CN208477374U - A kind of agricultural machinery Automation A-B linear system system - Google Patents
A kind of agricultural machinery Automation A-B linear system system Download PDFInfo
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- CN208477374U CN208477374U CN201820911443.XU CN201820911443U CN208477374U CN 208477374 U CN208477374 U CN 208477374U CN 201820911443 U CN201820911443 U CN 201820911443U CN 208477374 U CN208477374 U CN 208477374U
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Abstract
The utility model relates to a kind of agricultural machinery Automation A-B linear system system, in particular to a kind of mechanization of agriculture devices.The system includes power supply module, GNSS global navigation satellite system, the course ARHS attitude measurement system, controller, photoelectric encoder, proportional hydraulic valve, touch screen and pressure sensor；Power supply module is connect with controller, GNSS global navigation satellite system, touch screen；GNSS global navigation satellite system is connect with controller；The course ARHS attitude measurement system is connect with controller；Photoelectric encoder is connect with controller；Pressure sensor is connect with controller；Controller is connect with proportional hydraulic valve；Touch screen is connect with controller.The utility model improves the operating characteristics of agricultural machinery, extends the activity duration, realizes night work, improves the rate of attendance and time availability of agricultural machinery.Mitigate the labor intensity of driver simultaneously, improves farm work quality.
Description
Technical field
The utility model relates to a kind of agricultural machinery Automation A-B linear system system, in particular to a kind of mechanization of agriculture device, especially
It is a kind of agricultural machinery Automation A-B linear system system.
Background technique
Agricultural production, which is that human society exists and the basis of development is in order to constantly upgrade the efficiency, improves agricultural production
Environment, the mankind from the date of birth, just never stopped the research of mode of agriculture.With information technology, sensing
The development of device technology, control technology, network technology etc. has brought agricultural production into the automation development epoch.
Existing pilot steering agricultural machinery low efficiency can not continue working.
Utility model content
The technology of the utility model solves the problems, such as: overcome the deficiencies in the prior art, proposes a kind of agricultural machinery Automation A-B line
System.
The technical solution of the utility model is:
A kind of agricultural machinery Automation A-B linear system system, the system include power supply module, GNSS global navigation satellite positioning system
System, the course ARHS attitude measurement system, controller, photoelectric encoder, proportional hydraulic valve, touch screen and pressure sensor；Power supply
Power module is connect with controller, GNSS global navigation satellite system, touch screen；GNSS global navigation satellite system
It is connect with controller；The course ARHS attitude measurement system is connect with controller；Photoelectric encoder is connect with controller；Pressure sensing
Device is connect with controller；Controller is connect with proportional hydraulic valve；Touch screen is connect with controller；
The power supply module is used to provide to controller, GNSS global navigation satellite system and touch screen
12V working power；
The GNSS global navigation satellite system is used to obtain the location coordinate information of agricultural machinery, and the agriculture that will acquire
The location coordinate information of machine is sent to controller by serial ports；
The course the ARHS attitude measurement system is used to measure the status information of agricultural machinery, and by the state of the agricultural machinery of measurement
Information is sent to controller by serial ports, wherein status information include agricultural machinery three axis angular rates, acceleration, magnetic field strength with
Atmospheric pressure；
The photoelectric encoder is used to measure the corner information of agricultural machinery, and the corner information that measurement obtains is passed through serial ports
It is sent to controller；It can get the direction of motion of agricultural machinery wheel by the corner information of agricultural machinery；
The pressure sensor is used to acquire the pressure information of agricultural machinery oil circuit, and collected pressure information is sent to
Controller；
The touch screen by the agricultural machinery travel route of setting and is led for setting agricultural machinery travel route and navigational parameter
Parameter of navigating is sent to controller by serial ports, and touch screen is also used to receive the status information of controller and is shown, road of walking
Line includes the beginning and end of first AB line of agricultural machinery working, and navigational parameter includes pid parameter and line width；
The location coordinate information of agricultural machinery of the controller for receiving the transmission of GNSS global navigation satellite system,
Corner information, the pressure for the agricultural machinery that the status information for the agricultural machinery that the course ARHS attitude measurement system is sent, photoelectric encoder are sent
The agricultural machinery travel route and navigational parameter that the pressure information of agricultural machinery oil circuit that sensor is sent, touch screen are sent, and to receiving
The location coordinate information of agricultural machinery, the status information of agricultural machinery, the corner information of agricultural machinery and agricultural machinery oil circuit pressure information solved
It calculates and exports control instruction after analyzing and give proportional hydraulic valve；The method that controller is resolved and analyzed to the information received is such as
Under:
Plane coordinates information is converted into the location coordinate information of the agricultural machinery received；
It is taken aim at a little in advance according to the determination of the status information of the agricultural machinery received；
The target deviation angle of calculating agricultural machinery is taken aim at according to the plane coordinates information of agricultural machinery and in advance；
Difference between the target deviation angle being calculated and the corner information of agricultural machinery exports control electricity by pid algorithm
Voltage-controlled proportional hydraulic valve processed；
When carrying out agricultural machinery pilot steering and the switching of automatic Pilot, controller is selected according to the pressure change of pressure sensor
Select driving mode；
The proportional hydraulic valve is used to receive the control instruction of controller transmission, and is changed according to the control instruction received
Become the flow and flow direction of agricultural machinery oil circuit, guarantees agricultural machinery according to the route running of setting.
Unite in above-mentioned agricultural machinery Automation A-B linear system, the GNSS global navigation satellite system include GPS antenna,
GPS receiver and movable type RTK difference station, wherein movable type RTK difference station is connect by data radio station with GPS antenna, GPS days
Line is connect with GPS receiver.
Unite in above-mentioned agricultural machinery Automation A-B linear system, the controller include control mainboard, data acquisition board, power panel and
Hydraulic valve amplification board；Control mainboard is connect with data acquisition board, power panel and hydraulic valve amplification board respectively；Control mainboard is used and is ground
The PCM-3362 of Hua company, data acquisition board use Yan Hua company PCM-3718H, and power panel uses the power module of Xi'an moral dragon
DL-JDC24S12/5000M and DL-JDC24S5/6000M, hydraulic valve amplification board use the EDM-M242/ of Di Mapu company
The input/output interface of 20E0, controller use aviation socket.
It unites in above-mentioned agricultural machinery Automation A-B linear system, the control mainboard provides hardware platform and full duplex serial port interface；
Data acquisition board acquires the signal of pressure sensor and the control signal of export ratio hydraulic valve；Power panel receives power supply power supply mould
The 12V operating voltage of block provides 5V power supply by PC104 bus for control mainboard, is the course ARHS posture by aviation socket
Measuring system and photoelectric encoder provide 12V power supply, and hydraulic valve amplification board amplification control signal improves fan-out capability, controls ratio
Example hydraulic valve.
The utility model has the advantages that compared with prior art
The utility model improves the operating characteristics of agricultural machinery, extends the activity duration, realizes night work, improves agricultural machinery
The rate of attendance and time availability.Mitigate the labor intensity of driver simultaneously, improves farm work quality.This product uses
PC104 bus mode, extended capability is strong, integrated level is high, at low cost, anti-adverse environment, and high reliablity, data real-time storage can
Retrospect controls within reachable ± 2.5 centimetres of precision.Agricultural machinery Automation A-B linear system system collection satellite reception, position, be controlled in it is integrated
Comprehensive system, realization control the hydraulic system of agricultural machinery, drive agricultural machinery automatically according to the route (AB line) of setting
It sails.The labor intensity of driver can be effectively reduced, can agricultural machinery field straight line walking operations be realized with accurate guidance, operation be not heavy not
Leakage greatly improves agricultural machinery working quality and land utilization ratio, realizes seeding operation round the clock, extends the activity duration, greatlys improve
The utilization rate and efficiency of agricultural machinery.Agricultural machinery Automation A-B linear system system has in high precision, good straightness, and high production rate etc. is excellent
Point realizes the scientific and reasonable allotment of agricultural machinery, agricultural production operation quality is made to reach advanced level.Purpose is to solve manually to drive
The deficiency for sailing agricultural machinery, provides a kind of agricultural machinery Automation A-B linear system system, and touch screen sets vehicle to run line, navigation mode (AB is arranged
Line)；GNSS system sends location information to controller；Controller receives information, in conjunction with sensing data and handles, will control
Signal is transferred to hydraulic valve；Hydraulic valve receives signal, and control valve switch realizes route (AB line) automatic Pilot of setting.
Detailed description of the invention
Fig. 1 is the composition block diagram of the utility model agricultural machinery Automation A-B linear system system；
Fig. 2 is the controller composition block diagram in the utility model；
Fig. 3 is the power supply media board composition block diagram in utility model.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples:
Agricultural machinery Automation A-B linear system system, as shown in Figure 1, the system includes that power supply module 10, GNSS global satellite are led
Boat positioning system 20, the course ARHS attitude measurement system 30, controller 80, photoelectric encoder 60, proportional hydraulic valve 40, touch screen
70 and pressure sensor 50；
Power supply module 10 passes through with controller 80, GNSS global navigation satellite system 20 and touch screen 70 respectively
Electrical transfer is realized in service cable connection；Controller 80 is connect with GNSS global navigation satellite system 20 by communication cable
Realize the transmission of GPS data；Controller 80 is connect by communication cable with the course ARHS attitude measurement system 30 and realizes posture number
According to transmission；Controller 80 connect the transmission for realizing that angle turns to data by communication cable with photoelectric encoder 60；Controller
80 realize the transmission of control signal with proportional hydraulic valve 40 by control cable connection；Controller 80 passes through with pressure sensor 50
Control the acquisition that cable connection realizes data；Controller 80 is connect by communication cable with touch screen 70 and realizes parameter setting and choosing
It selects, the display of status information.
As shown in Fig. 2, controller includes that power panel 81, control mainboard 82, data acquisition board 83 and hydraulic valve put 84 big plates；
Control mainboard 82, data acquisition board 83 are connect by PC104 bus with power panel 81, and control mainboard 82 is using Yan Hua company
PCM-3362, data acquisition board 83 use Yan Hua company PCM-3718H, and power panel 81 uses the power module DL- of Xi'an moral dragon
JDC24S12/5000M and DL-JDC24S5/6000M, power panel 81 are connect with hydraulic valve amplification board 84, hydraulic valve amplification board 84
Using the EDM-M242/20E0 of Di Mapu company, can be realized by controlling this controller of program to GPS data, attitude data, angle
Degree turns to the resolving and processing of data, issues control instruction and exports 2 tunnel analog quantitys, control hydraulic valve amplification board 84, completes agricultural machinery
Steering task；Pressure information is acquired simultaneously, realizes that hand automatically switches.
As shown in figure 3, power panel includes power module DL-JDC24S12/5000M and DL-JDC24S5/6000M；It is connecing
After receiving the 12V power supply that power supply module 10 transmits, power module DL-JDC24S12/5000M exports 12V, is exported respectively to liquid
Pressure valve amplification board 84, the course ARHS attitude measurement system 30 and photoelectric encoder 60；Power module DL-JDC24S5/6000M is defeated
5V out is exported respectively by PC104 bus to control mainboard 82, data acquisition board 83.
Controller described in the utility model is control core with PC104 control mainboard 82, by PC104 bus by power supply
Plate 81, data acquisition board integrate, and effectively reduce the volume of controller 80, and are easy to extend, and integrated level is high.
After the system connection of agricultural machinery Automation A-B linear system is correct, vehicle to run line, setting navigation mould are set in touch screen 70 first
Formula, parameter (AB line), send controller 80 to.By the base station difference number for receiving GNSS global navigation satellite system 20
According to realizing the satellite positioning of Centimeter Level, send accurate location information to controller 80 in real time；Photoelectric encoder 60 is in real time to control
Device 80 processed sends the direction of motion of agricultural machinery wheel；Controller 80 is according to the coordinate of satellite positioning and the rotation situation of wheel, in real time
Control instruction is sent to proportional hydraulic valve 40, by controlling the flow and flow direction of hydraulic system oil mass, controls the traveling of vehicle, really
Vehicle is protected according to the route running of navigation setting；Touch screen 70 receives the agricultural machinery status information of controller 80, real-time display；Finally
Complete the tracking and positioning of vehicle and the automatic Pilot of agricultural machinery.
The utility model pass through stand-alone debugging and test, with system docking debug and test, passed through product verifying and
Confirmation, and passed through the on probation of user.Stable and reliable operation controls within reachable ± 2.5 centimetres of precision, and user's reflection is good,
Meet requirement.
Embodiment
Agricultural machinery Automation A-B linear system system is mounted on agricultural machinery, starting agricultural machinery Automation A-B linear system system is connected, passes through touching
Screen " setting A point " is touched, determines agricultural machinery current location (A point), " setting B point " button is determined agricultural machinery current location (B point), completed
The setting of initial AB line.Then selection " operation area is in AB or so " (left or right), setting operation line width is 5m and pid parameter.
After the starting point (such as the end A) that self-navigation has been determined, " starting automatic Pilot " button is clicked, button is shown as " suspending automatic
Drive ", expression is currently in automatic Pilot state, can refuel to agricultural machinery, realizes straight line walking.
When covering a line, button can be clicked, pause automatic Pilot can be clicked again and be pressed after selecting starting point (such as the end B)
Button realizes the automatically walk of new straight line.
During automatic Pilot, at the longitude and latitude (right angle after coordinate is converted of the current AB point of interface real-time display
Coordinate system), currently need score (A ' B ' line), the position coordinates (C) of current agricultural machinery, reflecting on score of automatically walk
Exit point (C '), the target point (T) to be gone to, fusion course angle, front-wheel it is expected corner, present speed.Information above is all with diagram
Form, in interface intermediate region real-time display.
" new job " button is clicked, current driving task can be terminated, restarts new process, and is remembered in the form of log
Record related data information.
When needing to switch pilot steering mode, the pressure of manual rotation's steering wheel, pressure sensor increases, and is greater than threshold value
When, jump out automatic driving mode.
By above-mentioned operation process it is found that the utility model can make agricultural machinery continuous work round the clock, when extending operation
Between, improve the rate of attendance and time availability of agricultural machinery.Mitigate the labor intensity of driver simultaneously, improves farm work matter
Amount.Data real-time storage can be traced, within reachable ± 2.5 centimetres of straight line travelling control precision.
Claims (10)
1. a kind of agricultural machinery Automation A-B linear system system, it is characterised in that: the system includes that power supply module, GNSS global satellite are led
Navigate positioning system, the course ARHS attitude measurement system, controller, photoelectric encoder, proportional hydraulic valve, touch screen and pressure sensing
Device；Power supply module is connect with controller, GNSS global navigation satellite system, touch screen；GNSS global navigation satellite
Positioning system is connect with controller；The course ARHS attitude measurement system is connect with controller；Photoelectric encoder is connect with controller；
Pressure sensor is connect with controller；Controller is connect with proportional hydraulic valve；Touch screen is connect with controller.
2. a kind of agricultural machinery Automation A-B linear system system according to claim 1, it is characterised in that:
The power supply module is used to provide work electricity to controller, GNSS global navigation satellite system and touch screen
Source；
The GNSS global navigation satellite system is used to obtain the location coordinate information of agricultural machinery, and the agricultural machinery that will acquire
Location coordinate information is sent to controller by serial ports；
The course the ARHS attitude measurement system is used to measure the status information of agricultural machinery, and by the status information of the agricultural machinery of measurement
Controller is sent to by serial ports；
The photoelectric encoder is used to measure the corner information of agricultural machinery, and the corner information that measurement is obtained is sent by serial ports
To controller；It can get the direction of motion of agricultural machinery wheel by the corner information of agricultural machinery；
The pressure sensor is used to acquire the pressure information of agricultural machinery oil circuit, and collected pressure information is sent to control
Device；
The controller is used to receive location coordinate information, the ARHS of the agricultural machinery of GNSS global navigation satellite system transmission
The corner information for the agricultural machinery that the status information for the agricultural machinery that course attitude measurement system is sent, photoelectric encoder are sent, pressure sensing
The agricultural machinery travel route and navigational parameter that pressure information, the touch screen for the agricultural machinery oil circuit that device is sent are sent, and the agriculture to receiving
The location coordinate information of machine, the status information of agricultural machinery, the corner information of agricultural machinery and agricultural machinery oil circuit pressure information resolve and
Control instruction is exported after analysis gives proportional hydraulic valve；
Touch screen passes through the agricultural machinery travel route and navigational parameter of setting for setting agricultural machinery travel route and navigational parameter
Serial ports is sent to controller, and touch screen is also used to receive the status information of controller and is shown；
The proportional hydraulic valve is used to receive the control instruction of controller transmission, and changes agriculture according to the control instruction received
The flow and flow direction on machine oil road, make agricultural machinery according to the route running of setting.
3. a kind of agricultural machinery Automation A-B linear system system according to claim 2, it is characterised in that: track route includes that agricultural machinery is made
The beginning and end of first AB line of industry.
4. a kind of agricultural machinery Automation A-B linear system system according to claim 2, it is characterised in that: navigational parameter includes PID ginseng
Several and line width.
5. a kind of agricultural machinery Automation A-B linear system system according to claim 2, it is characterised in that: status information includes agricultural machinery
Three axis angular rates, acceleration and magnetic field strength and atmospheric pressure.
6. a kind of agricultural machinery Automation A-B linear system system according to claim 1, it is characterised in that: the GNSS global satellite is led
Positioning system of navigating includes GPS antenna, GPS receiver and movable type RTK difference station.
7. a kind of agricultural machinery Automation A-B linear system system according to claim 6, it is characterised in that: mobile RTK difference station is logical
It crosses data radio station to connect with GPS antenna, GPS antenna is connect with GPS receiver.
8. a kind of agricultural machinery Automation A-B linear system system according to claim 1, it is characterised in that: the controller includes control
Mainboard, data acquisition board, power panel and hydraulic valve amplification board processed；Control mainboard respectively with data acquisition board, power panel and hydraulic
The connection of valve amplification board.
9. a kind of agricultural machinery Automation A-B linear system system according to claim 8, it is characterised in that: control mainboard is magnificent public using grinding
The PCM-3362 of department, data acquisition board use Yan Hua company PCM-3718H, and power panel uses the power module DL- of Xi'an moral dragon
JDC24S12/5000M and DL-JDC24S5/6000M, hydraulic valve amplification board use the EDM-M242/20E0 of Di Mapu company, control
The input/output interface of device processed uses aviation socket.
10. a kind of agricultural machinery Automation A-B linear system system according to claim 8, it is characterised in that: the control mainboard provides
Hardware platform and full duplex serial port interface；Data acquisition board acquires the control of the signal and export ratio hydraulic valve of pressure sensor
Signal；Power panel receives the 12V operating voltage of power supply module, provides 5V power supply by PC104 bus for control mainboard, leads to
It crosses aviation socket and provides 12V power supply for the course ARHS attitude measurement system and photoelectric encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820911443.XU CN208477374U (en) | 2018-06-12 | 2018-06-12 | A kind of agricultural machinery Automation A-B linear system system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820911443.XU CN208477374U (en) | 2018-06-12 | 2018-06-12 | A kind of agricultural machinery Automation A-B linear system system |
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| CN208477374U true CN208477374U (en) | 2019-02-05 |
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| CN201820911443.XU Expired - Fee Related CN208477374U (en) | 2018-06-12 | 2018-06-12 | A kind of agricultural machinery Automation A-B linear system system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475768A (en) * | 2020-10-28 | 2022-05-13 | 西安合众思壮导航技术有限公司 | Automatic driving system and method and electric steering wheel |
-
2018
- 2018-06-12 CN CN201820911443.XU patent/CN208477374U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475768A (en) * | 2020-10-28 | 2022-05-13 | 西安合众思壮导航技术有限公司 | Automatic driving system and method and electric steering wheel |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20200612 |
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| CF01 | Termination of patent right due to non-payment of annual fee |