual sensor 7, the satellite positioning receiver 17 and the electronic compass 15 are connected to the device through USB and serial port respectively. The software control system is connected, and the visual sensor 7 and the electronic compass 15 are respectively installed in the front and middle of the vehicle body platform 12 in a removable and adjustable manner through the support rod. The control box 16 includes a data acquisition card, a signal conditioning module and a power supply ; The encoder 4, the speed-seeding system and the control valve in the valve group 6 are all electrically connected to the control box 16; the encoder 4 is coaxially connected to the small output shaft at the end of the hydraulic motor 5 to collect the rotational speed of the hydraulic motor 5; The speed seed metering system includes a photoelectric code disc 54 coaxially installed with the ground wheel 53, a photoelectric sensor 55 fixed on the seeding frame 52, and a battery 60 and a DC motor 59 installed on the sowing frame 52. The photoelectric code disc 54 and The photoelectric sensor 55 collects the rotational speed of the ground wheel 53, and the software control system and the control box 16 process the data and control the rotational speed of the DC motor 59, so as to realize the automatic seeding of the seeding device 10 according to the speed.

When the present invention works, the electromagnetic relief valve 29 is energized to unload the hydraulic system. At this time, the electric start gasoline engine 19 is started safely without load. After stable operation, the electromagnetic relief valve 29 is de-energized and the hydraulic system restores the working pressure. The engine drives the hydraulic pump 21 to work through the pulley 20. The hydraulic pump 21 pumps the hydraulic oil from the oil tank. The pumped oil is filtered by the pipeline filter 23 and then reaches the valve group 6. The valve group 6 distributes the hydraulic oil to the hydraulic motor according to the control. 5 and lift cylinder 9. The hydraulic pump 21 is communicated with the hydraulic oil tank 3 through the hydraulic pump drain pipe 64; when the control device outputs an analog signal (AO) to the proportional reversing valve, the hydraulic motor 5 drives the crawler to rotate, and when the speeds of the crawler on both sides are synchronized, the body travels in a straight line , the turning of the body is realized by the speed difference of the two tracks; at the same time, adjusting the size of the analog quantity of the control signal can also change the walking speed of the body. In the process of traveling, if it is necessary to stop, the control device will gradually reduce the control signal output to the proportional reversing valve, so that the walking speed will gradually decrease until the body stops, so as to avoid sudden lock-up caused by inertia causing the body to rush; When stopped, the hydraulic lock locks the oil in the oil circuit of the hydraulic motor 5, so that the car body will not slide down due to its own weight. When the live broadcast machine is working in the field, the control device gives the control signal A of the electromagnetic reversing valve 27, the lifting cylinder 9 is unloaded inside, the seeding device 10 is profiled on the ground, the photoelectric sensor 55 and the photoelectric code disc 54 collect the rotation speed of the ground wheel 53, and control the The device controls the seeding speed according to the rotation speed of the ground wheel 53; after the operation, the control device gives the control signal B of the electromagnetic reversing valve 27, the lifting cylinder 9 lifts the seeding device 10, when the control signal is set to zero, the hydraulic lock locks the oil in the cylinder The above-mentioned hydraulic control system is controlled by the hydraulic operating system in the prior art. Refer to FIG. 7 for the schematic diagram of the hydraulic oil circuit. control operation of the hydraulic system.

Further, a fully hydraulic crawler-type unmanned rapeseed direct seeding machine of the present invention has multiple operation modes through the vehicle-mounted software control system, including a manual remote control mode and an unmanned fully automatic mode. In the manual remote control mode, the remote control sends control commands to the control device, and the execution layer in the vehicle software control system parses and transmits the control commands to the data acquisition card of the communication layer, and outputs the corresponding control signals through the data acquisition card to realize the control of the live broadcast machine. Remote control of movement, raising and lowering of the seeding device 10 and the seeding process.

The fully automatic mode of unmanned driving provided by the present invention includes processes such as environmental information acquisition, path planning, path tracking, field obstacle avoidance, seeding with speed, and human-computer interaction. The general embodiment of the unmanned automatic operation of the present invention is as follows: the vehicle-mounted software control system communicates with the satellite positioning receiver 17, the electronic compass 15 and the visual sensor 7 through the USB and the serial port, and obtains the positioning information, heading information and field image information in real time, respectively, And the information fusion solution is used to obtain the location information of the live broadcast machine. Input the boundary information of the pre-operation field into the system, or collect the boundary information of the field through a manual remote control broadcast machine around the field, and the vehicle-mounted software control system automatically plans the global path according to the size of the field and the operation requirements. Combined with the location information of the broadcast machine and the planned path information, the heading deviation and dead distance of the broadcast machine and the working path are calculated in real time, combined with the crawler speed information collected by the encoder 4, and the control amount is obtained according to the path tracking and deviation correction algorithm, and communicated with the data acquisition card. To drive the live broadcast machine to walk and turn to achieve path tracking. During the operation, the vehicle-mounted software control system collects the rotation speed of the ground wheel 53 in real time through the photoelectric sensor 55 and the photoelectric code disc 54, and controls the rotation speed of the DC motor 59 according to the speed-seeking algorithm to realize automatic seeding. The software control system is embedded with the field head line recognition algorithm and obstacle detection algorithm, analyzes the field situation by processing the collected field image information, and combines the path tracking algorithm and local dynamic path planning to realize the field U-turn and obstacle avoidance of the live broadcast machine. At the same time, the vehicle-mounted software control system also provides a human-computer interaction interface and a navigation information storage function for setting, displaying and storing navigation information, realizing the visualization of the unmanned operation process, facilitating later research and improving the human-computer interaction experience.

Further, the software control system of a fully hydraulic crawler-type unmanned rapeseed direct seeding machine provided by the present invention also reserves a communication interface for carrying other sensors and execution devices, so as to further optimize the present invention.

The fully hydraulic crawler-type unmanned rapeseed direct seeding machine provided by the present invention can also be equipped with other seeding devices 10. If the seeding device 10 is replaced, the hooking device and the hydraulic lifting device need to be matched and connected. By replacing the seeding device 10, rapeseed broadcasting with different widths and planting densities can be realized, and by loading the fertilizer discharging device, the integrated operation of fertilization and seeding can also be realized, achieving the effect of one machine with multiple uses.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (7)

1. The full-hydraulic crawler-type unmanned rape direct seeder is characterized in that: the seeding machine comprises a vehicle body, wherein the vehicle body comprises a chassis, a hydraulic device, a seeding device and a control device; the two sides of the chassis are symmetrically provided with driving wheels, and the driving wheels positioned on the same side are connected with each other in a wrapping manner through a rubber crawler belt; the hydraulic device comprises a hydraulic oil tank, the hydraulic oil tank is fixedly arranged on a cross beam of the chassis, and the hydraulic oil tank is positioned between the two rubber tracks; a vehicle body platform is fixedly arranged at the top of the hydraulic oil tank; hydraulic devices are arranged on the front side and the rear side of the hydraulic oil tank and on the vehicle body platform; the tail part of the vehicle body is connected with the seeding device through a suspension device; the control device is mounted on the vehicle body platform.

2. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the hydraulic device also comprises a hydraulic station, a hydraulic driving device and a hydraulic lifting device; the hydraulic station comprises the hydraulic oil tank arranged on the chassis, a gasoline engine, a storage battery, a hydraulic pump, a pipeline filter and a valve group arranged on a front side plate of the hydraulic oil tank, wherein the gasoline engine, the storage battery, the hydraulic pump and the pipeline filter are arranged on the vehicle body platform; the valve group comprises an oil path block, an electromagnetic overflow valve, a first proportional directional valve, a second proportional directional valve, an electromagnetic directional valve, a two-way throttle valve, a first hydraulic lock, a second hydraulic lock, a third hydraulic lock, a pressure gauge and a pressure measuring connector, wherein the electromagnetic overflow valve, the first proportional directional valve, the second proportional directional valve, the electromagnetic directional valve, the two-way throttle valve, the first hydraulic lock, the second hydraulic lock, the third hydraulic lock; the hydraulic pump and the gasoline engine are in transmission through a belt pulley, and an oil inlet of the hydraulic pump is connected with the hydraulic oil tank through an oil suction hard pipe; the pipeline filter is arranged between the hydraulic pump and the valve bank, and two ends of the pipeline filter are respectively connected with an oil outlet of the hydraulic pump and a main oil inlet in the valve bank through hoses; the oil circuit block is fixedly connected with the hydraulic oil tank, and an oil return port of the oil circuit block is communicated with a molded hole in the wall of the hydraulic oil tank.

3. The full-hydraulic crawler-type unmanned rape direct seeder of claim 2, characterized in that: the hydraulic driving device comprises two hydraulic motors which are symmetrically arranged on the chassis, and output shafts of the two hydraulic motors are respectively connected with the driving wheels positioned on two sides of the chassis; one of the hydraulic motors is provided with a first oil inlet, the other hydraulic motor is provided with a second oil inlet, the first oil inlet is sequentially connected with the oil circuit block and the first proportional reversing valve through hard pipes, the second oil inlet is sequentially connected with the oil circuit block and the second proportional reversing valve through hard pipes, and the oil leakage ports of the two hydraulic motors are respectively connected with the hydraulic oil tank through hard pipes.

4. The full-hydraulic crawler-type unmanned rape direct seeder of claim 2, characterized in that: the hydraulic lifting device comprises a lifting oil cylinder, an upper pull rod, a left lower pull rod and a right lower pull rod; the lifting oil cylinder is arranged on the rear side of the hydraulic oil tank, one end of the lifting oil cylinder is hinged with the rear side plate of the oil tank, the other end of the lifting oil cylinder is hinged with the upper pull rod, an oil cylinder plug cavity oil port of the lifting oil cylinder is connected with the valve group through a hose, and an oil cylinder rod cavity oil port of the lifting oil cylinder is connected with the hydraulic oil tank through a hose; one end of the upper pull rod is hinged with the L-shaped support, the other end of the upper pull rod is hinged with the top of the seeding device, and the L-shaped support is fixed at the tail of the vehicle body platform; one end of the left lower pull rod and one end of the right lower pull rod are hinged with the rear side plate of the oil tank respectively, and the other ends of the left lower pull rod and the right lower pull rod are hinged with the bottom of the seeding device; and the hinge joint of the upper pull rod and the L-shaped bracket and the hinge joint of the left lower pull rod and the right lower pull rod and the rear side plate of the oil tank are positioned on the same plane.

5. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the seeding device comprises a seeding rack provided with land wheels, a hanging rack connected with the hydraulic lifting device, a furrow opener supporting beam provided with a plurality of furrow openers and a seed guide pipe with one end arranged on the furrow openers; the seeding rack is fixedly connected with the hanging rack; the furrow opener supporting beam is fixedly connected to the sowing rack; the furrow opener is provided with a soil covering plate and is fixedly connected with one end of the adjusting rod; the adjusting rod is provided with a plurality of pin holes, is connected with the furrow opener supporting beam and can be adjusted up and down with a rod sleeve on the furrow opener supporting beam; the seeding machine also comprises a multi-row centrifugal seeding device arranged on the seeding rack, and the other end of the seed guide pipe is connected with a seed outlet of the centrifugal seeding device.

6. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the control device comprises a software control system, a control box, a satellite positioning receiver, an electronic compass and a visual sensor, wherein the software control system is installed on the vehicle body platform; the software control system is used for providing hardware communication, control execution, algorithm support and man-machine interaction; the control box, the vision sensor, the satellite positioning receiver and the electronic compass are respectively connected with the software control system through a USB interface and a serial port; the control box comprises a data acquisition card, a signal conditioning module and a power supply; the seed sowing machine also comprises an encoder arranged on the hydraulic motor and a speed-following seed sowing system arranged on the sowing rack; the encoder is connected with the small shaft of the hydraulic motor; the speed-following seed metering system comprises a photoelectric coded disc coaxially mounted with a land wheel, a photoelectric sensor fixed on a seeding rack, and a battery and a direct current motor mounted on the seeding rack, wherein the photoelectric coded disc and the photoelectric sensor collect the rotating speed of the land wheel, and an output shaft of the direct current motor is used for driving a centrifugal seed metering device to meter seeds; the encoder and the speed-following seed sowing system are electrically connected with the control box; and a control valve in the valve group is electrically connected with the control box.

7. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the hydraulic tank is the cuboid structure, be equipped with liquid level liquid thermometer on the hydraulic tank, the automobile body platform including weld in the square steel sheet of hydraulic tank top both sides with hydraulic tank's top.

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