NL2024547B1 - Mechanical-contact navigation control system and navigation method of corn harvestre - Google Patents

Mechanical-contact navigation control system and navigation method of corn harvestre Download PDF

Info

Publication number
NL2024547B1
NL2024547B1 NL2024547A NL2024547A NL2024547B1 NL 2024547 B1 NL2024547 B1 NL 2024547B1 NL 2024547 A NL2024547 A NL 2024547A NL 2024547 A NL2024547 A NL 2024547A NL 2024547 B1 NL2024547 B1 NL 2024547B1
Authority
NL
Netherlands
Prior art keywords
steering
control system
mechanical contact
contact
mechanical
Prior art date
Application number
NL2024547A
Other languages
Dutch (nl)
Inventor
Li Qinglong
Chen Gang
He Qinghai
Sun Yongjia
Shen Jingxin
Sun Yitian
Original Assignee
Shandong Academy Agricultural Machinery Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201611082089.6A priority Critical patent/CN106647748A/en
Application filed by Shandong Academy Agricultural Machinery Sciences filed Critical Shandong Academy Agricultural Machinery Sciences
Priority to NL2024547A priority patent/NL2024547B1/en
Application granted granted Critical
Publication of NL2024547B1 publication Critical patent/NL2024547B1/en

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The present invention discloses a mechanical-contact navigation control system of a corn harvester, which is composed of a touch screen, a controller, an electro-hydraulic proportional valve, mechanical-contact guide mechanisms, a steering hydraulic cylinder and a steering detection sensor. The mechanical-contact guide mechanisms detect deflection angles of contact levers in a Hall induction mode. When the mechanicalcontact navigation control system of the corn harvester works in an automatic row alignment mode, the controllerjudges a deflection direction of a machine according to a trigger signal fed back by the mechanical-contact guide mechanisms, adjusts actions of the electro-hydraulic proportional valve and the steering hydraulic cylinder to deflect a machine steering wheel, and controls the steering wheel to be centered according to the deflection angle of the steering wheel detected by the steering detection sensor, thereby finally completing the row alignment action.

Description

MECHANICAL-CONTACT NAVIGATION CONTROL SYSTEM AND
NAVIGATION METHOD OF CORN HARVESTRE Technical Field The present invention relates to agricultural machinery, and in particular to a mechanical-contact navigation control system and navigation method of a corn harvester. Background China is a large agricultural country. Automation and intelligentization of agricultural machinery and equipment are the premise and foundation for realizing the large-scale farming of modern agriculture in China and have broad development prospects. Although China has made remarkable achievements in the mechanization of agricultural equipment, it is still at the initial stage in terms of automation and intelligentization. When the corn harvester as large-sized agricultural harvesting equipment works in the field, on one hand, a driver shall drive the machine carefully; and on the other hand, the driver shall pay close attention to the feeding amount, row alignment and working conditions of an engine, so that long-term mechanical operation may increase the fatigue of the driver and reduce the harvesting efficiency. In order to reduce the workload of the driver and improve the work efficiency, an automatic row alignment control technology of the corn harvester is researched, and the mechanical-contact navigation control system of the harvester is developed, so that a swath of a harvesting table is accurately aligned with the corn rows, thereby preventing undesirable operation phenomenon such as staggered operation and realizing an automatic row alignment function of the harvesting table. Summary The technical problem to be solved by the present invention is to provide a mechanical-contact navigation system and navigation method of a corn harvester. By using a mechanics-electronics-hydraulics integrated control technology, the control system detects a row alignment state of a harvesting table by using a sensing apparatus, and controls an electromagnetic reversing valve of a steering hydraulic cylinder by using a controller to realize the steering adjustment, thereby achieving a purpose of automatic row alignment of the harvesting table.
To solve the technical problem, the present invention adopts the technical solution as follows: a mechanical-contact navigation control system of a corn harvester includes a controller, mechanical-contact guide mechanisms, an electro-hydraulic proportional valve, a steering hydraulic cylinder and a steering detection sensor. The mechanical- contact guide mechanisms are installed on a swath of the harvester in pairs. The front end of each mechanical-contact guide mechanism is provided with a contact lever for detecting whether the harvester is driven in a row alignment mode, and the contact levers of each pair of mechanical-contact guide mechanisms are disposed oppositely. The electro-hydraulic proportional valve controls the action of the steering hydraulic cylinder, and the steering hydraulic cylinder is connected with a steering mechanism of a harvester steering wheel. The steering detection sensor is mounted at the top end of a steering shaft of the steering wheel. The steering detection sensor detects a rotation angle of the steering wheel and feeds back the rotation angle to the controller.
According to the mechanical-contact navigation control system of the corn harvester, the mechanical-contact guide mechanism includes a shell and a contact lever which is rotatably connected with the shell. The shell is mounted on the swath of the harvester. A rotating shaft is arranged inside the shell. The rotating shaft is provided with a Hall element. The rotating shaft is connected with the contact lever.
According to the mechanical-contact navigation control system of the corn harvester, the front end of the contact lever is in an arc shape.
According to the mechanical-contact navigation control system of the corn harvester, the front ends of the contact levers of each pair of mechanical-contact guide mechanisms are spaced for a distance.
According to the mechanical-contact navigation control system of the corn harvester, the shell is provided with a mounting hole. The shell is fixedly connected with a harvesting table through a bolt penetrating through the mounting hole.
According to the mechanical-contact navigation control system of the corn harvester, the contact lever is fixed on the rotating shaft inside the shell through a nut.
The mechanical-contact navigation control system of the corn harvester also includes a touch screen. The touch screen and the controller are installed in a cab.
The present invention further discloses a navigation method based on the mechanical-contact navigation control system of the corn harvester. Firstly, the corn harvester takes one row of corns as a reference row, and the mechanical-contact guide mechanisms judge whether the corn harvester works in a row alignment mode by detecting the reference row. When the harvester works normally, the mechanical-
contact guide mechanisms may not touch corn straws of the reference row, no signal is fed back to the controller, and an actuating mechanism does not act.
When the harvester deviates from the reference row, the mechanical-contact guide mechanisms touch the corn straws; a trigger signal is fed back to the controller; the controller judges a deflection direction of the harvester, and adjusts the actions of the electro-hydraulic proportional valve and the steering hydraulic cylinder to deflect the steering wheel, and at the same time, the steering detection sensor detects a deflection angle of the steering wheel and feeds back a detection value to the controller.
When the deflection angle of the steering wheel reaches a set value, the controller controls the steering hydraulic cylinder to center the steering wheel.
When the steering detection sensor detects that the steering wheel is centered to a set median value, the controller stops adjusting the steering wheel, and the navigation control system completes one navigation action.
The beneficial effects of the present invention are: the mechanical-contact guide mechanisms of the present invention convert the deflection angle of the contact lever to a voltage signal; the steering detection sensor detects the rotation angle of the steering wheel; and the controller controls the action of the electro-hydraulic proportional valve according to the signals fed back by the mechanical-contact guide mechanisms and the steering detection sensor to realize the extension and retraction of the steering hydraulic cylinder, thereby achieving a purpose of automatic row alignment of the harvester.
The mechanical-contact guide mechanisms of the present invention are small in overall structure, high in dustproof, waterproof and anti-vibration capacity, and are not susceptible to interference.
Description of Drawings Fig. 1 is a structural schematic diagram of a mechanical-contact navigation control system of a corn harvester; Fig. 2 is a structural schematic diagram of a mechanical-contact navigation control system of a corn harvester from another angle; Fig. 3 is a structural schematic diagram of a mechanical-contact guide mechanism; and Fig. 4 is a flow chart of a navigation method based on the mechanical-contact navigation control system of the corn harvester provided by the present invention.
In the figures: 1, touch screen; 2, controller; 3, electro-hydraulic proportioning valve; 4, mechanical-contact guide mechanism; 5, steering hydraulic cylinder; 6, steering detection sensor; 41, shell; 42, round nut; 43, mounting hole; 44, contact lever.
Detailed Description The present invention is further described below in combination with the drawings and embodiments.
As shown in Fig. 1 and Fig. 2, a mechanical-contact navigation control system of a corn harvester includes a touch screen 1, a controller 2, an electro-hydraulic proportional valve 3, mechanical-contact guide mechanisms 4, a steering hydraulic cylinder 5 and a steering detection sensor. The touch screen 1 and the controller 2 are mounted in a cab. Operation parameters are set and displayed by the touch screen 1. The controller 2 controls an actuating mechanism to complete the row alignment action. The electro-hydraulic proportional valve 3 is mounted below the cab and controls the action of the steering hydraulic cylinder 5. The mechanical-contact guide mechanisms are mounted on a swath of the harvester in pairs. The front end of each mechanical- contact guide mechanism is provided with a contact lever for detecting whether the harvester is driven in a row alignment mode. The contact levers of each pair of mechanical-contact guide mechanisms are disposed oppositely. The steering hydraulic cylinder 5 is connected with a steering mechanism of a harvester steering wheel. The steering detection sensor 6 is mounted at the top end of a steering shaft of the steering wheel. The rotation angle of the steering wheel is fed back by the steering detection sensor 6 to the controller 2.
As shown in Fig. 3, the mechanical-contact guide mechanism 4 consists of a shell 41, around nut 42, a mounting hole 43 and a contact lever 44. The mechanical-contact guide mechanism 4 is fixedly connected with a harvesting table by a bolt penetrating through the mounting hole 43. The round nut 42 fixes the contact lever 44 onto a rotating shaft inside the shell 41. The contact lever 44 drives a Hall element on the rotating shaft to rotate. According to different positions of electric signals triggered by the Hall element, a deflection angle of the contact lever 44 is judged.
In the present embodiment, to ensure the detection accuracy, the front end of the contact lever is in an arc shape. The front ends of the contact levers of each pair of mechanical-contact guide mechanisms are spaced for a distance.
The present embodiment also discloses a navigation method based on the mechanical-contact navigation control system of the corn harvester. The method includes: the corn harvester takes one row of corns as a reference row when performing the automatic row alignment operation, and mechanical-contact guide mechanisms 4 judge whether a machine performs the row alignment operation by detecting the reference row. When the machine works normally, the guide mechanisms may not 5 touch corn straws of the reference row, no signal is fed back to a controller 2, and an actuating mechanism does not act. When the machine deviates from the reference row, the guide mechanisms touch the corn straws, a trigger signal is fed back to the controller 2, the controller 2 judges a deflection direction of the machine and adjusts the actions of an electro-hydraulic proportional valve 3 and a steering hydraulic cylinder 5 to deflect a machine steering wheel, and at the same time, a steering detection sensor 6 detects a deflection angle of the steering wheel and feeds back a detection value to the controller 2. When the deflection angle of the steering wheel reaches a set value, the controller 2 controls the steering hydraulic cylinder 5 to center the steering wheel. When the steering detection sensor 6 detects that the steering wheel is centered to a set median value, the controller 2 stops adjusting the steering wheel, and the navigation control system completes one navigation control action.
A specific process for the controller 2 to control the harvester to perform the automatic row alignment is as follows: the mechanical-contact guide mechanisms 4 rotate, a guide signal is triggered, and the controller 2 judges the deflection direction. If the harvester deviates to the left, the controller 2 controls the electro-hydraulic proportional valve 3 to be electrified, the electro-hydraulic proportional valve 3 controls the steering wheel to turn right through the steering hydraulic cylinder 5, and then the steering detection sensor 6 detects a rotation angle of the steering wheel and feeds back the rotation angle to the controller 2. The controller 2 judges the position of a tire according to the deflection angle, continues to control the steering wheel to turn right if the tire is still located in a left deflection interval, and judges the position of the tire. Until the position of the tire is at a median value, the controller 2 controls the electro-hydraulic proportional valve 3 to be powered off, stops the steering of the steering wheel, and waits for the next triggering of the guide signal. In a similar way, if the harvester deviates to the right, the steering wheel is controlled to turn left, and the position of the tire is judged. Until the position of the tire is at the median value, the electro-hydraulic valve is powered off, and the steering of the steering wheel is stopped, so that the navigation control system completes one navigation control action, the harvester performs the automatic row alignment, and the steering adjustment is realized.
The specific implementation of the present invention is described above with reference to the drawings but is not intended to limit the protection scope of the present invention.
Those skilled in the art should understand that on the basis of the technical solutions of the present invention, various modifications or variations that can be made by those skilled in the art without contributing creative labor are still within the protection scope of the present invention.

Claims (8)

CONCLUSIESCONCLUSIONS 1. Een mechanisch contact navigatiecontrolesysteem van een maiskolvenplukker, dat bestaat uit een controller, mechanische contactgeleidingsmechanismen, een elektrohydraulische proportionele klep, een hydraulische stuurcilinder en een stuurdetectiesensor, waarbij de mechanische contactgeleidings-mechanismen in paren zijn geïnstalleerd op een zwad van de oogstmachine; het voorste uiteinde van elk mechanisch contactgeleidingsmechanisme is voorzien van een contacthefboom om te detecteren of de oogstmachine in een rij-uitljnmodus wordt aangedreven; de contacthefbomen van elk paar mechanische contactgeleidingsmechanismen zijn tegenover elkaar geplaatst, de elektrohydraulische proportionele klep regelt de werking van de stuurhydraulische cilinder en de stuurhydraulische cilinder is verbonden met een stuurmechanisme van een stuurwiel van een oogstmachine; de stuurdetectiesensor is gemonteerd aan het boveneinde van een stuuras van het stuurwiel; en de stuurdetectiesensor detecteert een rotatiehoek van het stuurwiel en koppelt de rotatiehoek terug naar de controller.1. A maize harvester mechanical contact navigation control system, which is composed of a controller, mechanical contact guidance mechanisms, an electro-hydraulic proportional valve, a hydraulic steering cylinder and a steering detection sensor, wherein the mechanical contact guidance mechanisms are installed in pairs on a swath of the harvester; the front end of each mechanical contact guiding mechanism is provided with a contact lever for detecting whether the harvester is being driven in a row alignment mode; the contact levers of each pair of mechanical contact guiding mechanisms are opposed to each other, the electro-hydraulic proportional valve controls the operation of the steering hydraulic cylinder, and the steering hydraulic cylinder is connected to a steering mechanism of a steering wheel of a harvester; the steering detection sensor is mounted on the upper end of a steering shaft of the steering wheel; and the steering detection sensor detects a rotation angle of the steering wheel and feeds the rotation angle back to the controller. 2. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 1, waarbij het mechanisch contactgeleidingsmechanisme bestaat uit een schaal en een contacthefboom, die roteerbaar is verbonden met de schaal; de schaal is gemonteerd op het zwad van de oogstmachine; een roterende as is binnen de schaal aangebracht; de roterende as is voorzien van een Hall-element; en de roterende as is verbonden met de contacthefboom.The mechanical contact navigation control system of the corn header according to claim 1, wherein the mechanical contact guiding mechanism consists of a shell and a contact lever rotatably connected to the shell; the scale is mounted on the swath of the harvester; a rotating shaft is arranged within the shell; the rotating shaft is provided with a Hall element; and the rotary shaft is connected to the contact lever. 3. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 1 of 2, waarbij het vooreinde van de contacthefboom een boogvorm heeft.The mechanical contact navigation control system of the corn header according to claim 1 or 2, wherein the front end of the contact lever has an arc shape. 4. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 1 of 2, waarbij de vooreinden van de contacthefbomen van elk paar mechanische contactgeleidingsmechanismen op afstand zijn geplaatst.The mechanical contact navigation control system of the corn header according to claim 1 or 2, wherein the front ends of the contact levers are spaced apart from each pair of mechanical contact guiding mechanisms. 5. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 2, waarbij de schaal is voorzien van een montageopening; en de schaal is vast verbonden met een oogsttafel door een bout die door het montageopening dringt.The mechanical contact navigation control system of the corn header according to claim 2, wherein the shell has a mounting opening; and the tray is fixedly connected to a harvesting table by a bolt penetrating through the mounting hole. 6. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 2, waarbij de contacthefboom door een moer op de roterende as in de schaal is bevestigd.The mechanical contact navigation control system of the corn header according to claim 2, wherein the contact lever is fixed by a nut on the rotary shaft in the shell. 7. Het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 1, waarbij het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker ook een aanraakscherm heeft; en het aanraakscherm en de controller in een cabine zijn geïnstalleerd.The mechanical contact navigation control system of the corn header according to claim 1, wherein the mechanical contact navigation control system of the corn header also has a touch screen; and the touch screen and controller are installed in a cabin. 8. Een navigatiemethode gebaseerd op het mechanisch contact navigatiecontrolesysteem van de maiskolvenplukker volgens conclusie 1, waarbij de maiskolvenplukker éen rij kolven als referentierij neemt, en de mechanische contactgeleidingsmechanismen beoordelen of de maiskolven- plukker in een rij-uitlijnmodus werkt door de referentierij te detecteren; wanneer de oogstmachine normaal werkt, mogen de mechanische contactgeleidingsmechanismen de strootjes van de referentierij niet raken, wordt er geen activeringssignaal teruggekoppeld naar de controller en werkt een activeringsmechanisme niet; wanneer de oogstmachine van de referentierij afwijkt, raken de mechanische contactgeleidingsmechanismen de strootjes; een activeringssignaal wordt teruggekoppeld naar de controller; de controller beoordeelt een afbuigrichting van de oogstmachine en past de acties van de elektrohydraulische proportionele klep en de hydraulische stuurcilinder aan om het stuurwiel af te buigen, en tegelijkertijd detecteert de stuurdetectiesensor een afbuighoek van het stuurwiel en koppelt een detectiewaarde terug naar de controller; wanneer de afbuighoek van het stuurwiel een ingestelde waarde bereikt, regelt de controller dat de hydraulische stuurcilinder het stuurwiel centreert; en wanneer de stuurdetectiesensor detecteert dat het stuurwiel gecentreerd is op een ingestelde mediaanwaarde, stopt de controller met het aanpassen van het stuurwiel en voltooit het navigatiecontrolesysteem één navigatie actie.A navigation method based on the mechanical contact navigation control system of the corn header according to claim 1, wherein the corn header takes a row of cobs as a reference row, and the mechanical contact guiding mechanisms judge whether the corn header is operating in a row alignment mode by detecting the reference row; when the harvester is operating normally, the mechanical contact guidance mechanisms must not touch the straws of the reference row, no activation signal is fed back to the controller, and an activation mechanism does not operate; when the harvester deviates from the reference row, the mechanical contact guiding mechanisms hit the straws; an enable signal is fed back to the controller; the controller judges a deflection direction of the harvester and adjusts the actions of the electro-hydraulic proportional valve and the hydraulic steering cylinder to deflect the steering wheel, and at the same time, the steering detection sensor detects a steering wheel deflection angle and feeds a detection value back to the controller; when the steering wheel deflection angle reaches a set value, the controller controls the hydraulic steering cylinder to center the steering wheel; and when the steering detection sensor detects that the steering wheel is centered on a set median value, the controller stops adjusting the steering wheel and the navigation control system completes one navigation action.
NL2024547A 2016-11-30 2019-12-20 Mechanical-contact navigation control system and navigation method of corn harvestre NL2024547B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201611082089.6A CN106647748A (en) 2016-11-30 2016-11-30 Maize harvesting machine mechanical contact navigation control system and navigation method thereof
NL2024547A NL2024547B1 (en) 2016-11-30 2019-12-20 Mechanical-contact navigation control system and navigation method of corn harvestre

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611082089.6A CN106647748A (en) 2016-11-30 2016-11-30 Maize harvesting machine mechanical contact navigation control system and navigation method thereof
NL2024547A NL2024547B1 (en) 2016-11-30 2019-12-20 Mechanical-contact navigation control system and navigation method of corn harvestre

Publications (1)

Publication Number Publication Date
NL2024547B1 true NL2024547B1 (en) 2021-09-02

Family

ID=78595199

Family Applications (1)

Application Number Title Priority Date Filing Date
NL2024547A NL2024547B1 (en) 2016-11-30 2019-12-20 Mechanical-contact navigation control system and navigation method of corn harvestre

Country Status (2)

Country Link
CN (1) CN106647748A (en)
NL (1) NL2024547B1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106647748A (en) * 2016-11-30 2017-05-10 山东省农业机械科学研究院 Maize harvesting machine mechanical contact navigation control system and navigation method thereof
CN109526445A (en) * 2018-12-14 2019-03-29 山东省农业机械科学研究院 Cotton topping automatic aligning device, combine and control method
CN109819757B (en) * 2019-03-28 2020-08-04 华中农业大学 Harvesting boundary positioning and tracking system and method of combined harvester
CN112162553B (en) * 2020-09-22 2023-07-14 上海大学 Automatic alignment control system and method for cotton picker
CN113406956B (en) * 2021-05-17 2022-11-18 中国农业大学 Deviation detection sensing device of corn combine harvester and automatic line aligning method
CN113359741B (en) * 2021-06-18 2022-08-12 青岛农业大学 Automatic row guiding system of corn combine harvester
CN118149737B (en) * 2024-02-07 2024-09-24 山东省农业机械科学研究院 Crop row detection device and navigation method integrating satellite positioning

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3991618A (en) * 1973-12-18 1976-11-16 Maschinenfabrik Fahr Aktiengesellschaft Sensor for automatic steering system for row-crop harvester
US4428449A (en) * 1979-05-16 1984-01-31 Zahnradfabrik Friedrichshafen, Ag. Comparator for the control circuit of an automatic steering installation
EP0770320A1 (en) * 1995-10-20 1997-05-02 CLAAS KGaA Selfsteering device with proportional valve
CN106647748A (en) * 2016-11-30 2017-05-10 山东省农业机械科学研究院 Maize harvesting machine mechanical contact navigation control system and navigation method thereof
CN206378745U (en) * 2016-11-30 2017-08-04 山东省农业机械科学研究院 Maize harvesting machine mechanical contact navigation control system

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101833334B (en) * 2010-02-09 2011-09-21 北京农业信息技术研究中心 Tractor automatic navigation control system and method thereof
CN105066859B (en) * 2015-09-30 2017-09-05 山东省农业机械科学研究院 Crop row detection sensor of the stalk class crop to row operation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3991618A (en) * 1973-12-18 1976-11-16 Maschinenfabrik Fahr Aktiengesellschaft Sensor for automatic steering system for row-crop harvester
US4428449A (en) * 1979-05-16 1984-01-31 Zahnradfabrik Friedrichshafen, Ag. Comparator for the control circuit of an automatic steering installation
EP0770320A1 (en) * 1995-10-20 1997-05-02 CLAAS KGaA Selfsteering device with proportional valve
CN106647748A (en) * 2016-11-30 2017-05-10 山东省农业机械科学研究院 Maize harvesting machine mechanical contact navigation control system and navigation method thereof
CN206378745U (en) * 2016-11-30 2017-08-04 山东省农业机械科学研究院 Maize harvesting machine mechanical contact navigation control system

Also Published As

Publication number Publication date
CN106647748A (en) 2017-05-10

Similar Documents

Publication Publication Date Title
NL2024547B1 (en) Mechanical-contact navigation control system and navigation method of corn harvestre
NL2024546B1 (en) Height profiling system and method for harvesting table of corn harvester
CN102907205B (en) Automatic aligning device
CN106080755A (en) Steering mechanism of a kind of intelligent machine electronic omnidirectional
CN106612682B (en) One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method
CN102227973A (en) End effector of ball-like fruit picking robot
RU2012118399A (en) LANDING MACHINE WITH CLEANING CLEANING SYSTEM AND METHOD OF WORK
CN103141172B (en) Symmetrical and rotary seedling weeding unit
CN109526445A (en) Cotton topping automatic aligning device, combine and control method
CN206378745U (en) Maize harvesting machine mechanical contact navigation control system
CN203687919U (en) Vehicle wheel steering angle measuring device
CN204014854U (en) A kind of orchard range compound chemical spraying device
CN103947382B (en) Detect the sensing device of plant row for facility
CN208813299U (en) A kind of steering control device of automatic obstacle-avoiding
US11957076B2 (en) Method for actuating the cutting discs of the dividers in a sugar cane harvester
CN203801325U (en) Machine tool and plant line detecting induction device for same
CN108925209A (en) Fruit harvester automatic aligning device and its working principle under two row soil of one kind
CN108377686A (en) A kind of tilling depth automatic control and adjustment device and its control to adjust method
CN209306325U (en) A kind of automatic deviation rectifying mechanism of porcelain tendre production line
CN105775230A (en) Chopsticks arranging device
CN105438984B (en) A kind of contact measuring apparatus and method of crane rotation position
WO2022088289A1 (en) Edge finding device and unmanned agricultural vehicle
CN206371104U (en) Harvesting chassis of corn harvester height copying system
CN206165118U (en) Agricultural liquid fertilizer or medicine remote control steeringengine for spraying machine
CN211406861U (en) Potato depth limiting device with row detection function