CN113093750A - Power chassis with intelligent dual-mode opposite-running operation function - Google Patents
Power chassis with intelligent dual-mode opposite-running operation function Download PDFInfo
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- CN113093750A CN113093750A CN202110356949.5A CN202110356949A CN113093750A CN 113093750 A CN113093750 A CN 113093750A CN 202110356949 A CN202110356949 A CN 202110356949A CN 113093750 A CN113093750 A CN 113093750A
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- 241000196324 Embryophyta Species 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a power chassis with an intelligent dual-mode opposite-running operation function, which comprises a chassis body, wherein a power device is installed on the chassis body, two front wheels are installed at the bottom of the front end of the chassis body, two rear wheels are installed at the bottom of the rear end of the chassis body, an electric steering gear for controlling the steering of the front wheels is installed on the chassis body, and the power chassis further comprises a seedling belt recognition device, an antenna sensor, an angle detection device, a whole vehicle controller and an opposite-running controller. According to the invention, the seedling strip recognition module of the seedling strip recognition device and the antenna sensor module are combined, the row alignment problem of the agricultural power chassis is solved, the dual-mode system is suitable for various complex crop working conditions, has the advantages of high intelligence and strong flexibility, greatly improves the working efficiency and the working quality, is flexible and accurate in row alignment, is not easy to press seedlings by wrong rows, and improves the adaptability to crop planting modes and crop growth modes.
Description
Technical Field
The invention relates to an agricultural power chassis, in particular to a power chassis with an intelligent dual-mode opposite-walking operation function.
Background
In recent years, with the increasing of the planting area of agricultural crops, research and development of agricultural power chassis in China enter a high-speed development period, the traditional machine type mainly realizes row alignment by manual operation, has high requirement on the operating skill of a machine hand, is easy to have the phenomena of row error, seedling pressing and the like, influences the operation quality of the power chassis, and has poor adaptability to planting modes and crop growth modes.
Disclosure of Invention
The invention aims to solve the technical problem of providing the power chassis which has the intelligent dual-mode row alignment operation function, is flexible and accurate in row alignment, is not easy to press seedlings by wrong rows, can improve the operation quality and improve the adaptability to a crop planting mode and a crop growth mode.
In order to solve the technical problems, the technical scheme of the invention is as follows: power chassis with dual mode operation function of going of intelligence, including the chassis body, install power device on the chassis body, two front wheels are installed to the front end bottom of chassis body, two rear wheels are installed to the rear end bottom of chassis body, install the electric direction machine that is used for controlling the front wheel steering on the chassis body, still include:
the seedling zone recognition device is arranged at the front end of the chassis body and used for detecting the plant seedling zone condition and outputting seedling zone information;
the antenna sensor is arranged on the antenna outside the two front wheels and used for detecting whether the antenna contacts the plant or not and outputting an antenna signal;
the angle detection device is arranged at the two front wheels on the chassis body and used for detecting the corners of the two front wheels and outputting angle signals;
the vehicle control unit is connected with the electric steering gear, the antenna sensor and the angle detection device, can acquire an antenna signal output by the antenna sensor and an angle signal output by the angle detection device, outputs the antenna signal and the angle signal, and can send an execution signal to drive the electric steering gear to work;
the row alignment controller is connected with the seedling strip recognition device and the vehicle control unit, can acquire the seedling strip information output by the seedling strip recognition device, recognize the seedling strip information to acquire a real-time seedling strip signal, and can acquire the antenna signal and the angle signal output by the vehicle control unit;
the row controller is used for processing the real-time seedling zone signals and the antenna signals, selecting a real-time seedling zone signal priority mode for performing comparison processing by using the real-time seedling zone signals and the angle signals or selecting an antenna signal priority mode for performing comparison processing by using the antenna signals and the angle signals, and transmitting signals processed by the row controller in the real-time seedling zone signal priority mode or the antenna signal priority mode to the vehicle control unit, and the vehicle control unit sends execution signals according to the processed signals to drive the electric steering machine to work and drive two front wheels to act to steer the vehicle, so that automatic row alignment is completed.
As a preferable technical scheme, the row controller is connected with the vehicle control unit through a CAN bus.
As a preferred technical scheme, when the row-to-row controller processes the real-time seedling zone signals and the antenna signals, if plants are dense or light rays are dark, the row-to-row controller selects an antenna signal priority mode; and if the plants are sparse, the row controller selects and executes a real-time seedling strip signal priority mode.
According to the preferable technical scheme, the antenna is an arc-shaped rod which is arranged on the front side of each front wheel, the inner end of the arc-shaped rod is connected with the chassis body in a backward bending mode, and the outer end of the arc-shaped rod is provided with the antenna sensor in a backward bending mode.
Due to the adoption of the power chassis with the intelligent dual-mode row alignment operation function, the row alignment controller processes the real-time seedling belt signals and the antenna signals, the real-time seedling belt signal priority mode or the antenna signal priority mode is selected and executed according to the detected plant conditions, the vehicle controller sends execution signals according to signals output by the row alignment controller to drive the electric steering engine to work, and drives the two front wheels to act to steer the vehicle, so that automatic row alignment is completed. Combine together seedling area recognition device's seedling area recognition module and antenna sensor module, solve the problem of going to the line of agricultural power chassis, this intelligent dual mode system of real-time seedling area signal priority mode or antenna signal priority mode is applicable to multiple complicated crop operating mode, has that intelligence is high, advantage that the flexibility is strong, has improved work efficiency and work quality greatly, to going nimble accurate, be difficult for wrong row to press the seedling, improved to crop planting mode and crop growth mode self-adaptability.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a schematic block diagram of the power chassis of the present invention.
In the figure: 1-a chassis body; 2-front wheels; 3-rear wheel; 4-a seedling strip recognition device; 5-angle detection means; 6-arc-shaped rods; 7-an antenna sensor; 8-electric steering gear; 9-vehicle control unit; 10-line-to-line controller.
Detailed Description
Exemplary embodiments according to the present invention are described in detail below with reference to the accompanying drawings. Here, it is to be noted that, in the drawings, the same reference numerals are given to the constituent elements having substantially the same structure and function, and redundant description about the substantially same constituent elements is omitted in order to make the description more concise.
As shown in fig. 1 and 2, the power chassis with the intelligent dual-mode opposite-walking operation function comprises a chassis body 1, wherein a power device is mounted on the chassis body 1, the power device drives the chassis body 1 to walk, and the power device can adopt an engine driving system or a hydraulic driving system, which are well known in the art and are not described herein; two front wheels 2 are installed to chassis body 1's front end bottom, two rear wheels 3 are installed to chassis body 1's rear end bottom, install the electronic direction unit 8 that is used for controlling front wheel 2 and turns to on the chassis body 1, still include:
the seedling zone recognition device 4 is arranged at the front end of the chassis body 1 and used for detecting the plant seedling zone condition and outputting seedling zone information; the seedling strip recognition device 4 can adopt common image recognition equipment such as a camera, and the images of the plant seedling strips are shot by the camera equipment and then processed to obtain real-time seedling strip information;
the antenna sensor 7 is arranged on an antenna on the outer side of the two front wheels 2 and used for detecting whether the antenna contacts with a plant or not and outputting an antenna signal;
the angle detection device 5 is arranged at the two front wheels 2 on the chassis body 1 and used for detecting the corners of the two front wheels 2 and outputting angle signals; the angle detection device 5 can adopt an angle sensor, and the running direction of the vehicle body is obtained by detecting the running angle of the front wheel 2 through the angle sensor;
the vehicle control unit 9 is connected with the electric steering gear 8, the antenna sensor 7 and the angle detection device 5, can acquire the antenna signal output by the antenna sensor 7 and the angle signal output by the angle detection device 5, output the antenna signal and the angle signal, and can send an execution signal to drive the electric steering gear 8 to work;
the row controller 10 is connected with the seedling strip recognition device 4 and the vehicle control unit 9, can acquire the seedling strip information output by the seedling strip recognition device 4, recognize the seedling strip information to acquire a real-time seedling strip signal, and can acquire the antenna signal and the angle signal output by the vehicle control unit 9;
the real-time seedling belt signals and the antenna signals are processed by the row controller 10, a real-time seedling belt signal priority mode for performing comparison processing by using the real-time seedling belt signals and the angle signals or an antenna signal priority mode for performing comparison processing by using the antenna signals and the angle signals is selected, signals processed by the row controller 10 in the real-time seedling belt signal priority mode or the antenna signal priority mode are transmitted to the vehicle control unit 9, the vehicle control unit 9 sends execution signals according to the processed signals to drive the electric steering gear 8 to work, two front wheels 2 are driven to steer, and automatic row alignment is completed. When the row-to-row controller 10 processes the real-time seedling zone signals and the antenna signals, if plants are dense or light rays are dark, the row-to-row controller 10 selects to execute an antenna signal priority mode; if the plants are sparse, the row controller 10 selects and executes a real-time seedling strip signal priority mode. The row alignment controller 10 is connected with the vehicle control unit 9 through a CAN bus, so that information transmission between the row alignment controller 10 and the vehicle control unit 9 is realized. The plant density and the plant sparsity can be respectively set with judgment standards of different crops to be pre-stored in the row controller 10 according to the planting conditions of the different crops, and then the detection information of the different crops is respectively compared and judged according to the seedling band recognition device 4 and the antenna sensor 7 during operation.
As shown in fig. 2, the antenna is an arc-shaped rod 6 respectively arranged at the front sides of the two front wheels 2, the inner end of the arc-shaped rod 6 is bent backwards and connected with the chassis body 1, the outer end of the arc-shaped rod 6 is bent backwards and provided with the antenna sensor 7, and the bent arc-shaped rod 6 arranged at the front sides of the two front wheels 2 prevents the plants from entering between the front wheels 2 and the chassis body 1 when the power chassis runs between two rows of plants by being divided towards the outer sides of the front wheels 2; the arc-shaped rod 6 can adopt the arc-shaped rod 6 with elasticity, so that the protection of plants and the antenna sensor 7 is improved.
This power chassis can adopt two kinds of modes to carry out the operation:
the first mode is as follows: when the plants are too dense or the light is dark, the seedling band recognition device 4 cannot accurately detect and recognize the seedling band conditions of the plants, an antenna signal priority mode is executed on the row controller 10, an antenna signal detected and output by the antenna sensor 7 is compared with an angle signal output by the angle detection device 5, namely when the antenna sensor 7 contacts the plants, the row controller 10 sends a turning signal to the vehicle control unit 9 after processing according to the acquired antenna signal, the vehicle control unit 9 sends an execution signal according to the turning signal to drive the electric steering gear 8 to work to make a corresponding reaction, and the two front wheels 2 are driven to make the power chassis make a corresponding left-turn or right-turn action; at the moment, the angle detection device 5 detects the turning angles of the two front wheels 2 and outputs angle signals, the angle signals are sent to the vehicle control unit 9, the vehicle control unit 9 sends the angle signals to the row alignment controller 10, the row controller 10 processes the acquired antenna signals, when the antenna sensor 7 contacts a plant, the row controller 10 continues to send turning signals to the vehicle control unit 9, when the antenna sensor 7 does not contact the plant, the row controller 10 sends positive signals back to the vehicle control unit 9 according to the angle signals, the vehicle control unit 9 drives the electric steering gear 8 to make corresponding reaction, the two front wheels 2 are driven to move back, and the power chassis finishes automatic row alignment.
And a second mode: when the plants are too sparse and the antenna sensor 7 cannot accurately identify the seedling zone information through contact with the plants, a real-time seedling zone signal priority mode is executed on the row controller 10, the real-time seedling zone signal detected and output by the seedling zone recognition device 4 is compared with the angle signal output by the angle detection device 5, namely when the seedling zone recognition device 4 detects that the seedling zone is overlapped with the wheels, the row controller 10 sends a turning signal to the vehicle control unit 9 after processing according to the acquired real-time seedling zone signal, the vehicle control unit 9 sends an execution signal according to the turning signal to drive the electric steering gear 8 to work to make a corresponding response, and drives the two front wheels 2 to make the power chassis make a corresponding left-turn or right-turn action; at the moment, the angle detection device 5 detects the corners of the two front wheels 2 and outputs angle signals, the angle signals are sent to the vehicle control unit 9, the vehicle control unit 9 sends the angle signals to the opposite row controller 10, the opposite row controller 10 processes the acquired real-time seedling belt signals, when the seedling belt recognition device 4 detects that the seedling belt is overlapped with the wheels, the opposite row controller 10 continuously sends the turning signals to the vehicle control unit 9, when the seedling belt recognition device 4 detects that the seedling belt is not overlapped with the wheels, the opposite row controller 10 sends positive signals back to the vehicle control unit 9 according to the angle signals, the vehicle control unit 9 drives the electric steering gear 8 to make corresponding reactions, drives the two front wheels 2 to move back, and enables the power chassis to finish automatic opposite row.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. Power chassis with operation function is gone to double mode of intelligence, including the chassis body, two front wheels are installed to the front end bottom of chassis body, two rear wheels are installed to the rear end bottom of chassis body, install the electric direction machine that is used for controlling the front wheel steering on the chassis body, its characterized in that still includes:
the seedling zone recognition device is arranged at the front end of the chassis body and used for detecting the plant seedling zone condition and outputting seedling zone information;
the antenna sensor is arranged on the antenna outside the two front wheels and used for detecting whether the antenna contacts the plant or not and outputting an antenna signal;
the angle detection device is arranged at the two front wheels on the chassis body and used for detecting the corners of the two front wheels and outputting angle signals;
the vehicle control unit is connected with the electric steering gear, the antenna sensor and the angle detection device, can acquire an antenna signal output by the antenna sensor and an angle signal output by the angle detection device, outputs the antenna signal and the angle signal, and can send an execution signal to drive the electric steering gear to work;
the row alignment controller is connected with the seedling strip recognition device and the vehicle control unit, can acquire the seedling strip information output by the seedling strip recognition device, recognize the seedling strip information to acquire a real-time seedling strip signal, and can acquire the antenna signal and the angle signal output by the vehicle control unit;
the row controller is used for processing the real-time seedling zone signals and the antenna signals, selecting a real-time seedling zone signal priority mode for performing comparison processing by using the real-time seedling zone signals and the angle signals or selecting an antenna signal priority mode for performing comparison processing by using the antenna signals and the angle signals, and transmitting signals processed by the row controller in the real-time seedling zone signal priority mode or the antenna signal priority mode to the vehicle control unit, and the vehicle control unit sends execution signals according to the processed signals to drive the electric steering machine to work and drive two front wheels to act to steer the vehicle, so that automatic row alignment is completed.
2. The power chassis with intelligent dual mode inline work functionality of claim 1, wherein: the row controller is connected with the whole vehicle controller through a CAN bus.
3. The power chassis with intelligent dual mode inline work functionality of claim 1, wherein: when the row-to-row controller processes the real-time seedling zone signals and the antenna signals, if plants are thick or light rays are dark, the row-to-row controller selects to execute an antenna signal priority mode; and if the plants are sparse, the row controller selects and executes a real-time seedling strip signal priority mode.
4. The power chassis with intelligent dual mode inline working functionality of claim 1, 2 or 3, wherein: the antenna is an arc-shaped rod which is arranged on the front side of each front wheel, the inner end of each arc-shaped rod is connected with the chassis body in a backward bending mode, and the outer end of each arc-shaped rod is provided with the antenna sensor in a backward bending mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110356949.5A CN113093750A (en) | 2021-04-01 | 2021-04-01 | Power chassis with intelligent dual-mode opposite-running operation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110356949.5A CN113093750A (en) | 2021-04-01 | 2021-04-01 | Power chassis with intelligent dual-mode opposite-running operation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113093750A true CN113093750A (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110356949.5A Withdrawn CN113093750A (en) | 2021-04-01 | 2021-04-01 | Power chassis with intelligent dual-mode opposite-running operation function |
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| Country | Link |
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| CN (1) | CN113093750A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4967362A (en) * | 1989-01-30 | 1990-10-30 | Eaton Corporation | Automatic steering apparatus for crop vehicle |
| US20090204281A1 (en) * | 2008-02-10 | 2009-08-13 | Hemisphere Gps Llc | Visual, gnss and gyro autosteering control |
| US20150334920A1 (en) * | 2014-05-20 | 2015-11-26 | Deere & Company | Method and system for sensing a position of a vehicle or guiding a vehicle with respect to one or more plant rows |
| EP3259970A1 (en) * | 2016-06-23 | 2017-12-27 | Solemat | Agricultural tool-holder device for facilitating furrow selection, associated installation process and agricultural system |
| CN109283925A (en) * | 2018-08-15 | 2019-01-29 | 安徽农业大学 | The identification of self-propelled clearance tractor seedling band and path planning system and implementation method |
| US20200084969A1 (en) * | 2017-06-26 | 2020-03-19 | Kubota Corporation | Harvesting Machine |
| WO2020210493A1 (en) * | 2019-04-09 | 2020-10-15 | The Toro Company | Autonomous machine navigation in lowlight conditions |
-
2021
- 2021-04-01 CN CN202110356949.5A patent/CN113093750A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4967362A (en) * | 1989-01-30 | 1990-10-30 | Eaton Corporation | Automatic steering apparatus for crop vehicle |
| US20090204281A1 (en) * | 2008-02-10 | 2009-08-13 | Hemisphere Gps Llc | Visual, gnss and gyro autosteering control |
| US20150334920A1 (en) * | 2014-05-20 | 2015-11-26 | Deere & Company | Method and system for sensing a position of a vehicle or guiding a vehicle with respect to one or more plant rows |
| EP3259970A1 (en) * | 2016-06-23 | 2017-12-27 | Solemat | Agricultural tool-holder device for facilitating furrow selection, associated installation process and agricultural system |
| US20200084969A1 (en) * | 2017-06-26 | 2020-03-19 | Kubota Corporation | Harvesting Machine |
| CN109283925A (en) * | 2018-08-15 | 2019-01-29 | 安徽农业大学 | The identification of self-propelled clearance tractor seedling band and path planning system and implementation method |
| WO2020210493A1 (en) * | 2019-04-09 | 2020-10-15 | The Toro Company | Autonomous machine navigation in lowlight conditions |
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Application publication date: 20210709 |