CN211698709U - Beidou satellite navigation operation device - Google Patents
Beidou satellite navigation operation device Download PDFInfo
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- CN211698709U CN211698709U CN202020043355.XU CN202020043355U CN211698709U CN 211698709 U CN211698709 U CN 211698709U CN 202020043355 U CN202020043355 U CN 202020043355U CN 211698709 U CN211698709 U CN 211698709U
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Abstract
The utility model relates to the technical field of agricultural equipment, specifically disclose a big dipper navigation operation device, including navigation module and remote control module, navigation module includes difference reference station, satellite positioning device, navigation controller, hydraulic steering controller, direction sensor, the remote control module includes master switch, power, radio signal receiver, remote switch, electron brake, remote switch controller. Its advantages are: can be used in farmland operations such as ridging, seeding, pesticide spraying, harvesting and the like; the operation precision is improved, and the standardized agricultural requirements are better met; the working efficiency is improved; the operation time of the tractor is prolonged, people can stop the tractor and can perform field operation at night; the labor intensity of the driver is reduced, and the requirement on the operation level of the driver is reduced; the operation is simple, an operator does not need to be in a cab, the brake of the tractor can be controlled to stop or run through a remote switch controller on the ground, and the labor intensity is reduced.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine and specifically relates to a big dipper navigation operation device.
Background
The traditional tractor operation completely depends on the driving experience of a driver, the straightness accuracy and the joint line accuracy are difficult to be ensured, the labor intensity of the driver is high, the technical requirement is high, the operation quality and the operation efficiency can not be ensured especially for operations with higher requirements on the straightness accuracy and the joint line, such as seeding, ditching, film covering, Gong raising, intertillage, pesticide spraying and the like, the operation can not be carried out at night basically, the production cost is increased, and the utilization efficiency of land blocks is reduced. The automatic driving system installed on the existing tractor is an auxiliary driving system, a driver is still needed, the automatic driving system is mainly used when a driver walks in a straight line, the driver cannot leave the tractor, and the automatic driving system is not full-automatic unmanned driving.
The vehicle-mounted sensor is used for sensing the surrounding environment of the vehicle, and the steering and the speed of the vehicle are controlled according to the terrain, the position of the vehicle and the obstacle information obtained by sensing, so that the vehicle can safely and reliably work in the field. The unmanned tractor is an intelligent working vehicle, also called as a wheeled mobile robot, and mainly depends on an intelligent driving instrument which is mainly a computer system and arranged on a tractor vehicle to realize unmanned driving. The unmanned tractor fundamentally changes the traditional 'one-vehicle' closed-loop control operation mode, and an uncontrollable driver is requested from the closed-loop system, so that the working efficiency and the accurate measurement of the tractor are greatly improved, and the measurement information can help a computer on the cotton picker to carry out vehicle control such as operation planning, track tracking, vehicle steering and the like; meanwhile, the high-smoothness information output by the Beidou satellite navigation combination navigation product can effectively reduce misoperation of a vehicle control system, prolong the operation time, reduce the labor intensity and workload of agricultural operators to a certain extent, realize night operation, improve the attendance rate and the operation efficiency of the locomotive and improve the work efficiency of busy farming seasons. Patent document 201620427348.3 discloses an automatic steering control device for agricultural machinery, which solves the technical problem that the farming quality is not qualified to the agricultural requirements due to the low control precision of the differential technology compatible with the satellite signal received by a single antenna, and still requires a driver to sit in a cab of a tractor to operate a vehicle-mounted panel to control the braking or steering of the agricultural machinery.
Disclosure of Invention
The utility model aims at providing a big dipper navigation operation device.
In order to achieve the purpose, the utility model adopts the technical proposal that:
a Beidou satellite navigation operation device comprises a navigation module and a remote control module, wherein the navigation module comprises a differential reference station, a satellite positioning device, a navigation controller, a hydraulic steering controller and a direction sensor, and the remote control module comprises a main switch, a power supply, a wireless signal receiver, a remote switch, an electronic brake and a remote switch controller;
the differential reference station is used for correcting the position error of the vehicle and realizing centimeter-level positioning accuracy; the differential reference station comprises a satellite receiver, a radio station module and a radio station antenna module, wherein the satellite receiver is connected with the radio station module, the radio station module is connected with the radio station antenna module, and the satellite receiver transmits the acquired satellite data to the radio station module and the radio station antenna module;
the satellite positioning device comprises a signal receiving module and a Beidou high-precision positioning board card, wherein the signal receiving module is connected with the radio station antenna module, the signal receiving module acquires satellite data signals sent by the radio station antenna module and transmits the satellite data signals to the Beidou high-precision positioning board card, and the Beidou high-precision positioning board card generates real-time position information of the tractor according to the received satellite data signals and transmits the position information to the navigation controller;
the direction sensor acquires running direction information of tractor wheels and transmits the acquired running direction information to the navigation controller;
the navigation controller comprises a light target navigation device for setting a tractor walking route and a single chip microcomputer connected with the satellite positioning device, the direction sensor and the light target navigation device, the single chip microcomputer generates map data around the tractor according to position information and running direction information, the single chip microcomputer generates the tractor driving route according to the map data and the position information, transmits the driving route to the light target navigation device, and generates a tractor action control instruction according to the driving route;
an angle sensor is arranged on a tractor guide wheel, the angle sensor acquires a steering angle and transmits steering angle data to a navigation controller, and the navigation controller compares the received steering angle data with the acquired running direction information and the driving route to judge whether steering is needed or not;
the hydraulic steering controller comprises an electric control hydraulic valve and a steering oil cylinder, the steering oil cylinder is connected with a steering wheel of the tractor, the navigation controller transmits a steering instruction to the electric control hydraulic valve, and the electric control hydraulic valve outputs hydraulic oil with different flow rates to drive the steering oil cylinder to act so as to control the steering of the steering wheel;
the main switch is electrically connected with the power supply, the wireless signal receiver, the remote switch and the electronic brake through wires, the power supply is electrically connected with the wireless signal receiver, the remote switch and the electronic brake, the wireless signal receiver is electrically connected with the remote switch, and the remote switch is electrically connected with the electronic brake;
the remote switch controller comprises a remote switch controller body, a battery and a wireless signal transmitter, wherein the battery is electrically connected with the wireless signal transmitter, and the wireless signal transmitter is connected with the wireless signal receiver through a wireless signal.
Further, in above-mentioned big dipper navigation operation device, preferably still be equipped with the contact switch on the remote switch controller body, the contact switch is connected with battery and wireless signal transmitter electricity, and wireless signal transmitter transmission wireless signal to wireless signal receiver after opening the contact switch, wireless signal receiver transmission signal gives the remote switch, and for the electronic brake circular telegram, realize the remote control brake.
Further, in above-mentioned big dipper navigation operation device, preferably still be equipped with the contact switch on the remote switch controller body, the contact switch is connected with battery and wireless signal transmitter electricity, and wireless signal transmitter transmission wireless signal to wireless signal receiver after opening the contact switch, wireless signal receiver transmission signal gives the remote switch, and for the electronic brake circular telegram, realize the remote control brake.
Further, in the Beidou satellite navigation operation device, the Beidou high-precision positioning board card is preferably a Huazhong B380 Beidou high-precision positioning GNSS OEM board card.
Further, in the compass navigation operation device, the direction sensor is preferably a Honeywell SNDH-T4L-G01 direction sensor.
Further, in the Beidou satellite navigation operation device, the angle sensor is preferably a JY-61 angle sensor.
The utility model has the advantages that:
1. can be used in farmland operations such as ridging, seeding, spraying, harvesting and the like.
2. The operation precision is improved, and the standardized agricultural requirements are better met.
3. The operation of less weight and no leakage in manual operation can be changed into automatic operation without weight and no leakage, and the operation efficiency is improved.
4. The operation time of the tractor is prolonged, people can stop the tractor without stopping the tractor, and field operation can be performed at night.
5. The labor intensity of the driver is reduced, and the requirement on the operation level of the driver is reduced.
6. The operation is simple, and the operation can be learned in 15 minutes.
7. An operator can control the tractor to stop or run through a remote switch controller on the ground without needing to be in a cab, so that the labor intensity is reduced.
Drawings
Figure 1 is the utility model discloses big dipper navigation operation device remote control module schematic diagram.
Figure 2 is the utility model discloses big dipper navigation operation device navigation module schematic diagram.
Detailed Description
The present invention will be further described with reference to the following detailed description. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications can be made by those skilled in the art after reading the disclosure of the present invention, and such equivalents also fall within the scope of the appended claims.
Example 1
The utility model provides a big dipper navigation operation device, includes navigation module and remote control module, as shown in figure 2, navigation module includes difference reference station, satellite positioning device, navigation controller, hydraulic steering controller, direction sensor. As shown in fig. 1, the remote control module includes a main switch, a power supply, a wireless signal receiver, a remote switch, an electronic brake, and a remote switch controller. The differential reference station is used for correcting the position error of the vehicle and realizing centimeter-level positioning accuracy. The differential reference station comprises a satellite receiver, a radio station module and a radio station antenna module, wherein the satellite receiver is connected with the radio station module, the radio station module is connected with the radio station antenna module, and the satellite receiver transmits acquired satellite data to the radio station module and the radio station antenna module. The satellite positioning device comprises a signal receiving module and a Beidou high-precision positioning board card, the signal receiving module is connected with the radio station antenna module, the signal receiving module acquires satellite data signals sent by the radio station antenna module and sends the satellite data signals to the Beidou high-precision positioning board card, and the Beidou high-precision positioning board card generates real-time position information of the tractor according to the received satellite data signals and sends the position information to the navigation controller. The direction sensor acquires running direction information of wheels of the tractor and transmits the acquired running direction information to the navigation controller. The navigation controller comprises a light target navigation device for setting a tractor walking route and a single chip microcomputer connected with the satellite positioning device, the direction sensor and the light target navigation device, the single chip microcomputer generates map data around the tractor according to position information and running direction information, the single chip microcomputer generates a tractor driving route according to the map data and the position information, the driving route is transmitted to the light target navigation device, and a tractor action control instruction is further generated according to the driving route. An angle sensor is arranged on a tractor guide wheel, the angle sensor acquires a steering angle and transmits steering angle data to a navigation controller, and the navigation controller compares the received steering angle data with the acquired running direction information and the driving route to judge whether steering is needed or not; the hydraulic steering controller comprises an electric control hydraulic valve and a steering oil cylinder, the steering oil cylinder is connected with a steering wheel of the tractor, the navigation controller transmits a steering instruction to the electric control hydraulic valve, and the electric control hydraulic valve outputs hydraulic oil with different flow rates to drive the steering oil cylinder to act so as to control the steering of the steering wheel. Further, the Beidou high-precision positioning board card is a Huazhong B380 Beidou high-precision positioning GNSS OEM board card. Further, the direction sensor is a Honizwell SNDH-T4L-G01 direction sensor. Further, the angle sensor is a JY-61 angle sensor.
The main switch is electrically connected with the power supply, the wireless signal receiver, the remote switch and the electronic brake through wires, the power supply is electrically connected with the wireless signal receiver, the remote switch and the electronic brake, the wireless signal receiver is electrically connected with the remote switch, and the remote switch is electrically connected with the electronic brake; the remote switch controller comprises a remote switch controller body, a battery and a wireless signal transmitter, wherein the battery is electrically connected with the wireless signal transmitter, and the wireless signal transmitter is connected with the wireless signal receiver through a wireless signal. Further, still be equipped with the contact switch on the remote switch controller body, the contact switch is connected with battery and wireless signal transmitter electricity, and wireless signal transmitter conveys wireless signal to wireless signal receiver after opening the contact switch, and wireless signal receiver conveys the signal and gives remote switch, and the circular telegram is switched on for the electron brake, realizes the remote control brake.
When the utility model is used, the satellite receiver transmits the acquired satellite data to the radio station module and the radio station antenna module, the signal receiving module acquires the satellite data signal sent by the radio station antenna module and transmits the satellite data signal to the Beidou high-precision positioning board card, the Beidou high-precision positioning board card generates the real-time position information of the tractor according to the received satellite data signal and transmits the position information to the navigation controller, the direction sensor acquires the running direction information of the tractor wheel and transmits the acquired running direction information to the navigation controller, the singlechip of the navigation controller generates the map data around the tractor according to the position information and the running direction information and further generates the running route of the tractor according to the map data and the position information, the angle sensor is arranged on the tractor guide wheel and acquires the steering angle and transmits the steering angle data to the navigation controller, and the navigation controller compares the received steering angle data with the acquired running direction information and the driving route to judge whether steering is needed or not. For example, when the running direction of the tractor wheels deviates 30 degrees leftwards from the running route direction, the hydraulic steering controller controls the guide wheels to deviate 30 degrees rightwards, and the running direction of the tractor wheels is continuously adjusted until the running direction of the tractor wheels is parallel to the running route direction. The steering principle of the hydraulic steering controller for controlling the guide wheels is as follows: the hydraulic steering controller comprises an electric control hydraulic valve and a steering oil cylinder, the steering oil cylinder is connected with a steering wheel of the tractor, the navigation controller transmits a steering instruction to the electric control hydraulic valve, and the electric control hydraulic valve outputs hydraulic oil with different flow rates to drive the steering oil cylinder to act so as to control the steering of the steering wheel. When the tractor is required to stop operating, a user holds the remote switch controller on the ground to operate, the wireless signal transmitter is powered on through the contact switch, the wireless signal transmitter transmits and sends out an instruction signal, the wireless signal receiver on the tractor receives the instruction signal and then transmits the instruction signal to the remote control switch, the remote control switch is closed to enable the electronic brake to be powered on, and the electronic brake brakes the tractor to realize remote control braking.
Economic benefits are as follows: by applying the tractor Beidou navigation technology device, the efficiency and the utilization rate of the tractor are greatly improved, and the workload of each tractor can be increased by about 10%. Meanwhile, an automatic navigation technology is adopted, so that the overlapping and omission among operation ridges are greatly reduced, the average direct benefit per mu is about 10 yuan, and the annual cost is saved by about 0.55 ten thousand yuan.
Social benefits are as follows: the popularization and application of the tractor Beidou navigation driving device can solve the problem of coming land, and a land with high operation quality can be planted as long as the tractor is started; due to the improvement of the precision, the land utilization rate is improved, a foundation is laid for the improvement of the average yield per mu, the possibility is provided for the stable yield increase of national grains, and the positive contribution is made to the national grain safety; the technical support is provided for the development of agricultural production towards the accurate intelligent direction; can effectively improve the recovery rate of residual films, improve the utilization rate of pesticides and fertilizers, and lay a foundation for protecting the ecological environment and promoting the green sustainable development of agriculture.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and additions can be made without departing from the principles of the present invention, and these improvements and additions should also be regarded as the protection scope of the present invention.
Claims (5)
1. The Beidou satellite navigation operation device is characterized by comprising a navigation module and a remote control module, wherein the navigation module comprises a differential reference station, a satellite positioning device, a navigation controller, a hydraulic steering controller and a direction sensor, and the remote control module comprises a main switch, a power supply, a wireless signal receiver, a remote switch, an electronic brake and a remote switch controller;
the differential reference station is used for correcting the position error of the vehicle and realizing centimeter-level positioning accuracy; the differential reference station comprises a satellite receiver, a radio station module and a radio station antenna module, wherein the satellite receiver is connected with the radio station module, the radio station module is connected with the radio station antenna module, and the satellite receiver transmits the acquired satellite data to the radio station module and the radio station antenna module;
the satellite positioning device comprises a signal receiving module and a Beidou high-precision positioning board card, wherein the signal receiving module is connected with the radio station antenna module, the signal receiving module acquires satellite data signals sent by the radio station antenna module and transmits the satellite data signals to the Beidou high-precision positioning board card, and the Beidou high-precision positioning board card generates real-time position information of the tractor according to the received satellite data signals and transmits the position information to the navigation controller;
the direction sensor acquires running direction information of tractor wheels and transmits the acquired running direction information to the navigation controller;
the navigation controller comprises a light target navigation device for setting a tractor walking route and a single chip microcomputer connected with the satellite positioning device, the direction sensor and the light target navigation device, the single chip microcomputer generates map data around the tractor according to position information and running direction information, the single chip microcomputer generates the tractor driving route according to the map data and the position information, transmits the driving route to the light target navigation device, and generates a tractor action control instruction according to the driving route;
an angle sensor is arranged on a tractor guide wheel, the angle sensor acquires a steering angle and transmits steering angle data to a navigation controller, and the navigation controller compares the received steering angle data with the acquired running direction information and the driving route to judge whether steering is needed or not;
the hydraulic steering controller comprises an electric control hydraulic valve and a steering oil cylinder, the steering oil cylinder is connected with a steering wheel of the tractor, the navigation controller transmits a steering instruction to the electric control hydraulic valve, and the electric control hydraulic valve outputs hydraulic oil with different flow rates to drive the steering oil cylinder to act so as to control the steering of the steering wheel;
the main switch is electrically connected with the power supply, the wireless signal receiver, the remote switch and the electronic brake through wires, the power supply is electrically connected with the wireless signal receiver, the remote switch and the electronic brake, the wireless signal receiver is electrically connected with the remote switch, and the remote switch is electrically connected with the electronic brake;
the remote switch controller comprises a remote switch controller body, a battery and a wireless signal transmitter, wherein the battery is electrically connected with the wireless signal transmitter, and the wireless signal transmitter is connected with the wireless signal receiver through a wireless signal.
2. The Beidou satellite navigation operation device according to claim 1, wherein the remote switch controller body is further provided with a contact switch, the contact switch is electrically connected with the battery and the wireless signal transmitter, the wireless signal transmitter transmits a wireless signal to the wireless signal receiver after the contact switch is turned on, and the wireless signal receiver transmits a signal to the remote switch to electrify the electronic brake, so that remote control of the brake is realized.
3. The Beidou satellite navigation operation device according to claim 1, wherein the Beidou high precision positioning board card is a Huazhong B380 Beidou high precision positioning GNSS OEM board card, and can provide centimeter RTK positioning and millimeter carrier wave observation values.
4. The Beidou navigation operation device according to claim 1, wherein the direction sensor is a Honizwell SNDH-T4L-G01 direction sensor.
5. The Beidou satellite navigation operation device according to claim 1, characterized in that the angle sensor is a JY-61 angle sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020043355.XU CN211698709U (en) | 2020-01-09 | 2020-01-09 | Beidou satellite navigation operation device |
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| CN202020043355.XU CN211698709U (en) | 2020-01-09 | 2020-01-09 | Beidou satellite navigation operation device |
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| CN211698709U true CN211698709U (en) | 2020-10-16 |
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| CN202020043355.XU Expired - Fee Related CN211698709U (en) | 2020-01-09 | 2020-01-09 | Beidou satellite navigation operation device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113390466A (en) * | 2021-07-02 | 2021-09-14 | 华中农业大学 | Method for collecting seeding quality information of seeds with medium and small particle diameters and monitoring operation state of machine tool |
| 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 |
| CN117572477A (en) * | 2023-11-16 | 2024-02-20 | 深圳浪尖智造新技术有限公司 | Autonomous navigation method for agricultural machinery |
-
2020
- 2020-01-09 CN CN202020043355.XU patent/CN211698709U/en not_active Expired - Fee Related
Cited By (3)
| 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 |
| CN113390466A (en) * | 2021-07-02 | 2021-09-14 | 华中农业大学 | Method for collecting seeding quality information of seeds with medium and small particle diameters and monitoring operation state of machine tool |
| CN117572477A (en) * | 2023-11-16 | 2024-02-20 | 深圳浪尖智造新技术有限公司 | Autonomous navigation method for agricultural machinery |
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