WO2020134217A1 - Automatic steering system and automatic steering method for high-speed rice transplanter - Google Patents

Automatic steering system and automatic steering method for high-speed rice transplanter Download PDF

Info

Publication number
WO2020134217A1
WO2020134217A1 PCT/CN2019/106717 CN2019106717W WO2020134217A1 WO 2020134217 A1 WO2020134217 A1 WO 2020134217A1 CN 2019106717 W CN2019106717 W CN 2019106717W WO 2020134217 A1 WO2020134217 A1 WO 2020134217A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
rice transplanter
speed rice
control information
driving state
Prior art date
Application number
PCT/CN2019/106717
Other languages
French (fr)
Chinese (zh)
Inventor
王寅
徐友伟
张剑
Original Assignee
丰疆智能科技股份有限公司
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 claimed from CN201822197784.8U external-priority patent/CN209987992U/en
Priority claimed from CN201811598461.8A external-priority patent/CN109677484A/en
Application filed by 丰疆智能科技股份有限公司 filed Critical 丰疆智能科技股份有限公司
Priority to JP2021538415A priority Critical patent/JP2022517552A/en
Publication of WO2020134217A1 publication Critical patent/WO2020134217A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Definitions

  • the invention relates to the field of high-speed rice transplanter, and more specifically relates to an automatic steering system and an automatic steering method of a high-speed rice transplanter, thereby realizing automatic steering of the high-speed rice transplanter and improving working efficiency.
  • the rice transplanter products in my country's market are mainly divided into walk-behind rice transplanter and ride-on rice transplanter.
  • the walk-behind rice transplanter requires the operator to hold the rice transplanter by hand to push and follow the rice transplanter; while the ride-on rice transplanter requires the operator to sit on the rice transplanter and control the steering wheel of the rice transplanter to control the direction of the rice transplanter. That is to say, the current rice transplanter products have not fully liberated manpower and realized full mechanization, and the operation of the rice transplanter still needs to be performed by the operator.
  • the operator needs special learning and training to be fully familiar with the operation of the rice transplanter.
  • An object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system can realize the automatic steering of the high-speed rice transplanter without manual operation, liberating manpower, improving efficiency, and achieving intelligence .
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system plans a path for the high-speed rice transplanter according to road conditions or farmland conditions, etc., to automatically control the high-speed rice transplanter Turn to provide conditions.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system determines whether the high-speed rice transplanter needs to turn in real time according to road conditions or farmland conditions, etc., and updates the planned path, Realize intelligent driving and operation.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and automatic steering method, wherein the high-speed rice transplanter automatic steering system can detect the current direction and current rotation angle of the high-speed rice transplanter, according to the road conditions or farmland conditions, The required rotation direction and rotation angle are analyzed, so that the driving direction of the high-speed rice transplanter is automatically changed.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system can cooperatively control the turning of the high-speed rice transplanter and the raising and lowering of a planting part, avoiding the high-speed rice transplanter The steering operation damages the structure of the planting part.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system controls the rise of the planting part while avoiding the high-speed rice transplanter while controlling the turning of the high-speed rice transplanter The steering operation of the machine damages the structure of the planting part.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein when the high-speed rice transplanter needs to turn, the high-speed rice transplanter automatic steering system automatically controls the raising of the planting part first, and then automatically The steering of the high-speed rice transplanter is controlled to prevent the steering operation of the high-speed rice transplanter from damaging the structure of the planting part.
  • Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein when the high-speed rice transplanter steering operation is completed, the high-speed rice transplanter automatic steering system automatically controls the planting part to descend to continue Work, no need to manually control the lifting handle, liberate manpower and improve efficiency.
  • the present invention further provides an automatic steering system suitable for a high-speed rice transplanter, wherein the automatic steering system includes:
  • An environmental information acquisition module wherein the environmental information acquisition device collects environmental information of the surrounding side of the high-speed rice transplanter
  • control module analyzes the operation changes required to be performed by the high-speed rice transplanter according to the current driving state of the high-speed rice transplanter and the driving environment information, and forms steering control information;
  • a steering device wherein the steering device drives the steering wheels of the high-speed rice transplanter to a corresponding position according to the steering control information.
  • the automatic steering system further includes a sensor device for measuring and feeding back the current driving state of the high-speed rice transplanter, wherein the control module is based on the current driving state and the driving environment information, The steering control information is formed.
  • the sensor device includes a steering sensor to measure the current direction state of the high-speed rice transplanter, wherein the control module analyzes the direction change required by the direction device according to the current direction state to form The steering control information.
  • the sensor device includes a steering angle sensor, wherein the current steering angle state of the high-speed rice transplanter is measured, and the control module analyzes the required direction device according to the current steering angle state The angle changes to form the steering control information.
  • the steering device includes a steering motor, a deceleration mechanism, and a steering rod, wherein the steering motor is communicatively connected to the control module, and drives the deceleration mechanism according to the steering control information , Wherein the deceleration mechanism transmits power to the steering rod, and turns with the steering wheels of the high-speed rice transplanter.
  • the reduction mechanism includes a driving wheel, a driven wheel, and an intermediate gear, wherein the driving wheel is drivably coupled to the steering motor, and the driven wheel is fixed to the The steering rod drives the steering rod, wherein the intermediate gear connects the driving wheel and the driven wheel to increase the speed ratio.
  • the steering device further includes a hydraulic power steering device for driving steering wheels, wherein the hydraulic power steering device is drivably coupled to the steering rod, wherein the hydraulic power steering The steering device transmits power from the steering rod to the steering wheels of the high-speed rice transplanter, driving the steering wheels to steer accordingly.
  • the control module includes a direction control module, wherein the direction control module determines the direction change required by the direction device according to the driving environment information to form the steering control information.
  • the control module includes a steering angle control module, wherein the steering angle control module determines the direction change angle required by the directional device based on the driving environment information to form the steering control information.
  • the control module includes a planting part control module, wherein the control module analyzes and obtains the next driving state of the high-speed rice transplanter based on the steering control information and the current driving state,
  • the control module of the implantation part forms an elevation control information of the implantation part according to the current driving state and the next driving state.
  • the automatic steering system further includes a planting part lifting device, wherein the planting part lifting device controls a planting of the high-speed rice transplanter according to the planting part lifting control information The lifting of the planting part, wherein when it is determined that the high-speed rice transplanter is in a turning trend according to the current running state and the next running state, the planting part lifting device controls the planting according to the planting part lifting control information The unit is raised within a safe turning angle.
  • the planting part lifting device controls the plant according to the planting part lifting control information
  • the planting part is in a descending state within a safe turning angle.
  • the steering device after the planting part lifting device first operates the planting part in a corresponding state according to the planting part lifting control information, the steering device then according to the steering control information The steering wheel is driven to turn to a corresponding position.
  • the planting section lifting device when the steering device drives the steering wheel according to the steering control information during steering, when the steering wheel is driven to a preset angle, the planting section lifting device is based on the The planting part lifting control information operates the planting part.
  • the planting part lifting device includes a lifting motor, a hydraulic control link and a hydraulic lifting device, wherein the lifting motor pulls and controls the planting part according to the lifting control information of the planting part A hydraulic control connecting rod, which correspondingly controls the hydraulic lifting device so as to act on the raising or lowering of the planting part.
  • the present invention further provides an automatic steering method suitable for a high-speed rice transplanter, wherein the automatic steering method includes the following steps:
  • the automatic steering method before the step (a), further includes steps:
  • the step (a) further includes the steps of:
  • the automatic steering method further includes the following steps:
  • the step (d) further includes steps:
  • the step (b) includes the steps of: first operating an implanting part in a corresponding state according to the lifting control information of the implanting part, and then driving the step according to the steering control information Turn the steering wheel to the corresponding position.
  • the step (b) includes the steps of: when the high-speed rice transplanter is driven to a preset angle, operating an implanting part according to the lifting control information of the implanting part.
  • FIG. 1 is a schematic diagram of a high-speed rice transplanter to which the automatic steering system of a high-speed rice transplanter of the present invention is applied.
  • FIG. 2 is a flowchart of an automatic steering method of a high-speed rice transplanter according to an embodiment of the present invention.
  • FIG. 3 is a structural block diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • 4A is an application schematic diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • 4B is an application schematic diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • 5A is an exploded view of a steering device of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • 5B is a partial schematic view of the steering device of the automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a lifting device of a planting part of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an automatic steering process of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of another automatic steering process of a high-speed rice transplanter automatic steering system according to an embodiment of the present invention.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term “one” cannot be understood as a limitation on the number.
  • the high-speed rice transplanter automatic steering system 100 is applied to a high-speed rice transplanter for implementing automatic steering of the high-speed rice transplanter.
  • the high-speed rice transplanter automatic steering method can be applied to the high-speed rice transplanter automatic steering system 100 to achieve the objects and advantages of the present invention. As shown in FIG. 2, the flowchart of the automatic steering method of the high-speed rice transplanter of the present invention is explained.
  • Step 210 Detect the environment around the high-speed rice transplanter to form a driving environment information.
  • each depth camera module is installed on the front, back, left, and right sides of the high-speed rice transplanter, and depth imaging is performed on the surrounding environment of the high-speed rice transplanter, and the obtained depth camera image is fed back.
  • the driving environment information is road condition information around the high-speed rice transplanter, or farmland condition information when in the farmland, such as whether there are rivers, ridges, deep pits, slopes, or in the farmland around the high-speed rice transplanter During operation, are there seedlings on the turning side of the high-speed rice transplanter?
  • Step 220 Obtain the current driving state of the high-speed rice transplanter.
  • the angle sensor may be installed on a steering wheel, or may be installed on a steering shaft of the high-speed rice transplanter to obtain the current angular state of the current high-speed rice transplanter according to the angle of the wheel or the steering shaft.
  • the angle sensor may be installed at a position such as a steering shaft of the high-speed rice transplanter to acquire the current direction state of the high-speed rice transplanter.
  • the current state of the high-speed rice transplanter is straight running
  • the current state of the steering wheel or steering shaft is a preset straight running position, that is, the current high-speed rice transplanter is not turning, and the steering angle is 0.
  • Step 230 Based on the current driving state and the driving environment information, analyze the required driving state changes to form steering control information.
  • a device such as a server, a computer, a CPU, and the like, which has a function of processing and analyzing data, may be used to process and analyze the driving environment information, and plan the driving route of the high-speed rice transplanter.
  • the driving environment information can be updated and transmitted in real time, that is, the depth camera module and the like monitor the surrounding environment in real time and feed back.
  • the steering control information is correspondingly updated in real time in order to make a correct steering operation response in time.
  • step 230 may further include the following steps:
  • the steering control information includes but is not limited to direction change control information and change angle control information, such as whether to continue straight, turn, turn on a slope, turn left or turn right.
  • the order of step (a) and step (b) is not necessarily, and can be executed simultaneously, or step (a) can be executed first and then step (b), or step (b) and step (a) can be executed first.
  • the current state of the high-speed rice transplanter is straight running, and the current state is a preset straight running position, that is, the current high-speed rice transplanter 0 is not turned, and the steering angle is 0.
  • the high-speed rice transplanter needs to turn right at an angle of 60 degrees.
  • the steering control information is to operate the high-speed rice transplanter to turn right to a position corresponding to 60 degrees.
  • the current state of the high-speed rice transplanter is to turn right at an angle of 60 degrees, that is, the high-speed rice transplanter is currently in a position to perform a right turn of 60 degrees.
  • the next driving state of the high-speed rice transplanter is to turn right by 55 degrees, and based on the current driving state position, the steering control information is to operate the high-speed rice transplanter to turn left to a position corresponding to 55 degrees.
  • the direction device 140 can operate the change amount based on the current driving state according to the steering control information, so as to achieve the next driving state that the high-speed rice transplanter needs to perform.
  • the next driving state is the current driving state of the further driving state
  • the further driving state may be based on the next driving state
  • the state is obtained by operating the steering control information.
  • Step 240 Acquire the next driving state of the high-speed rice transplanter based on the current driving state and the driving environment information.
  • Step 250 According to the current driving state and the next driving state, forming a lifting control information of the implanting part.
  • the high-speed rice transplanter needs to raise its planting part within a safe turning angle range when performing the turning operation, otherwise it will damage the connection structure of the planting part. Therefore, according to the steering control information, it can be analyzed that the high-speed rice transplanter is in the next driving state, and whether the high-speed rice transplanter is turning and the turning angle can be judged according to the next driving state. Or descent operation.
  • the structure of the high-speed rice transplanter requires the transplanting part to rise before turning left or turning 20 degrees (that is, the safe turning angle range of the high-speed rice transplanter is to the left or turning 20 degrees), otherwise the connection structure Will be damaged. If the next driving state of the high-speed rice transplanter is shown as a right turn of 30 degrees, it is necessary to raise the planting part before performing the turning operation, or during the turning operation but before it exceeds 20 degrees, or a preset ascent Angle (within the range of safe turning angles), raise the planting part.
  • the next driving state of the high-speed rice transplanter is displayed as straight, that is, the turning operation is completed, and the rice transplanting operation needs to be continued, it is necessary to perform the turning operation, or during the turning operation but the turning angle is 20 degrees (to drive
  • the direction corresponding to the preset straight travel position in the process is the reference, and the implantation part is lowered before the left and right deviation degrees).
  • step 250 includes the following steps
  • the raising and lowering control information of the implanting part includes but is not limited to whether it is ascending, whether it is descending, ascending timing or descending timing, etc.
  • the high-speed rice transplanter is in a turning trend means that the next running state of the high-speed rice transplanter tends to deviate from the direction corresponding to the preset straight-line position, and if the high-speed rice transplanter is in a positive trend, it means the high-speed rice transplanter The next driving state tends to be closer to the direction corresponding to the preset straight travel position.
  • the high-speed rice transplanter is in a turning trend, its turning angle and amplitude tend to increase, and the transplanting part needs to be raised to avoid damage.
  • the next driving state of the high-speed rice transplanter and comparing with the current driving state, it can be judged whether the high-speed rice transplanter is in a turning trend. And according to the next driving state, it can also be determined whether the implantation part needs to be raised. For example, in the current driving state, the planting part has been raised. If the next driving state shows that the high-speed rice transplanter is in a turning trend, the planting part only needs to maintain the current state. If the planting part is not raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a turning trend, the planting part needs to be lifted.
  • the high-speed rice transplanter is in a positive trend, and its turning angle and amplitude tend to decrease, that is, the turning operation is about to be completed, and the planting part can be lowered to continue the rice transplanting operation.
  • the planting part has been raised. If the next driving state shows that the high-speed rice transplanter is in a positive trend, the planting part Need to be performed the descent operation. If the planting part has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part needs to maintain the current state.
  • Step 260 According to the lifting control information of the planting part, control the planting part to move up and down within a safe turning angle range.
  • connection structure of the transplanting part is different, and the safe turning angle of the high-speed rice transplanter will also be different.
  • the planting part can be controlled to rise and fall within a safe turning angle range, so as to avoid damaging the connection structure of the planting part.
  • the step 260 can be realized by an automatic lifting device of an implanting part of the high-speed rice transplanter.
  • a lifting motor controls a hydraulic control connecting rod according to the lifting control information of the planting part.
  • the hydraulic control connecting rod is connected with a hydraulic lifting device to control the planting part to automatically lift.
  • the specific structure of the automatic lifting device of the planting part is not limited, and here is just an example for illustration.
  • Step 270 Drive the high-speed rice transplanter to turn according to the turning control information.
  • An automatic steering device of the high-speed rice transplanter realizes steering driving.
  • the automatic steering device may be a steering motor driving a gear reduction mechanism according to the steering control information, and increasing the rotational torque by reducing the rotation speed, so that the gear reduction mechanism transmits power to a steering wheel rotating shaft.
  • the steering wheel rotating shaft transmits power to a hydraulic power steering device, driving the steering wheels to rotate to a corresponding angle and direction.
  • the specific structure of the automatic steering device is not limited, and here is just an example for illustration.
  • step 260 and the step 270 are not necessarily the same, and the step 260 and the step 270 may be executed at the same time, or the step 260 is executed first and then the step 270.
  • the present invention further provides a high-speed rice transplanter automatic steering system 100 for being applied to a high-speed rice transplanter for implementing automatic steering of the high-speed rice transplanter, as shown in FIGS. 3-8.
  • the high-speed rice transplanter automatic steering system 100 includes an environmental information acquisition module 110 and a control module 120, wherein the environmental information acquisition module 110 detects a driving environment information around the high-speed rice transplanter and transmits it to the control Module 120.
  • the control module 120 determines the change in the driving state required by the high-speed rice transplanter according to the driving environment information, plans the driving path, and forms steering control information for performing steering, so that the high-speed rice transplanter automatically turns.
  • the environment information acquisition module 110 may use depth imaging, two-dimensional imaging, infrared sensing and other technologies to collect driving environment information.
  • the environmental information acquisition module 110 adopts a two-dimensional camera technology to install each ordinary camera on the front, back, left, and right sides of the high-speed rice transplanter, or on the top side, and perform a peripheral environment on the high-speed rice transplanter. Shoot, and transmit the obtained camera image to the control module 120.
  • the driving environment information is road condition information around the high-speed rice transplanter, or farmland condition information when in the farmland, such as whether there are rivers, ridges, deep pits, slopes, or in the farmland around the high-speed rice transplanter During operation, are there seedlings on the turning side of the high-speed rice transplanter?
  • the control module 120 analyzes the change of the driving state required by the high-speed rice transplanter according to the driving environment information to form steering control information.
  • the control module 120 may be implemented as a server, computer, CPU, or other device having a function of processing and analyzing data.
  • the control module 120 includes a direction control module 121, which determines the change in the driving direction required by the high-speed rice transplanter according to the driving environment information. That is to say, the steering control information includes but is not limited to direction change control information, such as whether to continue straight, whether to turn, whether to drive on a slope, etc.
  • the driving environment information collected by the environmental information acquisition module 110 shows that the front is a ridge, that is, the boundary of the working farmland, and the direction control module 121 determines the high-speed rice transplanter The machine needs to turn around.
  • the driving environment information collected by the environmental information acquisition module 110 further shows that the right side of the high-speed rice transplanter is a field ridge or has planted seedlings, and the left side is an unoperated farmland, then the direction control module 121 determines The height rice transplanter needs to turn left to continue the operation, as shown in FIG. 4A.
  • the driving environment information collected by the environmental information acquisition module 110 shows that the front is a field ridge, the left side is a field ridge, and the right side is a planted seedling, that is, the farmland operation has ended at this time, then The direction control module 121 determines that the high-speed rice transplanter needs to leave the working farmland. Further, the driving environment information shows that there is a road near the front ridge sufficient for the high-speed rice transplanter to travel, or that the front ridge is sufficient for the high-speed rice transplanter to travel, then the direction control module 121 determines that the height rice transplanter needs to travel straight and straight Step over the front ridge, then turn to the road near the ridge or drive directly along the ridge, as shown in Figure 4B.
  • control module 120 includes a steering angle control module 122, which determines the change angle of the driving direction required by the high-speed rice transplanter according to the driving environment information.
  • steering control information will be different according to different driving environment information.
  • including but not limited to steering angle control information includes but is not limited to direction change angle control information, such as a turning angle of a left turn or a right turn.
  • the road ahead is a turning road.
  • the driving environment information collected by the environment information obtaining module 110 shows the turning direction and turning angle of the turning road.
  • the direction control module 121 thus determines the turning direction
  • the steering angle control module 122 thus determines the required turning angle of the high-speed rice transplanter, thereby forming the steering control information. It can be known that during the turning process, the driving environment information will be continuously updated, and the turning angle will continuously change according to the form of the high-speed rice transplanter in the turning path.
  • the steering control module 122 will update the steering control information so that the turning angle of the high-speed rice transplanter conforms to the curve change during driving.
  • the high-speed rice transplanter operates on farmland. After a row of seedlings is planted, the high-speed rice transplanter needs to turn to continue planting another row for operation. At this time, the steering angle control module 122 can analyze the distance between the rice transplanter and the field ridge, the width of the body, the driving speed, etc. The required turning angle of the high-speed rice transplanter.
  • the high-speed rice transplanter automatic steering system 100 includes a sensor device 130.
  • the sensor device is used to feed back the current running state of the high-speed rice transplanter, so that the control module 120 determines the required steering change amount based on the current running state to form the steering control information.
  • the sensor device 130 includes a steering sensor 131, wherein the steering sensor 131 is mounted on a steering rod 141 of a steering wheel. When the steering wheel rotates, the steering rod 141 rotates accordingly, and the steering sensor 131 can measure the direction of rotation of the high-speed rice transplanter (relative to the direction corresponding to the preset straight travel position).
  • the sensor device 130 further includes a steering angle sensor 132, wherein the steering angle sensor 132 is used to measure the steering angle performed by the high-speed rice transplanter.
  • the steering angle sensor 132 may be mounted on the steering rod 141, or may be mounted on the steering wheel 200 of the high-speed rice transplanter to measure the steering angle of the high-speed rice transplanter.
  • the sensor device 130 that is, the steering angle sensor 132 and the steering sensor 131, feed back the current state of the high-speed rice transplanter to the control module 120.
  • the steering angle control module 122 and the direction control module 121 are based on the acquired current state of the high-speed rice transplanter, including the current direction state and the current steering angle state, and determine the required high-speed rice transplanter according to the driving environment information Change in direction and angle.
  • the current state of the high-speed rice transplanter is straight running, and the current state is a preset straight running position, that is, neither the steering wheel 200 nor the steering wheel is turned, and the steering angle is 0.
  • the high-speed rice transplanter needs to turn right at a 60-degree angle.
  • the steering control information is to operate the high-speed rice transplanter to turn right to a position corresponding to 60 degrees.
  • the current state of the high-speed rice transplanter is to turn right at an angle of 60 degrees, that is, the current steering wheel 200 and the steering wheel are in a position to perform a right turn of 60 degrees.
  • the next driving state of the high-speed rice transplanter is to turn right 55 degrees (relative to the direction corresponding to the preset straight running position), then based on the current position, the steering control information is to operate the steering wheel and steering wheels 200 Turn left to the position corresponding to 55 degrees.
  • next driving state is the current state of the further driving state
  • the further driving state may be based on the next driving state Obtained by operating the steering control information.
  • the sensor device 130 may also be directly installed on the steering wheel 200 of the high-speed rice transplanter, ie.
  • the steering wheel 200 being a front wheel
  • the steering sensor 131 and the steering angle sensor 132 measure the rotation direction and steering angle information of the front wheel, and feed back information to the control module 120.
  • the high-speed rice transplanter automatic steering system 100 includes a steering device 140.
  • the steering device 140 drives the steering wheels 200 of the high-speed rice transplanter to steer according to the steering control information.
  • the steering device 140 includes a steering motor 142, a speed reduction mechanism 143, and the steering rod 141.
  • the steering motor 142 is communicatively connected to the control module 120, drives the deceleration mechanism 143 according to the steering control information, and controls the steering rod 141 to rotate to drive the steering wheel 200 to turn, as shown in FIG. 5A.
  • the reduction mechanism 143 is drivably connected to the steering motor 142.
  • the speed reduction mechanism 143 may be a gear speed reduction mechanism, including a driving gear 1431, an intermediate gear 1432, and a driven gear 1433, as shown in FIG. 5B.
  • the driving gear 1431 is drivably coupled to the steering motor 142, for example, the driving gear 1431 is drivably coupled to the output shaft of the steering motor 141, when the steering motor 141 is based on the steering control information When rotating, the driving gear 1431 rotates following the output shaft.
  • the driven gear 1433 is fixed to the steering rod 141 and drives the steering rod 141.
  • the intermediate gear 1432 connects the driving gear 1431 and the driven gear 1433 to increase the speed ratio.
  • the steering device 140 further includes a hydraulic power steering device 144 for driving the steering wheel 200 to steer.
  • the hydraulic power steering device 144 is drivably coupled to the steering rod 141 and is connected to the steering wheel 200 in a drivable manner. That is, the hydraulic power steering device 144 transmits power from the steering rod 141 to the steering wheel 200, and drives the steering wheel 200 to steer accordingly.
  • the high-speed rice transplanter automatic steering system 100 further includes a planting part lifting device 150 for controlling the lifting of a planting part 300 of the high-speed rice transplanter.
  • the control module 120 includes a planting part control module 123 for determining whether the planting part 300 needs a lifting operation.
  • control module 120 may analyze and obtain the next driving state, and the planting part control module 123 according to the high-speed rice transplanter's The current driving state and the next driving state form a lifting control information for the implantation part.
  • the high-speed rice transplanter needs to raise its planting part 300 within a safe turning angle range when performing a turning operation, otherwise the connection structure of the planting part 300 will be damaged. Therefore, according to the steering control information, it can be analyzed that the high-speed rice transplanter is in the next driving state, and whether the high-speed rice transplanter is turning and the turning angle can be determined according to the next driving state. Up or down operation.
  • the transplanting part 300 needs to be raised to avoid damage.
  • the next driving state of the high-speed rice transplanter and comparing with the current driving state, it can be judged whether the high-speed rice transplanter is in a turning trend. And according to the next driving state, it can also be determined whether the implanting unit 300 needs to be raised. For example, in the current driving state, the planting part 300 has been raised. If the next driving state shows that the high-speed rice transplanter is in a turning trend, the planting part 300 only needs to maintain the current state. If the planting part 300 has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a turning trend, the planting part 300 needs to be lifted.
  • the structure of the high-speed rice transplanter requires the transplanting unit 300 to rise before turning left or turning 20 degrees (that is, the safe turning angle range of the high-speed rice transplanter is left or turning 20 degrees), otherwise The connection structure will be damaged. If the next driving state of the high-speed rice transplanter is shown as a right turn of 30 degrees, it is necessary to raise the planting part 300 before performing the turning operation (as shown in FIG. 7), or during the turning operation but exceeding 20 Before the degree, or a preset ascent angle (within a safe turning angle range), the implanting portion 300 is raised, as shown in FIG. 8.
  • the high-speed rice transplanter is in a positive trend, and its turning angle and amplitude tend to decrease, that is, the turning operation is about to be completed, and the transplanting unit 300 can be lowered to continue the rice transplanting operation, as shown in FIGS. 7 and 8 Show.
  • the planting part 300 in the current running state, the planting part 300 has been raised. If the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part 300 needs to be lowered. If the planting part 300 has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part 300 needs to maintain the current state.
  • the lifting control information of the implanting part includes, but is not limited to, whether to rise, whether to fall, the timing of ascent or the timing of descending, and so on.
  • the planting part lifting device 150 controls the planting part 300 to rise according to the planting part lifting control information.
  • the planting part lifting device 150 includes a lifting motor 151, a hydraulic control link 152, and a hydraulic lifting device 153, as shown in FIG.
  • the lifting motor 151 pulls and controls the hydraulic control link 152 according to the lifting control information of the planting part, and the hydraulic connecting rod 152 correspondingly controls the hydraulic lifting device 153 to act on the planting part 300 Rise or fall.
  • the high-speed rice transplanter when turning is required, first operates the planting unit 300 to raise by the planting unit lifting device 150 according to the planting unit lifting control information. Thereafter, the steering device 140 drives the steering wheels 200 of the high-speed rice transplanter to steer based on the steering control information.
  • the high-speed rice transplanter is in the return-to-normal state, that is, at a preset straight-travel position, and the planting part lifting device 150 lowers the planting part according to the lifting control information of the planting part
  • the planting part 300 is shown in FIG.
  • the planting part lifting device 150 operates the planting part 300 to rise during turning.
  • the raising and lowering control information of the planting part includes a preset raising/lowering angle.
  • the implanting portion lifting device 150 operates the implanting portion 300 to ascend/descend.
  • the steering angle sensor 132 may feed back the current steering angle, so that the implantation part control module 123 can determine whether to turn to a preset ascent/descent angle. If turning to a preset raising/lowering angle, the planting part control module 123 sends the planting part lifting/lowering control information to the planting part lifting device 150. As shown in Figure 8.

Abstract

An automatic steering system (100) and an automatic steering method for a high-speed rice transplanter. The automatic steering system (100) is suitable for a high-speed rice transplanter. The automatic steering system (100) comprises an environmental information obtaining module (110), a control module (120), and a steering device (140). The environmental information obtaining module (110) acquires surrounding driving environment information of the high-speed rice transplanter. The control module (120) analyzes an operation change to be executed by the high-speed rice transplanter according to the current driving state and the driving environment information of the high-speed rice transplanter to form steering control information. The steering device (140) drives, according to the steering control information, steered wheels (200) of the high-speed rice transplanter to be steered to a corresponding position, thereby implementing automatic steering.

Description

高速插秧机自动转向系统和自动转向方法Automatic steering system and automatic steering method of high-speed rice transplanter 技术领域Technical field
本发明涉及高速插秧机领域，更详而言之地涉及一高速插秧机自动转向系统和自动转向方法，从而实现高速插秧机的自动转向，提高工作效率。The invention relates to the field of high-speed rice transplanter, and more specifically relates to an automatic steering system and an automatic steering method of a high-speed rice transplanter, thereby realizing automatic steering of the high-speed rice transplanter and improving working efficiency.
背景技术Background technique
中国产业调研网发布的2018-2025年全球及中国水稻插秧机行业现状研究分析及发展趋势预测报告认为，水稻是我国种植面积最大、单产和总产量最高的粮食作物，抓好水稻生产，对实现恢复和发展粮食生产的目标具有举足轻重的影响。大力发展水稻生产机械化，可以有效争抢农时，抵御自然灾害的影响，确保和扩大种植面积，提高水稻产量，节约生产成本。推进水稻主产区生产机械化，增强水稻生产的科技应用、节本增效和救灾减灾能力，是加强水稻生产能力建设，恢复和发展粮食生产的重要物质基础和技术手段。According to the research and analysis of the status of the rice transplanter industry in the world and China from 2018 to 2025 released by the China Industry Research Network, the report believes that rice is the food crop with the largest planting area, the highest yield and the highest total output in China. The goal of restoring and developing food production has a decisive impact. Vigorously developing the mechanization of rice production can effectively fight against the impact of natural disasters during agriculture, ensure and expand the planting area, increase rice output, and save production costs. Promoting the mechanization of production in the main rice production areas, enhancing the scientific and technological application of rice production, saving costs and increasing efficiency, and disaster relief and disaster reduction capabilities are important material foundations and technical means for strengthening rice production capacity building, restoring and developing food production.
目前，我国市场插秧机产品主要分为手扶式插秧机和乘坐式插秧机。操作时，手扶式插秧机需要操作员手扶插秧机，推动和跟随插秧机前进；而乘坐式插秧机需要操作员坐在插秧机上，控制插秧机的方向盘，从而操控插秧机的方向。也就是说，目前的插秧机产品仍未完全解放人力和实现完全机械化，插秧机的操作还需要通过操作员执行。而且，操作员需要通过专门的学习和培训才能完全熟悉插秧机的操作。At present, the rice transplanter products in my country's market are mainly divided into walk-behind rice transplanter and ride-on rice transplanter. During operation, the walk-behind rice transplanter requires the operator to hold the rice transplanter by hand to push and follow the rice transplanter; while the ride-on rice transplanter requires the operator to sit on the rice transplanter and control the steering wheel of the rice transplanter to control the direction of the rice transplanter. That is to say, the current rice transplanter products have not fully liberated manpower and realized full mechanization, and the operation of the rice transplanter still needs to be performed by the operator. Moreover, the operator needs special learning and training to be fully familiar with the operation of the rice transplanter.
这对争抢农时，扩大种植面积，节约生产成本并不利。一方面，农忙时节，大面积的水稻田需要种植，但是操作员的精力有限，部分水稻田的无法及时耕种，不利于水稻产量。另一方面，随着种植面积的扩大，操作员的时间和人力成本增加，工作压力越来越大，效率无法进一步提高。随着精准农业与智慧农业的提出和不断发展，自动导航或无人驾驶成为农业机械的基本功能之一，在减轻作业人员劳动强度的同时将大大提高农田作业的精准度。而自动转向是自动导航农业机械的必备功能之一，能够实时接收自动导航装置发出的转向控制指令，保证农业 机械的转向轮旋转至所期望的角度。This is not conducive to expanding planting area and saving production costs when fighting for agriculture. On the one hand, during the busy farming season, a large area of rice fields needs to be planted, but the operator's energy is limited, and some rice fields cannot be cultivated in time, which is not conducive to rice production. On the other hand, with the expansion of the planting area, the operator's time and labor costs increased, the working pressure became greater and greater, and the efficiency could not be further improved. With the advancement and continuous development of precision agriculture and smart agriculture, automatic navigation or unmanned driving has become one of the basic functions of agricultural machinery, which will greatly improve the accuracy of farmland operations while reducing the labor intensity of operators. The automatic steering is one of the essential functions of the automatic navigation agricultural machinery. It can receive the steering control commands issued by the automatic navigation device in real time to ensure that the steering wheel of the agricultural machinery rotates to the desired angle.
此外，实际操作过程中，为了保护插植部，现有的插秧机转弯时需要升起插植部，否则会损坏插植部的连接结构。传统的插秧机需要手动控制升降手柄，实现插植部的升降。也就是说，无人驾驶的农机除了考虑自动转向的实现，还需要考虑自动转向和插植部的配合，才能做到全面的智能农机。In addition, in actual operation, in order to protect the planting part, the existing rice transplanter needs to raise the planting part when turning, otherwise the connection structure of the planting part will be damaged. The traditional rice transplanter needs to manually control the lifting handle to realize the lifting of the planting part. That is to say, in addition to considering the realization of automatic steering, unmanned agricultural machinery also needs to consider the cooperation of automatic steering and planting department to achieve a comprehensive intelligent agricultural machinery.
发明内容Summary of the invention
本发明的一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统可以实现高速插秧机的自动转向，无需人工操作，解放人力，提高效率，实现智能化。An object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system can realize the automatic steering of the high-speed rice transplanter without manual operation, liberating manpower, improving efficiency, and achieving intelligence .
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统根据路况或农田状态等，为高速插秧机规划路径，为自动地控制高速插秧机转向提供条件。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system plans a path for the high-speed rice transplanter according to road conditions or farmland conditions, etc., to automatically control the high-speed rice transplanter Turn to provide conditions.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统根据路况或农田状态等，实时地判断高速插秧机是否需要转向，更新规划路径，实现智能驾驶和操作。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system determines whether the high-speed rice transplanter needs to turn in real time according to road conditions or farmland conditions, etc., and updates the planned path, Realize intelligent driving and operation.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统可以检测高速插秧机的当前方向和当前转动角度，根据所述路况或农田状况，分析所需转动方向和转动角度，从而实现所述高速插秧机行驶方向自动转变。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and automatic steering method, wherein the high-speed rice transplanter automatic steering system can detect the current direction and current rotation angle of the high-speed rice transplanter, according to the road conditions or farmland conditions, The required rotation direction and rotation angle are analyzed, so that the driving direction of the high-speed rice transplanter is automatically changed.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统能够配合地控制高速插秧机的转向和一插植部的升降，避免高速插秧机的转向操作损坏所述插植部的结构。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system can cooperatively control the turning of the high-speed rice transplanter and the raising and lowering of a planting part, avoiding the high-speed rice transplanter The steering operation damages the structure of the planting part.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中所述高速插秧机自动转向系统在控制高速插秧机的转向的同时，控制所述插植部上升，避免高速插秧机的转向操作损坏所述插植部的结构。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein the high-speed rice transplanter automatic steering system controls the rise of the planting part while avoiding the high-speed rice transplanter while controlling the turning of the high-speed rice transplanter The steering operation of the machine damages the structure of the planting part.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中当高速插秧机需要转向时，所述高速插秧机自动转向系统先自动地控制所述插植部上升，再自动地控制高速插秧机的转向，避免高速插秧机的转向操作损坏所述插植部的结构。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein when the high-speed rice transplanter needs to turn, the high-speed rice transplanter automatic steering system automatically controls the raising of the planting part first, and then automatically The steering of the high-speed rice transplanter is controlled to prevent the steering operation of the high-speed rice transplanter from damaging the structure of the planting part.
本发明的另一个目的在于提供一高速插秧机自动转向系统和自动转向方法，其中当高速插秧机转向操作完成后，所述高速插秧机自动转向系统自动地控制所述插植部下降，以继续作业，无需手动控制升降手柄，解放人力，提高效率。Another object of the present invention is to provide a high-speed rice transplanter automatic steering system and an automatic steering method, wherein when the high-speed rice transplanter steering operation is completed, the high-speed rice transplanter automatic steering system automatically controls the planting part to descend to continue Work, no need to manually control the lifting handle, liberate manpower and improve efficiency.
为了实现以上至少一个目的，依本发明的一个方面，本发明进一步提供一自动转向系统，适用于一高速插秧机，其中所述自动转向系统包括：In order to achieve at least one of the above objects, according to an aspect of the present invention, the present invention further provides an automatic steering system suitable for a high-speed rice transplanter, wherein the automatic steering system includes:
一环境信息获取模块，其中所述环境信息获取装置采集所述高速插秧机的周侧行驶环境信息；An environmental information acquisition module, wherein the environmental information acquisition device collects environmental information of the surrounding side of the high-speed rice transplanter;
一控制模块，其中所述控制模块根据所述高速插秧机的当前行驶状态和所述行驶环境信息，分析所述高速插秧机所需执行的操作变化，形成一转向控制信息；以及A control module, wherein the control module analyzes the operation changes required to be performed by the high-speed rice transplanter according to the current driving state of the high-speed rice transplanter and the driving environment information, and forms steering control information; and
一转向装置，其中所述转向装置根据所述转向控制信息驱动所述高速插秧机的转向车轮转向至对应的位置。A steering device, wherein the steering device drives the steering wheels of the high-speed rice transplanter to a corresponding position according to the steering control information.
根据本发明的一个实施例，所述自动转向系统进一步包括一传感器装置，用于测量和反馈所述高速插秧机的当前行驶状态，其中所述控制模块根据当前行驶状态和所述行驶环境信息，形成所述转向控制信息。According to an embodiment of the present invention, the automatic steering system further includes a sensor device for measuring and feeding back the current driving state of the high-speed rice transplanter, wherein the control module is based on the current driving state and the driving environment information, The steering control information is formed.
根据本发明的一个实施例，所述传感器装置包括一转向传感器，测量所述高速插秧机的当前方向状态，其中所述控制模块根据当前方向状态，分析所述方向装置所需的方向变化，形成所述转向控制信息。According to an embodiment of the present invention, the sensor device includes a steering sensor to measure the current direction state of the high-speed rice transplanter, wherein the control module analyzes the direction change required by the direction device according to the current direction state to form The steering control information.
根据本发明的一个实施例，所述传感器装置包括一转向角度传感器，其中测量所述高速插秧机的当前转向角度状态，其中所述控制模块根据当前转向角度状态，分析所述方向装置所需的角度变化，形成所述转向控制信息。According to an embodiment of the present invention, the sensor device includes a steering angle sensor, wherein the current steering angle state of the high-speed rice transplanter is measured, and the control module analyzes the required direction device according to the current steering angle state The angle changes to form the steering control information.
根据本发明的一个实施例，所述转向装置包括一转向电机、一减速机构和一转向杆，其中所述转向电机通信地连接所述控制模块，根据所述转向控制信息，驱动所述减速机构，其中所述减速机构传输动力至所述转向杆，以所述高速插秧机的转向车轮转向。According to an embodiment of the present invention, the steering device includes a steering motor, a deceleration mechanism, and a steering rod, wherein the steering motor is communicatively connected to the control module, and drives the deceleration mechanism according to the steering control information , Wherein the deceleration mechanism transmits power to the steering rod, and turns with the steering wheels of the high-speed rice transplanter.
根据本发明的一个实施例，所述减速机构包括一驱动轮、一从动轮和一中间齿轮，其中所述驱动轮被可驱动地耦合于所述转向电机，所述从动轮被固定于所述转向杆，驱动所述转向杆，其中所述中间齿轮连接所述驱动轮和所述从动轮用于加大速比。According to an embodiment of the present invention, the reduction mechanism includes a driving wheel, a driven wheel, and an intermediate gear, wherein the driving wheel is drivably coupled to the steering motor, and the driven wheel is fixed to the The steering rod drives the steering rod, wherein the intermediate gear connects the driving wheel and the driven wheel to increase the speed ratio.
根据本发明的一个实施例，所述转向装置进一步包括一液压助力转向装置， 用于带动转向车轮转向，其中所述液压助力转向装置被可驱动地耦合于所述转向杆，其中所述液压助力转向装置将动力从所述转向杆传输至所述高速插秧机的转向车轮，驱动所述转向车轮对应地转向。According to an embodiment of the present invention, the steering device further includes a hydraulic power steering device for driving steering wheels, wherein the hydraulic power steering device is drivably coupled to the steering rod, wherein the hydraulic power steering The steering device transmits power from the steering rod to the steering wheels of the high-speed rice transplanter, driving the steering wheels to steer accordingly.
根据本发明的一个实施例，所述控制模块包括一方向控制模块，其中所述方向控制模块根据行驶环境信息，判断所述方向装置所需的方向变化，形成所述转向控制信息。According to an embodiment of the present invention, the control module includes a direction control module, wherein the direction control module determines the direction change required by the direction device according to the driving environment information to form the steering control information.
根据本发明的一个实施例，所述控制模块包括一转向角度控制模块，其中所述转向角度控制模块根据所述行驶环境信息，判断所述方向装置所需的方向变化角度，形成所述转向控制信息。According to an embodiment of the present invention, the control module includes a steering angle control module, wherein the steering angle control module determines the direction change angle required by the directional device based on the driving environment information to form the steering control information.
根据本发明的一个实施例，所述控制模块包括一插植部控制模块，其中根据所述转向控制信息和当前行驶状态，所述控制模块分析得出所述高速插秧机的下一行驶状态，其中所述插植部控制模块根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。According to an embodiment of the present invention, the control module includes a planting part control module, wherein the control module analyzes and obtains the next driving state of the high-speed rice transplanter based on the steering control information and the current driving state, The control module of the implantation part forms an elevation control information of the implantation part according to the current driving state and the next driving state.
根据本发明的一个实施例，所述自动转向系统进一步包括一插植部升降装置，其中所述插植部升降装置根据所述插植部升降控制信息，控制所述高速插秧机的一插植部的升降，其中当根据当前行驶状态和下一行驶状态判断得出所述高速插秧机处于转弯趋势时，所述插植部升降装置根据所述插植部升降控制信息，控制所述插植部在安全转弯角度范围内处于被上升状态。According to an embodiment of the present invention, the automatic steering system further includes a planting part lifting device, wherein the planting part lifting device controls a planting of the high-speed rice transplanter according to the planting part lifting control information The lifting of the planting part, wherein when it is determined that the high-speed rice transplanter is in a turning trend according to the current running state and the next running state, the planting part lifting device controls the planting according to the planting part lifting control information The unit is raised within a safe turning angle.
根据本发明的一个实施例，当根据当前行驶状态和下一行驶状态判断得出所述高速插秧机处于回正趋势，所述插植部升降装置根据所述插植部升降控制信息，控制所述插植部在安全转弯角度范围内处于下降状态。According to an embodiment of the present invention, when it is determined that the high-speed rice transplanter is in a positive trend according to the current driving state and the next driving state, the planting part lifting device controls the plant according to the planting part lifting control information The planting part is in a descending state within a safe turning angle.
根据本发明的一个实施例，所述插植部升降装置先根据所述所述插植部升降控制信息操作所述插植部处于对应的状态之后，所述转向装置再根据所述转向控制信息驱动所述转向车轮转向至对应的位置。According to an embodiment of the present invention, after the planting part lifting device first operates the planting part in a corresponding state according to the planting part lifting control information, the steering device then according to the steering control information The steering wheel is driven to turn to a corresponding position.
根据本发明的一个实施例，当转向装置再根据所述转向控制信息驱动所述转向车轮转向过程中，当所述转向车轮驱动至预设角度时，所述插植部升降装置根据所述所述插植部升降控制信息操作所述插植部。According to an embodiment of the present invention, when the steering device drives the steering wheel according to the steering control information during steering, when the steering wheel is driven to a preset angle, the planting section lifting device is based on the The planting part lifting control information operates the planting part.
根据本发明的一个实施例，所述插植部升降装置包括一升降电机、一液压控制连杆和一液压升降装置，其中所述升降电机根据所述插植部升降控制信息拉动和控制所述液压控制连杆，所述液压连接杆对应地操控所述液压升降装置，从而 作用于所述插植部的上升或下降。According to an embodiment of the present invention, the planting part lifting device includes a lifting motor, a hydraulic control link and a hydraulic lifting device, wherein the lifting motor pulls and controls the planting part according to the lifting control information of the planting part A hydraulic control connecting rod, which correspondingly controls the hydraulic lifting device so as to act on the raising or lowering of the planting part.
依本发明的另一个方面，本发明进一步提供一自动转向方法，适用于一高速插秧机，其中所述自动转向方法包括如下步骤：According to another aspect of the present invention, the present invention further provides an automatic steering method suitable for a high-speed rice transplanter, wherein the automatic steering method includes the following steps:
(a)基于一高速插秧机的当前行驶状态和一行驶环境信息，分析所述高速插秧机所需的行驶状态变化，形成一转向控制信息；和(a) Based on the current driving state of a high-speed rice transplanter and a driving environment information, analyze the driving state changes required by the high-speed rice transplanter to form a steering control information; and
(b)根据所述转向控制信息，驱动所述高速插秧机转向。(b) Drive the high-speed rice transplanter to turn based on the turning control information.
根据本发明的一个实施例，所述步骤(a)之前，所述自动转向方法进一步包括步骤：According to an embodiment of the present invention, before the step (a), the automatic steering method further includes steps:
检测所述高速插秧机周边的环境，形成一行驶环境信息；和Detecting the environment around the high-speed rice transplanter to form a driving environment information; and
获取所述高速插秧机当前行驶状态。Obtain the current driving state of the high-speed rice transplanter.
根据本发明的一个实施例，所述步骤(a)进一步包括步骤：According to an embodiment of the present invention, the step (a) further includes the steps of:
(a.1)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化；和(a.1) According to the current driving state and the driving environment information, analyze the required driving direction changes; and
(a.2)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化角度。(a.2) According to the current driving state and the driving environment information, analyze the required driving direction change angle.
根据本发明的一个实施例，所述自动转向方法进一步包括如下步骤：According to an embodiment of the present invention, the automatic steering method further includes the following steps:
(c)基于当前行驶状态和所述行驶环境信息，预测所述高速插秧机的下一行驶状态；和(c) predict the next driving state of the high-speed rice transplanter based on the current driving state and the driving environment information; and
(d)根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。(d) According to the current traveling state and the next traveling state, forming an implanting section lifting control information.
根据本发明的一个实施例，所述步骤(d)进一步包括步骤：According to an embodiment of the present invention, the step (d) further includes steps:
(d.1)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于转弯趋势，则形成插植部上升控制信息；和(d.1) According to the current driving state and the next driving state, if the high-speed rice transplanter is in a turning trend, the ascending control information of the planting part is formed; and
(d.2)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于回正趋势，则形成插植部下降控制信息。(d.2) According to the current driving state and the next driving state, if the high-speed rice transplanter is returning to the positive trend, the planting part descending control information is formed.
根据本发明的一个实施例，所述步骤(b)包括步骤：先根据所述所述插植部升降控制信息操作一插植部处于对应的状态之后，再根据所述转向控制信息驱动所述转向车轮转向至对应的位置。According to an embodiment of the present invention, the step (b) includes the steps of: first operating an implanting part in a corresponding state according to the lifting control information of the implanting part, and then driving the step according to the steering control information Turn the steering wheel to the corresponding position.
根据本发明的一个实施例，所述步骤(b)包括步骤：当所述高速插秧机转向被驱动至预设角度时，根据所述所述插植部升降控制信息操作一插植部。According to an embodiment of the present invention, the step (b) includes the steps of: when the high-speed rice transplanter is driven to a preset angle, operating an implanting part according to the lifting control information of the implanting part.
附图说明BRIEF DESCRIPTION
图1是适用本发明的一高速插秧机自动转向系统的一高速插秧机的示意图。FIG. 1 is a schematic diagram of a high-speed rice transplanter to which the automatic steering system of a high-speed rice transplanter of the present invention is applied.
图2是根据本发明的一实施例的高速插秧机自动转向方法的流程图。2 is a flowchart of an automatic steering method of a high-speed rice transplanter according to an embodiment of the present invention.
图3是根据本发明的一实施例的高速插秧机自动转向系统的结构框图。3 is a structural block diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图4A是根据本发明的一实施例的高速插秧机自动转向系统的应用示意图。4A is an application schematic diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图4B是根据本发明的一实施例的高速插秧机自动转向系统的应用示意图。4B is an application schematic diagram of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图5A是根据本发明的一实施例的高速插秧机自动转向系统的一转向装置的爆炸图。5A is an exploded view of a steering device of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图5B是根据本发明的一实施例的高速插秧机自动转向系统的所述转向装置局部示意图。5B is a partial schematic view of the steering device of the automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图6是根据本发明的一实施例的高速插秧机自动转向系统的一插植部升降装置的示意图。6 is a schematic diagram of a lifting device of a planting part of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图7是根据本发明的一实施例的一高速插秧机自动转向系统实现自动转向过程示意图。7 is a schematic diagram of an automatic steering process of an automatic steering system of a high-speed rice transplanter according to an embodiment of the present invention.
图8是根据本发明的一实施例的一高速插秧机自动转向系统另一实现自动转向过程示意图。8 is a schematic diagram of another automatic steering process of a high-speed rice transplanter automatic steering system according to an embodiment of the present invention.
具体实施方式detailed description
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。The following description is used to disclose the present invention to enable those skilled in the art to implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art may think of other obvious modifications. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalent solutions, and other technical solutions without departing from the spirit and scope of the present invention.
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。Those skilled in the art should understand that in the disclosure of the present invention, the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention And simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore the above terms should not be construed as limiting the invention.
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term "one" cannot be understood as a limitation on the number.
参考图1至图8所示，根据本发明的一较佳实施例的一高速插秧机自动转向系统和自动转向方法被阐述。所述高速插秧机自动转向系统100被应用于一高速插秧机，用于实现高速插秧机的自动转向。所述高速插秧机自动转向方法可以被应用于所述高速插秧机自动转向系统100，实现本发明的目的和优势。如图2所示，本发明的所述高速插秧机自动转向方法的流程图被阐述。Referring to FIGS. 1-8, a high-speed rice transplanter automatic steering system and automatic steering method according to a preferred embodiment of the present invention are described. The high-speed rice transplanter automatic steering system 100 is applied to a high-speed rice transplanter for implementing automatic steering of the high-speed rice transplanter. The high-speed rice transplanter automatic steering method can be applied to the high-speed rice transplanter automatic steering system 100 to achieve the objects and advantages of the present invention. As shown in FIG. 2, the flowchart of the automatic steering method of the high-speed rice transplanter of the present invention is explained.
步骤210：检测所述高速插秧机周边的环境，形成一行驶环境信息。Step 210: Detect the environment around the high-speed rice transplanter to form a driving environment information.
具体地，可以采用深度摄像、二维摄像、红外感应等技术实现对所述行驶环境信息进行采集，本发明并不限制。举例说明，采用深度摄像技术，将各个深度摄像模组分别安装于所述高速插秧机的前后左右侧，对所述高速插秧机的周侧环境进行深度摄像，将所得深度摄像影像反馈。所述行驶环境信息为所述高速插秧机的周边的路况信息，或者身处农田中时农田状况信息等，例如所述高速插秧机周侧是否有河流、田垄、深坑、斜坡，或者在农田作业时，所述高速插秧机拐弯侧是否有秧苗等。Specifically, technologies such as depth imaging, two-dimensional imaging, and infrared sensing can be used to collect the driving environment information, and the present invention is not limited. For example, using depth camera technology, each depth camera module is installed on the front, back, left, and right sides of the high-speed rice transplanter, and depth imaging is performed on the surrounding environment of the high-speed rice transplanter, and the obtained depth camera image is fed back. The driving environment information is road condition information around the high-speed rice transplanter, or farmland condition information when in the farmland, such as whether there are rivers, ridges, deep pits, slopes, or in the farmland around the high-speed rice transplanter During operation, are there seedlings on the turning side of the high-speed rice transplanter?
步骤220：获取所述高速插秧机当前行驶状态。Step 220: Obtain the current driving state of the high-speed rice transplanter.
通过一角度传感器和一方向传感器，可以获取所述高速插秧机的当前方向状态和当前角度状态。具体地，所述角度传感器可以被安装于转向车轮，或者可以被安装于所述高速插秧机的转向轴，根据车轮或转向轴的角度获取当前高速插秧机的当前角度状态。所述角度传感器可以被安装于高速插秧机的转向轴等位置，获取所述高速插秧机的当前方向状态。例如，所述高速插秧机当前状态为直行，处于方向盘或转向轴当前状态为预设的直行位置，即当前所述高速插秧机并未转向，转向角度为0。Through an angle sensor and a direction sensor, the current direction state and current angle state of the high-speed rice transplanter can be obtained. Specifically, the angle sensor may be installed on a steering wheel, or may be installed on a steering shaft of the high-speed rice transplanter to obtain the current angular state of the current high-speed rice transplanter according to the angle of the wheel or the steering shaft. The angle sensor may be installed at a position such as a steering shaft of the high-speed rice transplanter to acquire the current direction state of the high-speed rice transplanter. For example, the current state of the high-speed rice transplanter is straight running, and the current state of the steering wheel or steering shaft is a preset straight running position, that is, the current high-speed rice transplanter is not turning, and the steering angle is 0.
步骤230：基于当前行驶状态和所述行驶环境信息，分析所需的行驶状态变化，形成一转向控制信息。Step 230: Based on the current driving state and the driving environment information, analyze the required driving state changes to form steering control information.
具体地，可以采用服务器、电脑、CPU等具有处理分析数据功能的装置，对行驶环境信息进行处理和分析，对所述高速插秧机的行驶路线进行规划。在所述高速插秧机行驶的过程汇总，所述行驶环境信息可以被实时地更新传输，也就是说深度摄像模组等实时地监控周边环境并反馈。根据实时的所述行驶环境信息，所述转向控制信息对应地被实时更新，以便及时做出正确的转向操作反应。Specifically, a device such as a server, a computer, a CPU, and the like, which has a function of processing and analyzing data, may be used to process and analyze the driving environment information, and plan the driving route of the high-speed rice transplanter. During the driving process of the high-speed rice transplanter, the driving environment information can be updated and transmitted in real time, that is, the depth camera module and the like monitor the surrounding environment in real time and feed back. According to the real-time driving environment information, the steering control information is correspondingly updated in real time in order to make a correct steering operation response in time.
进一步，所述步骤230还可以包括以下步骤：Further, the step 230 may further include the following steps:
(a)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化；(a) According to the current driving state and the driving environment information, analyze the required driving direction changes;
(b)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化角度。(b) According to the current driving state and the driving environment information, analyze the required driving direction change angle.
所述转向控制信息包括但不限于方向变化控制信息和变化角度控制信息，例如是否继续直行、是否转弯、是否于斜坡行驶、左转弯或右转弯的转弯角度。步骤(a)和步骤(b)的顺序并不一定，可以同时执行，也可以先执行步骤(a)后执行步骤(b)，或者先执行步骤(b)再执行步骤(a)。The steering control information includes but is not limited to direction change control information and change angle control information, such as whether to continue straight, turn, turn on a slope, turn left or turn right. The order of step (a) and step (b) is not necessarily, and can be executed simultaneously, or step (a) can be executed first and then step (b), or step (b) and step (a) can be executed first.
例如，所述高速插秧机当前状态为直行，处于当前状态为预设的直行位置，即当前所述高速插秧机0并未转向，转向角度为0。根据行驶环境信息，所述高速插秧机需以60度角度右转，则基于当前行驶状态，所述转向控制信息为操作所述高速插秧机右转至对应执行60度的位置。For example, the current state of the high-speed rice transplanter is straight running, and the current state is a preset straight running position, that is, the current high-speed rice transplanter 0 is not turned, and the steering angle is 0. According to the driving environment information, the high-speed rice transplanter needs to turn right at an angle of 60 degrees. Based on the current driving state, the steering control information is to operate the high-speed rice transplanter to turn right to a position corresponding to 60 degrees.
或者例如，所述高速插秧机当前状态为以60度角度右转，即当前所述高速插秧机处于执行右转60度的位置。根据行驶环境信息，所述高速插秧机下一行驶状态为右转55度，则基于当前行驶状态位置，所述转向控制信息为操作所述高速插秧机左转至对应执行55度的位置。Or for example, the current state of the high-speed rice transplanter is to turn right at an angle of 60 degrees, that is, the high-speed rice transplanter is currently in a position to perform a right turn of 60 degrees. According to the driving environment information, the next driving state of the high-speed rice transplanter is to turn right by 55 degrees, and based on the current driving state position, the steering control information is to operate the high-speed rice transplanter to turn left to a position corresponding to 55 degrees.
也就是说，所述方向装置140可以根据所述转向控制信息，基于当前行驶状态操作变化量，从而达到所述高速插秧机所需执行的下一行驶状态。本领域技术人员可以理解的是，对于接下来的再一行驶状态，所述下一行驶状态是所述再一行驶状态的当前行驶状态，而所述再一行驶状态可以基于所述下一行驶状态操作所述转向控制信息所得。That is, the direction device 140 can operate the change amount based on the current driving state according to the steering control information, so as to achieve the next driving state that the high-speed rice transplanter needs to perform. It can be understood by those skilled in the art that for the next further driving state, the next driving state is the current driving state of the further driving state, and the further driving state may be based on the next driving state The state is obtained by operating the steering control information.
步骤240：基于当前行驶状态和所述行驶环境信息，获取所述高速插秧机的下一行驶状态。Step 240: Acquire the next driving state of the high-speed rice transplanter based on the current driving state and the driving environment information.
步骤250：根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。Step 250: According to the current driving state and the next driving state, forming a lifting control information of the implanting part.
基于目前的插秧机构造，所述高速插秧机在执行拐弯操作时需要，在安全转弯角度范围内，升起其插植部，否则会损坏插植部的连接结构。所以，根据所述转向控制信息，可以分析得出所述高速插秧机在下一行驶状态，根据下一行驶状态所述高速插秧机是否转弯以及转弯角度等可以判断，所述插植部是否需要上升或下降操作。Based on the current structure of the rice transplanter, the high-speed rice transplanter needs to raise its planting part within a safe turning angle range when performing the turning operation, otherwise it will damage the connection structure of the planting part. Therefore, according to the steering control information, it can be analyzed that the high-speed rice transplanter is in the next driving state, and whether the high-speed rice transplanter is turning and the turning angle can be judged according to the next driving state. Or descent operation.
例如，所述高速插秧机的结构需要所述插植部在向左或转弯20度以前上升(即所述高速插秧机的安全转弯角度范围为向左或转弯20度范围内)，否则连接结构就会损坏。如果所述高速插秧机的下一行驶状态显示为右转30度，则需要在执行转弯操作前升起所述插植部，或者在转弯操作过程中但是超过20度之前， 或预设的上升角度(处于安全转弯角度范围内)，升起所述插植部。又或者，如果所述高速插秧机的下一行驶状态显示为直行，即转弯操作执行完毕，需要继续插秧作业，则需要在执行转弯操作后，或者转弯操作过程中但是转弯角度20度(以行驶过程中的预设直行位置所对应的方向为基准，左右偏离度数)之前，下降所述插植部。For example, the structure of the high-speed rice transplanter requires the transplanting part to rise before turning left or turning 20 degrees (that is, the safe turning angle range of the high-speed rice transplanter is to the left or turning 20 degrees), otherwise the connection structure Will be damaged. If the next driving state of the high-speed rice transplanter is shown as a right turn of 30 degrees, it is necessary to raise the planting part before performing the turning operation, or during the turning operation but before it exceeds 20 degrees, or a preset ascent Angle (within the range of safe turning angles), raise the planting part. Or, if the next driving state of the high-speed rice transplanter is displayed as straight, that is, the turning operation is completed, and the rice transplanting operation needs to be continued, it is necessary to perform the turning operation, or during the turning operation but the turning angle is 20 degrees (to drive The direction corresponding to the preset straight travel position in the process is the reference, and the implantation part is lowered before the left and right deviation degrees).
进一步，所述步骤250包括以下步骤；Further, the step 250 includes the following steps;
(A)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于转弯趋势，则形成插植部上升控制信息；和(A) According to the current driving state and the next driving state, if the high-speed rice transplanter is in a turning trend, the ascending control information of the planting part is formed; and
(B)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于回正趋势，则形成插植部下降控制信息。(B) According to the current traveling state and the next traveling state, if the high-speed rice transplanter is returning to the positive trend, the planting part descending control information is formed.
也就是说，所述插植部升降控制信息包括但不限制于是否上升、是否下降、上升时机或下降时机等等。所述高速插秧机处于转弯趋势是指所述高速插秧机的下一行驶状态趋向偏离预设直行位置所对应的方向，而如果所述高速插秧机处于回正趋势是指所述高速插秧机的下一行驶状态趋向靠近预设直行位置所对应的方向。That is to say, the raising and lowering control information of the implanting part includes but is not limited to whether it is ascending, whether it is descending, ascending timing or descending timing, etc. The high-speed rice transplanter is in a turning trend means that the next running state of the high-speed rice transplanter tends to deviate from the direction corresponding to the preset straight-line position, and if the high-speed rice transplanter is in a positive trend, it means the high-speed rice transplanter The next driving state tends to be closer to the direction corresponding to the preset straight travel position.
进一步，所述步骤(A)中，所述高速插秧机处于转弯趋势，其转弯角度和幅度趋向于增大，需要上升所述插植部，避免破损。而根据所述高速插秧机的下一行驶状态，对比当前行驶状态，可以判断高速插秧机是否处于转弯趋势。并且根据所述下一行驶状态，还可以判断所述插植部是否需要上升。例如当前行驶状态中，所述插植部已经被上升，如果所述下一行驶状态显示，所述高速插秧机处于转弯趋势，所述插植部只需保持目前状态。如果当前行驶状态中，所述插植部未被上升，如果所述下一行驶状态显示，所述高速插秧机处于转弯趋势，所述插植部需要被执行上升操作。Further, in the step (A), the high-speed rice transplanter is in a turning trend, its turning angle and amplitude tend to increase, and the transplanting part needs to be raised to avoid damage. According to the next driving state of the high-speed rice transplanter and comparing with the current driving state, it can be judged whether the high-speed rice transplanter is in a turning trend. And according to the next driving state, it can also be determined whether the implantation part needs to be raised. For example, in the current driving state, the planting part has been raised. If the next driving state shows that the high-speed rice transplanter is in a turning trend, the planting part only needs to maintain the current state. If the planting part is not raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a turning trend, the planting part needs to be lifted.
进一步，所述步骤(B)中，所述高速插秧机处于回正趋势，其转弯角度和幅度趋向于减小，即转弯操作即将执行完毕，可以下降所述插植部，继续执行插秧作业。同理于所述步骤(A)，例如，当前行驶状态中，所述插植部已经被上升，如果所述下一行驶状态显示，所述高速插秧机处于回正趋势，所述插植部需要被执行下降操作。如果当前行驶状态中，所述插植部未被上升，如果所述下一行驶状态显示，所述高速插秧机处于回正趋势，所述插植部需要保持目前状态即可。Further, in the step (B), the high-speed rice transplanter is in a positive trend, and its turning angle and amplitude tend to decrease, that is, the turning operation is about to be completed, and the planting part can be lowered to continue the rice transplanting operation. Similarly to the step (A), for example, in the current driving state, the planting part has been raised. If the next driving state shows that the high-speed rice transplanter is in a positive trend, the planting part Need to be performed the descent operation. If the planting part has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part needs to maintain the current state.
步骤260：根据所述插植部升降控制信息，控制所述插植部在安全转弯角度范围内升降。Step 260: According to the lifting control information of the planting part, control the planting part to move up and down within a safe turning angle range.
所述插植部的连接结构不同，所述高速插秧机的安全转弯角度也会不同。但是根据所述插植部升降控制信息，可以控制所述插植部在安全转弯角度范围内升降，避免损坏插植部的连接结构。The connection structure of the transplanting part is different, and the safe turning angle of the high-speed rice transplanter will also be different. However, according to the lifting control information of the planting part, the planting part can be controlled to rise and fall within a safe turning angle range, so as to avoid damaging the connection structure of the planting part.
具体地体地，所述步骤260可以通过所述高速插秧机的一插植部自动升降装置实现。一升降电机根据所述插植部升降控制信息，控制一液压控制连接杆。所述液压控制连接杆连接一液压升降装置，控制所述插植部自动地升降。在本发明的的所述高速插秧机自动转向方法中，插植部自动升降装置的具体结构并不限制，此处只是为例阐述举例。Specifically, the step 260 can be realized by an automatic lifting device of an implanting part of the high-speed rice transplanter. A lifting motor controls a hydraulic control connecting rod according to the lifting control information of the planting part. The hydraulic control connecting rod is connected with a hydraulic lifting device to control the planting part to automatically lift. In the automatic steering method of the high-speed rice transplanter of the present invention, the specific structure of the automatic lifting device of the planting part is not limited, and here is just an example for illustration.
步骤270：根据所述转向控制信息，驱动所述高速插秧机转向。Step 270: Drive the high-speed rice transplanter to turn according to the turning control information.
所述高速插秧机的一自动转向装置实现转向驱动。所述自动转向装置可以是由一转向电机根据所述转向控制信息，驱动一齿轮减速机构，通过降低转速增加转动扭矩，使得所述齿轮减速机构传输动力至一方向盘转轴。所述方向盘转轴传递动力至一液压助力转向装置，带动转向车轮转动至对应的角度和方向。在本发明的的所述高速插秧机自动转向方法中，自动转向装置的具体结构并不限制，此处只是为例阐述举例。An automatic steering device of the high-speed rice transplanter realizes steering driving. The automatic steering device may be a steering motor driving a gear reduction mechanism according to the steering control information, and increasing the rotational torque by reducing the rotation speed, so that the gear reduction mechanism transmits power to a steering wheel rotating shaft. The steering wheel rotating shaft transmits power to a hydraulic power steering device, driving the steering wheels to rotate to a corresponding angle and direction. In the automatic steering method of the high-speed rice transplanter of the present invention, the specific structure of the automatic steering device is not limited, and here is just an example for illustration.
可以知道的是，所述步骤260和所述步骤270的顺序并不一定，可以同时执行步骤260和步骤270，或者先执行步骤260再执行步骤270。It can be known that the order of the step 260 and the step 270 is not necessarily the same, and the step 260 and the step 270 may be executed at the same time, or the step 260 is executed first and then the step 270.
依据本发明的另一方面，本发明进一步提供一高速插秧机自动转向系统100，以供被应用于一高速插秧机，用于实现高速插秧机的自动转向，如图3至图8所示。According to another aspect of the present invention, the present invention further provides a high-speed rice transplanter automatic steering system 100 for being applied to a high-speed rice transplanter for implementing automatic steering of the high-speed rice transplanter, as shown in FIGS. 3-8.
具体地，所述高速插秧机自动转向系统100包括一环境信息获取模块110和一控制模块120，其中所述环境信息获取模块110检测高速插秧机周边的一行驶环境信息，并传递至所述控制模块120。所述控制模块120根据行驶环境信息，判断高速插秧机所需的行驶状态变化，规划行驶路径，形成一转向控制信息，以供执行转向，使得高速插秧机自动地转向。Specifically, the high-speed rice transplanter automatic steering system 100 includes an environmental information acquisition module 110 and a control module 120, wherein the environmental information acquisition module 110 detects a driving environment information around the high-speed rice transplanter and transmits it to the control Module 120. The control module 120 determines the change in the driving state required by the high-speed rice transplanter according to the driving environment information, plans the driving path, and forms steering control information for performing steering, so that the high-speed rice transplanter automatically turns.
所述环境信息获取模块110可以采用深度摄像、二维摄像、红外感应等技术实现对行驶环境信息进行采集。举例说明，所述环境信息获取模块110采用二维摄像技术，将各个普通摄像头分别安装于所述高速插秧机的前后左右侧，或者安 装于顶侧，对所述高速插秧机的周侧环境进行拍摄，将所得摄像影像传输至所述控制模块120。所述行驶环境信息为所述高速插秧机的周边的路况信息，或者身处农田中时农田状况信息等，例如所述高速插秧机周侧是否有河流、田垄、深坑、斜坡，或者在农田作业时，所述高速插秧机拐弯侧是否有秧苗等。The environment information acquisition module 110 may use depth imaging, two-dimensional imaging, infrared sensing and other technologies to collect driving environment information. For example, the environmental information acquisition module 110 adopts a two-dimensional camera technology to install each ordinary camera on the front, back, left, and right sides of the high-speed rice transplanter, or on the top side, and perform a peripheral environment on the high-speed rice transplanter. Shoot, and transmit the obtained camera image to the control module 120. The driving environment information is road condition information around the high-speed rice transplanter, or farmland condition information when in the farmland, such as whether there are rivers, ridges, deep pits, slopes, or in the farmland around the high-speed rice transplanter During operation, are there seedlings on the turning side of the high-speed rice transplanter?
所述控制模块120根据行驶环境信息，分析所述高速插秧机所需的行驶状态变化，形成一转向控制信息。所述控制模块120可以被实施为服务器、电脑、CPU等具有处理分析数据功能的装置。具体地，所述控制模块120包括一方向控制模块121，根据行驶环境信息，判断所述高速插秧机所需的行驶方向变化。也就是说，所述转向控制信息包括但不限于方向变化控制信息，例如是否继续直行、是否转弯、是否于斜坡行驶等等。The control module 120 analyzes the change of the driving state required by the high-speed rice transplanter according to the driving environment information to form steering control information. The control module 120 may be implemented as a server, computer, CPU, or other device having a function of processing and analyzing data. Specifically, the control module 120 includes a direction control module 121, which determines the change in the driving direction required by the high-speed rice transplanter according to the driving environment information. That is to say, the steering control information includes but is not limited to direction change control information, such as whether to continue straight, whether to turn, whether to drive on a slope, etc.
例如，当所述高速插秧机在农田中作业时，所述环境信息获取模块110所采集的行驶环境信息显示，前方为田垄，即作业农田边界，所述方向控制模块121则判断所述高速插秧机需转弯行驶。而所述环境信息获取模块110所采集的行驶环境信息进一步显示，所述高速插秧机的右侧为田垄或有已栽种的秧苗，左侧为未作业农田，则所述方向控制模块121判断所述高度插秧机需要向左转弯，从而继续作业，如图4A所示。For example, when the high-speed rice transplanter is operating in farmland, the driving environment information collected by the environmental information acquisition module 110 shows that the front is a ridge, that is, the boundary of the working farmland, and the direction control module 121 determines the high-speed rice transplanter The machine needs to turn around. The driving environment information collected by the environmental information acquisition module 110 further shows that the right side of the high-speed rice transplanter is a field ridge or has planted seedlings, and the left side is an unoperated farmland, then the direction control module 121 determines The height rice transplanter needs to turn left to continue the operation, as shown in FIG. 4A.
或者，在另一情形下，所述环境信息获取模块110所采集的行驶环境信息显示，前方为田垄，左侧为田垄，而右侧为已栽种的秧苗，即此时农田作业已结束，则所述方向控制模块121判断所述高速插秧机需离开作业农田。进一步，所述行驶环境信息显示前方田垄附近有道路足够所述高速插秧机行驶，或者显示前方田垄足够所述高速插秧机行驶，则所述方向控制模块121判断所述高度插秧机需直行，径直跨上前方田垄，后续转弯至田垄附近的道路或者直接沿田垄行驶，如图4B所示。Or, in another situation, the driving environment information collected by the environmental information acquisition module 110 shows that the front is a field ridge, the left side is a field ridge, and the right side is a planted seedling, that is, the farmland operation has ended at this time, then The direction control module 121 determines that the high-speed rice transplanter needs to leave the working farmland. Further, the driving environment information shows that there is a road near the front ridge sufficient for the high-speed rice transplanter to travel, or that the front ridge is sufficient for the high-speed rice transplanter to travel, then the direction control module 121 determines that the height rice transplanter needs to travel straight and straight Step over the front ridge, then turn to the road near the ridge or drive directly along the ridge, as shown in Figure 4B.
进一步，所述控制模块120包括一转向角度控制模块122，根据所述行驶环境信息，判断所述高速插秧机所需的行驶方向变化角度。也就是说，所述转向控制信息根据不同的行驶环境信息，相应地会不同。具体地，包括但不限制于转向角度控制信息包括但不限于方向变化角度控制信息，例如左转弯或右转弯的转弯角度。Further, the control module 120 includes a steering angle control module 122, which determines the change angle of the driving direction required by the high-speed rice transplanter according to the driving environment information. In other words, the steering control information will be different according to different driving environment information. Specifically, including but not limited to steering angle control information includes but is not limited to direction change angle control information, such as a turning angle of a left turn or a right turn.
例如，当所述高速插秧机在道路上行驶，道路前方为转弯道。所述环境信息获取模块110所采集的行驶环境信息显示转弯道的转弯方向和转弯角度。所述方 向控制模块121则由此判断出转弯方向，所述转向角度控制模块122由此判断出所述高速插秧机所需行驶转弯角度，从而形成所述转向控制信息。可以知道的是，在转弯的过程中，行驶环境信息会不断更新，转弯角度会随着所述高速插秧机在转弯道的形式而不断变化。对应地，所述转向控制模块122会更新所述转向控制信息，以使所述高速插秧机转弯角度契合行驶过程中弯道变化。For example, when the high-speed rice transplanter runs on a road, the road ahead is a turning road. The driving environment information collected by the environment information obtaining module 110 shows the turning direction and turning angle of the turning road. The direction control module 121 thus determines the turning direction, and the steering angle control module 122 thus determines the required turning angle of the high-speed rice transplanter, thereby forming the steering control information. It can be known that during the turning process, the driving environment information will be continuously updated, and the turning angle will continuously change according to the form of the high-speed rice transplanter in the turning path. Correspondingly, the steering control module 122 will update the steering control information so that the turning angle of the high-speed rice transplanter conforms to the curve change during driving.
或者，在另一情形中，所述高速插秧机在农田作业。当一列秧苗被栽种完成后，所述高速插秧机需要转弯继续栽种另一列进行作业，此时所述转向角度控制模块122可以根据插秧机与田垄的间距、机身宽度、行驶速度等，分析得出所述高速插秧机所需转弯角度。Or, in another case, the high-speed rice transplanter operates on farmland. After a row of seedlings is planted, the high-speed rice transplanter needs to turn to continue planting another row for operation. At this time, the steering angle control module 122 can analyze the distance between the rice transplanter and the field ridge, the width of the body, the driving speed, etc. The required turning angle of the high-speed rice transplanter.
进一步，所述高速插秧机自动转向系统100包括一传感器装置130。所述传感器装置用于反馈所述高速插秧机当前行驶状态，以便所述控制模块120基于当前行驶状态，作出的所需操纵变化量判断，形成所述转向控制信息。Further, the high-speed rice transplanter automatic steering system 100 includes a sensor device 130. The sensor device is used to feed back the current running state of the high-speed rice transplanter, so that the control module 120 determines the required steering change amount based on the current running state to form the steering control information.
所述传感器装置130包括一转向传感器131，其中所述转向传感器131被安装于一方向盘的一转向杆141。当所述方向盘旋转，所述转向杆141随之旋转，所述转向传感器131可以测量出所述高速插秧机的执行的旋转方向(相对于预设直行位置所对应的方向)。所述传感器装置130进一步包括一转向角度传感器132，其中所述转向角度传感器132用于测量所述高速插秧机执行的转向角度。所述转向角度传感器132可以被安装于所述转向杆141，或者被安装于所述高速插秧机的转向车轮200等测量所述高速插秧机的转向角度。The sensor device 130 includes a steering sensor 131, wherein the steering sensor 131 is mounted on a steering rod 141 of a steering wheel. When the steering wheel rotates, the steering rod 141 rotates accordingly, and the steering sensor 131 can measure the direction of rotation of the high-speed rice transplanter (relative to the direction corresponding to the preset straight travel position). The sensor device 130 further includes a steering angle sensor 132, wherein the steering angle sensor 132 is used to measure the steering angle performed by the high-speed rice transplanter. The steering angle sensor 132 may be mounted on the steering rod 141, or may be mounted on the steering wheel 200 of the high-speed rice transplanter to measure the steering angle of the high-speed rice transplanter.
所述传感器装置130，即所述转向角度传感器132和所述转向传感器131，将所述高速插秧机的当前状态反馈至所述控制模块120。所述转向角度控制模块122和所述方向控制模块121基于获取的高速插秧机的当前状态，包括当前方向状态和当前转向角度状态，并根据行驶环境信息，判断所述高速插秧机的所需的方向和角度变化。例如，所述高速插秧机当前状态为直行，处于当前状态为预设的直行位置，即当前转向车轮200和方向盘均未转向，转向角度为0。根据行驶环境信息，所述高速插秧机需以60度角度右转，则基于当前状态，所述转向控制信息为操作高速插秧机右转至对应执行60度的位置。The sensor device 130, that is, the steering angle sensor 132 and the steering sensor 131, feed back the current state of the high-speed rice transplanter to the control module 120. The steering angle control module 122 and the direction control module 121 are based on the acquired current state of the high-speed rice transplanter, including the current direction state and the current steering angle state, and determine the required high-speed rice transplanter according to the driving environment information Change in direction and angle. For example, the current state of the high-speed rice transplanter is straight running, and the current state is a preset straight running position, that is, neither the steering wheel 200 nor the steering wheel is turned, and the steering angle is 0. According to the driving environment information, the high-speed rice transplanter needs to turn right at a 60-degree angle. Based on the current state, the steering control information is to operate the high-speed rice transplanter to turn right to a position corresponding to 60 degrees.
或者所述高速插秧机当前状态为以60度角度右转，即当前转向车轮200和方向盘处于执行右转60度的位置。根据行驶环境信息，所述高速插秧机下一行驶状态为右转55度(相对于预设直行位置所对应的方向)，则基于当前位置，所 述转向控制信息为操作所述方向盘和转向车轮200左转至对应执行55度的位置。Or the current state of the high-speed rice transplanter is to turn right at an angle of 60 degrees, that is, the current steering wheel 200 and the steering wheel are in a position to perform a right turn of 60 degrees. According to the driving environment information, the next driving state of the high-speed rice transplanter is to turn right 55 degrees (relative to the direction corresponding to the preset straight running position), then based on the current position, the steering control information is to operate the steering wheel and steering wheels 200 Turn left to the position corresponding to 55 degrees.
也就是说，可以根据所述转向控制信息，基于当前状态操作变化量，从而达到所述高速插秧机所需执行的下一行驶状态。本领域技术人员可以理解的是，对于接下来的再一行驶状态，所述下一行驶状态是所述再一行驶状态的当前状态，而所述再一行驶状态可以基于所述下一行驶状态操作所述转向控制信息所得。That is, it is possible to operate the change amount based on the current state based on the steering control information, so as to achieve the next running state that the high-speed rice transplanter needs to perform. It can be understood by those skilled in the art that for the next further driving state, the next driving state is the current state of the further driving state, and the further driving state may be based on the next driving state Obtained by operating the steering control information.
可选地，所述传感器装置130还可以直接被安装于所述高速插秧机的转向车轮200，即。以转向车轮200是前轮为例，所述转向传感器131和所述转向角度传感器132测量前轮的旋转方向和转向角度信息，并反馈至所述控制模块120。Alternatively, the sensor device 130 may also be directly installed on the steering wheel 200 of the high-speed rice transplanter, ie. Taking the steering wheel 200 being a front wheel as an example, the steering sensor 131 and the steering angle sensor 132 measure the rotation direction and steering angle information of the front wheel, and feed back information to the control module 120.
进一步，所述高速插秧机自动转向系统100包括一转向装置140。所述转向装置140根据所述转向控制信息，驱动所述高速插秧机的转向车轮200转向。具体地，所述转向装置140包括一转向电机142、一减速机构143和所述转向杆141。所述转向电机142通信地连接所述控制模块120，根据所述转向控制信息，驱动所述减速机构143，控制所述转向杆141转动，以驱动转向车轮200转向，如图5A所示。Furthermore, the high-speed rice transplanter automatic steering system 100 includes a steering device 140. The steering device 140 drives the steering wheels 200 of the high-speed rice transplanter to steer according to the steering control information. Specifically, the steering device 140 includes a steering motor 142, a speed reduction mechanism 143, and the steering rod 141. The steering motor 142 is communicatively connected to the control module 120, drives the deceleration mechanism 143 according to the steering control information, and controls the steering rod 141 to rotate to drive the steering wheel 200 to turn, as shown in FIG. 5A.
所述减速机构143被可驱动地连接所述转向电机142。在本发明的一实施例中，所述减速机构143可以是齿轮减速机构，包括一驱动齿轮1431、一中间齿轮1432和一从动齿轮1433，如图5B所示。所述驱动齿轮1431被可驱动地耦合于所述转向电机142，例如所述驱动齿轮1431可驱动地套接于所述转向电机141的输出轴，当所述转向电机141根据所述转向控制信息转动时，所述驱动齿轮1431跟随输出轴转动。所述从动齿轮1433被固定于所述转向杆141，驱动所述转向杆141。所述中间齿轮1432连接所述驱动齿轮1431和所述从动齿轮1433用于加大速比。The reduction mechanism 143 is drivably connected to the steering motor 142. In an embodiment of the present invention, the speed reduction mechanism 143 may be a gear speed reduction mechanism, including a driving gear 1431, an intermediate gear 1432, and a driven gear 1433, as shown in FIG. 5B. The driving gear 1431 is drivably coupled to the steering motor 142, for example, the driving gear 1431 is drivably coupled to the output shaft of the steering motor 141, when the steering motor 141 is based on the steering control information When rotating, the driving gear 1431 rotates following the output shaft. The driven gear 1433 is fixed to the steering rod 141 and drives the steering rod 141. The intermediate gear 1432 connects the driving gear 1431 and the driven gear 1433 to increase the speed ratio.
所述转向装置140进一步包括一液压助力转向装置144，用于带动转向车轮200转向。所述液压助力转向装置144被可驱动地耦合于所述转向杆141，并以可驱动地方式连接所述转向车轮200。也就是说所述液压助力转向装置144将动力从所述转向杆141传输至所述转向车轮200，驱动所述转向车轮200对应地转向。The steering device 140 further includes a hydraulic power steering device 144 for driving the steering wheel 200 to steer. The hydraulic power steering device 144 is drivably coupled to the steering rod 141 and is connected to the steering wheel 200 in a drivable manner. That is, the hydraulic power steering device 144 transmits power from the steering rod 141 to the steering wheel 200, and drives the steering wheel 200 to steer accordingly.
进一步，所述高速插秧机自动转向系统100还包括一插植部升降装置150，用于控制所述高速插秧机的一插植部300的升降。所述控制模块120包括一插植部控制模块123，用于判断所述插植部300是否需要升降操作。Further, the high-speed rice transplanter automatic steering system 100 further includes a planting part lifting device 150 for controlling the lifting of a planting part 300 of the high-speed rice transplanter. The control module 120 includes a planting part control module 123 for determining whether the planting part 300 needs a lifting operation.
具体地，据所述高速插秧机的当前行驶状态和所述行驶控制信息，所述控制模块120可以分析得出下一行驶状态，而所述插植部控制模块123根据所述高速插秧机的当前行驶状态和下一行驶状态，形成一插植部升降控制信息。Specifically, according to the current driving state of the high-speed rice transplanter and the driving control information, the control module 120 may analyze and obtain the next driving state, and the planting part control module 123 according to the high-speed rice transplanter's The current driving state and the next driving state form a lifting control information for the implantation part.
基于目前的插秧机构造，所述高速插秧机在执行拐弯操作时，需要在安全转弯角度范围内，升起其插植部300，否则会损坏插植部300的连接结构。所以，根据所述转向控制信息，可以分析得出所述高速插秧机在下一行驶状态，根据下一行驶状态所述高速插秧机是否转弯以及转弯角度等可以判断，所述插植部300是否需要上升或下降操作。Based on the current structure of the rice transplanter, the high-speed rice transplanter needs to raise its planting part 300 within a safe turning angle range when performing a turning operation, otherwise the connection structure of the planting part 300 will be damaged. Therefore, according to the steering control information, it can be analyzed that the high-speed rice transplanter is in the next driving state, and whether the high-speed rice transplanter is turning and the turning angle can be determined according to the next driving state. Up or down operation.
具体地，当所述高速插秧机处于转弯趋势，其转弯角度和幅度趋向于增大，需要上升所述插植部300，避免破损。而根据所述高速插秧机的下一行驶状态，对比当前行驶状态，可以判断高速插秧机是否处于转弯趋势。并且根据所述下一行驶状态，还可以判断所述插植部300是否需要上升。例如当前行驶状态中，所述插植部300已经被上升，如果所述下一行驶状态显示，所述高速插秧机处于转弯趋势，所述插植部300只需保持目前状态。如果当前行驶状态中，所述插植部300未被上升，如果所述下一行驶状态显示，所述高速插秧机处于转弯趋势，所述插植部300需要被执行上升操作。Specifically, when the high-speed rice transplanter is in a turning trend, its turning angle and amplitude tend to increase, and the transplanting part 300 needs to be raised to avoid damage. According to the next driving state of the high-speed rice transplanter and comparing with the current driving state, it can be judged whether the high-speed rice transplanter is in a turning trend. And according to the next driving state, it can also be determined whether the implanting unit 300 needs to be raised. For example, in the current driving state, the planting part 300 has been raised. If the next driving state shows that the high-speed rice transplanter is in a turning trend, the planting part 300 only needs to maintain the current state. If the planting part 300 has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a turning trend, the planting part 300 needs to be lifted.
举例说明，所述高速插秧机的结构需要所述插植部300在向左或转弯20度以前上升(即所述高速插秧机的安全转弯角度范围为向左或转弯20度范围内)，否则连接结构就会损坏。如果所述高速插秧机的下一行驶状态显示为右转30度，则需要在执行转弯操作前升起所述插植部300(如图7所示)，或者在转弯操作过程中但是超过20度之前，或预设的上升角度(处于安全转弯角度范围内)，升起所述插植部300，如图8所示。For example, the structure of the high-speed rice transplanter requires the transplanting unit 300 to rise before turning left or turning 20 degrees (that is, the safe turning angle range of the high-speed rice transplanter is left or turning 20 degrees), otherwise The connection structure will be damaged. If the next driving state of the high-speed rice transplanter is shown as a right turn of 30 degrees, it is necessary to raise the planting part 300 before performing the turning operation (as shown in FIG. 7), or during the turning operation but exceeding 20 Before the degree, or a preset ascent angle (within a safe turning angle range), the implanting portion 300 is raised, as shown in FIG. 8.
或者，所述高速插秧机处于回正趋势，其转弯角度和幅度趋向于减小，即转弯操作即将执行完毕，可以下降所述插植部300，继续执行插秧作业，如图7和图8所示。例如，当前行驶状态中，所述插植部300已经被上升，如果所述下一行驶状态显示，所述高速插秧机处于回正趋势，所述插植部300需要被执行下降操作。如果当前行驶状态中，所述插植部300未被上升，如果所述下一行驶状态显示，所述高速插秧机处于回正趋势，所述插植部300需要保持目前状态即可。Alternatively, the high-speed rice transplanter is in a positive trend, and its turning angle and amplitude tend to decrease, that is, the turning operation is about to be completed, and the transplanting unit 300 can be lowered to continue the rice transplanting operation, as shown in FIGS. 7 and 8 Show. For example, in the current running state, the planting part 300 has been raised. If the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part 300 needs to be lowered. If the planting part 300 has not been raised in the current running state, if the next running state shows that the high-speed rice transplanter is in a positive trend, the planting part 300 needs to maintain the current state.
也就是说，所述插植部升降控制信息包括但不限于是否上升、是否下降、上升时机或下降时机等等。That is to say, the lifting control information of the implanting part includes, but is not limited to, whether to rise, whether to fall, the timing of ascent or the timing of descending, and so on.
所述插植部升降装置150根据所述插植部升降控制信息，控制所述插植部300上升。在本发明的一个实施例中，所述插植部升降装置150包括一升降电机151、一液压控制连杆152和一液压升降装置153，如图6所示。所述升降电机151根据所述插植部升降控制信息拉动和控制所述液压控制连杆152，所述液压连接杆152对应地操控所述液压升降装置153，从而作用于所述插植部300的上升或下降。The planting part lifting device 150 controls the planting part 300 to rise according to the planting part lifting control information. In an embodiment of the present invention, the planting part lifting device 150 includes a lifting motor 151, a hydraulic control link 152, and a hydraulic lifting device 153, as shown in FIG. The lifting motor 151 pulls and controls the hydraulic control link 152 according to the lifting control information of the planting part, and the hydraulic connecting rod 152 correspondingly controls the hydraulic lifting device 153 to act on the planting part 300 Rise or fall.
在本发明的一个实施例中，在需要转弯时，所述高速插秧机先根据所述插植部升降控制信息，通过所述插植部升降装置150操作所述插植部300上升。之后，通过所述转向装置140根据所述转向控制信息，驱动所述高速插秧机的转向车轮200转向。而当转弯操作完成，根据当前行驶状态，所述高速插秧机处于回正状态，即处于预设的直行位置，所述插植部升降装置150根据所述插植部升降控制信息，下降所述插植部300，如图7所示。In one embodiment of the present invention, when turning is required, the high-speed rice transplanter first operates the planting unit 300 to raise by the planting unit lifting device 150 according to the planting unit lifting control information. Thereafter, the steering device 140 drives the steering wheels 200 of the high-speed rice transplanter to steer based on the steering control information. When the turning operation is completed, according to the current driving state, the high-speed rice transplanter is in the return-to-normal state, that is, at a preset straight-travel position, and the planting part lifting device 150 lowers the planting part according to the lifting control information of the planting part The planting part 300 is shown in FIG.
在本发明的另一实施例中，所述插植部升降装置150在转弯过程中操作所述插植部300上升。具体地，所述插植部升降控制信息包括一预设上升/下降角度。当所述转向装置140根据所述转向控制信息，驱动转向车轮200转向至预设上升/下降角度时，所述述插植部升降装置150操作所述插植部300上升/下降。所述转向角度传感器132可以反馈当前转向角度，以供所述插植部控制模块123判断是否转弯至预设上升/下降角度。如果转弯至预设上升/下降角度，所述插植部控制模块123发送所述插植部升降/下降控制信息至所述插植部升降装置150。如图8所示。In another embodiment of the present invention, the planting part lifting device 150 operates the planting part 300 to rise during turning. Specifically, the raising and lowering control information of the planting part includes a preset raising/lowering angle. When the steering device 140 drives the steering wheel 200 to steer to a preset ascending/descending angle according to the steering control information, the implanting portion lifting device 150 operates the implanting portion 300 to ascend/descend. The steering angle sensor 132 may feed back the current steering angle, so that the implantation part control module 123 can determine whether to turn to a preset ascent/descent angle. If turning to a preset raising/lowering angle, the planting part control module 123 sends the planting part lifting/lowering control information to the planting part lifting device 150. As shown in Figure 8.
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。Those skilled in the art should understand that the embodiments of the present invention shown in the above description and the accompanying drawings are only examples and do not limit the present invention. The object of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and described in the examples. Without departing from the principles, the embodiments of the present invention may have any variations or modifications.

Claims (23)

  1. 一自动转向系统，适用于一高速插秧机，其特征在于，包括：An automatic steering system, suitable for a high-speed rice transplanter, is characterized by including:
    一环境信息获取模块，其中所述环境信息获取装置采集所述高速插秧机的周侧行驶环境信息；An environmental information acquisition module, wherein the environmental information acquisition device collects environmental information of the surrounding side of the high-speed rice transplanter;
    一控制模块，其中所述控制模块根据所述高速插秧机的当前行驶状态和所述行驶环境信息，分析所述高速插秧机所需执行的操作变化，形成一转向控制信息；以及A control module, wherein the control module analyzes the operation changes required to be performed by the high-speed rice transplanter according to the current driving state of the high-speed rice transplanter and the driving environment information, and forms steering control information; and
    一转向装置，其中所述转向装置根据所述转向控制信息驱动所述高速插秧机的转向车轮转向至对应的位置。A steering device, wherein the steering device drives the steering wheels of the high-speed rice transplanter to a corresponding position according to the steering control information.
  2. 根据权利要求1所述的自动转向系统，进一步包括一传感器装置，用于测量和反馈所述高速插秧机的当前行驶状态，其中所述控制模块根据当前行驶状态和所述行驶环境信息，形成所述转向控制信息。The automatic steering system according to claim 1, further comprising a sensor device for measuring and feeding back the current driving state of the high-speed rice transplanter, wherein the control module forms a sensor based on the current driving state and the driving environment information The steering control information is described.
  3. 根据权利要求2所述的自动转向系统，其中所述传感器装置包括一转向传感器，测量所述高速插秧机的当前方向状态，其中所述控制模块根据当前方向状态，分析所述方向装置所需的方向变化，形成所述转向控制信息。The automatic steering system according to claim 2, wherein the sensor device includes a steering sensor to measure the current direction state of the high-speed rice transplanter, wherein the control module analyzes the required direction device according to the current direction state The direction changes to form the steering control information.
  4. 根据权利要求2所述的自动转向系统，其中所述传感器装置包括一转向角度传感器，其中测量所述高速插秧机的当前转向角度状态，其中所述控制模块根据当前转向角度状态，分析所述方向装置所需的角度变化，形成所述转向控制信息。The automatic steering system according to claim 2, wherein the sensor device includes a steering angle sensor, wherein the current steering angle state of the high-speed rice transplanter is measured, and wherein the control module analyzes the direction according to the current steering angle state The angle required by the device changes to form the steering control information.
  5. 根据权利要求1所述的自动转向系统，其中所述转向装置包括一转向电机、一减速机构和一转向杆，其中所述转向电机通信地连接所述控制模块，根据所述转向控制信息，驱动所述减速机构，其中所述减速机构传输动力至所述转向杆，以所述高速插秧机的转向车轮转向。The automatic steering system according to claim 1, wherein the steering device includes a steering motor, a speed reduction mechanism, and a steering rod, wherein the steering motor is communicatively connected to the control module, and is driven according to the steering control information The deceleration mechanism, wherein the deceleration mechanism transmits power to the steering rod and steers with the steering wheels of the high-speed rice transplanter.
  6. 根据权利要求5所述的自动转向系统，其中所述减速机构包括一驱动轮、一从动轮和一中间齿轮，其中所述驱动轮被可驱动地耦合于所述转向电机，所述从动轮被固定于所述转向杆，驱动所述转向杆，其中所述中间齿轮连接所述驱动轮和所述从动轮用于加大速比。The automatic steering system according to claim 5, wherein the reduction mechanism includes a driving wheel, a driven wheel, and an intermediate gear, wherein the driving wheel is drivably coupled to the steering motor, and the driven wheel is It is fixed to the steering rod and drives the steering rod, wherein the intermediate gear connects the driving wheel and the driven wheel for increasing the speed ratio.
  7. 根据权利要求5所述的自动转向系统，其中所述转向装置进一步包括一液压助力转向装置，用于带动转向车轮转向，其中所述液压助力转向装置被可驱 动地耦合于所述转向杆，其中所述液压助力转向装置将动力从所述转向杆传输至所述高速插秧机的转向车轮，驱动所述转向车轮对应地转向。The automatic steering system according to claim 5, wherein the steering device further comprises a hydraulic power steering device for driving steering wheels, wherein the hydraulic power steering device is drivably coupled to the steering rod, wherein The hydraulic power steering device transmits power from the steering rod to the steering wheels of the high-speed rice transplanter, driving the steering wheels to steer accordingly.
  8. 根据权利要求1所述的自动转向系统，其中所述控制模块包括一方向控制模块，其中所述方向控制模块根据行驶环境信息，判断所述方向装置所需的方向变化，形成所述转向控制信息。The automatic steering system according to claim 1, wherein the control module includes a direction control module, wherein the direction control module determines the direction change required by the direction device according to the driving environment information to form the steering control information .
  9. 根据权利要求1所述的自动转向系统，其中所述控制模块包括一转向角度控制模块，其中所述转向角度控制模块根据所述行驶环境信息，判断所述方向装置所需的方向变化角度，形成所述转向控制信息。The automatic steering system according to claim 1, wherein the control module includes a steering angle control module, wherein the steering angle control module determines the direction change angle required by the directional device based on the driving environment information to form The steering control information.
  10. 根据权利要求1所述的自动转向系统，其中所述控制模块包括一插植部控制模块，其中根据所述转向控制信息和当前行驶状态，所述控制模块分析得出所述高速插秧机的下一行驶状态，其中所述插植部控制模块根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。The automatic steering system according to claim 1, wherein the control module includes a planting part control module, wherein the control module analyzes and obtains the bottom of the high-speed rice transplanter based on the steering control information and the current driving state A driving state, wherein the control module of the planting part forms a lifting control information of the planting part according to the current driving state and the next driving state.
  11. 根据权利要求9所述的自动转向系统，其中所述控制模块包括一插植部控制模块，其中根据所述转向控制信息和当前行驶状态，所述控制模块分析得出所述高速插秧机的下一行驶状态，其中所述插植部控制模块根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。The automatic steering system according to claim 9, wherein the control module includes a planting part control module, wherein the control module analyzes and obtains the lower speed of the high-speed rice transplanter based on the steering control information and the current driving state A driving state, wherein the control module of the planting part forms a lifting control information of the planting part according to the current driving state and the next driving state.
  12. 根据权利要求11所述的自动转向系统，进一步包括一插植部升降装置，其中所述插植部升降装置根据所述插植部升降控制信息，控制所述高速插秧机的一插植部的升降，其中当根据当前行驶状态和下一行驶状态判断得出所述高速插秧机处于转弯趋势时，所述插植部升降装置根据所述插植部升降控制信息，控制所述插植部在安全转弯角度范围内处于被上升状态。The automatic steering system according to claim 11, further comprising a planting section lifting device, wherein the planting section lifting device controls a planting section of the high-speed rice transplanter according to the planting section lifting control information Lifting, wherein when it is judged that the high-speed rice transplanter is in a turning trend according to the current driving state and the next driving state, the planting part lifting device controls the planting part according to the planting part lifting control information It is in a raised state within a safe turning angle.
  13. 根据权利要求12所述的自动转向系统，其中当根据当前行驶状态和下一行驶状态判断得出所述高速插秧机处于回正趋势，所述插植部升降装置根据所述插植部升降控制信息，控制所述插植部在安全转弯角度范围内处于下降状态。The automatic steering system according to claim 12, wherein when it is judged from the current driving state and the next driving state that the high-speed rice transplanter is returning to a positive trend, the planting section lifting device is controlled according to the planting section lifting control Information to control the planting part to fall in a safe turning angle range.
  14. 根据权利要求12所述的自动转向系统，其中所述插植部升降装置先根据所述所述插植部升降控制信息操作所述插植部处于对应的状态之后，所述转向装置再根据所述转向控制信息驱动所述转向车轮转向至对应的位置。The automatic steering system according to claim 12, wherein after the planting section lifting device first operates the planting section in a corresponding state according to the planting section lifting control information, the steering device then determines The steering control information drives the steering wheel to turn to a corresponding position.
  15. 根据权利要求12所述的自动转向系统，其中当转向装置再根据所述转向控制信息驱动所述转向车轮转向过程中，当所述转向车轮驱动至预设角度时，所述插植部升降装置根据所述所述插植部升降控制信息操作所述插植部。The automatic steering system according to claim 12, wherein when the steering device drives the steering wheel according to the steering control information during steering, when the steering wheel is driven to a preset angle, the implanting section lifting device Operate the planting part according to the raising and lowering control information of the planting part.
  16. 根据权利要求12所述的自动转向系统，其中所述插植部升降装置包括一升降电机、一液压控制连杆和一液压升降装置，其中所述升降电机根据所述插植部升降控制信息拉动和控制所述液压控制连杆，所述液压连接杆对应地操控所述液压升降装置，从而作用于所述插植部的上升或下降。The automatic steering system according to claim 12, wherein the planting part lifting device includes a lifting motor, a hydraulic control link and a hydraulic lifting device, wherein the lifting motor is pulled according to the planting part lifting control information And controlling the hydraulic control connecting rod, the hydraulic connecting rod correspondingly controls the hydraulic lifting device to act on the raising or lowering of the planting part.
  17. 一自动转向方法，适用于一高速插秧机，其特征在于，其中所述自动转向方法包括如下步骤：An automatic steering method is suitable for a high-speed rice transplanter, which is characterized in that the automatic steering method includes the following steps:
    (a)基于一高速插秧机的当前行驶状态和一行驶环境信息，分析所述高速插秧机所需的行驶状态变化，形成一转向控制信息；和(a) Based on the current driving state of a high-speed rice transplanter and a driving environment information, analyze the driving state changes required by the high-speed rice transplanter to form a steering control information; and
    (b)根据所述转向控制信息，驱动所述高速插秧机转向。(b) Drive the high-speed rice transplanter to turn based on the turning control information.
  18. 根据权利要求17所述的自动转向方法，其中所述步骤(a)之前，所述自动转向方法进一步包括步骤：The automatic steering method according to claim 17, wherein before the step (a), the automatic steering method further comprises the steps of:
    检测所述高速插秧机周边的环境，形成所述行驶环境信息；和Detecting the environment around the high-speed rice transplanter to form the driving environment information; and
    获取所述高速插秧机当前行驶状态。Obtain the current driving state of the high-speed rice transplanter.
  19. 根据权利要求17所述的自动转向方法，其中所述步骤(a)进一步包括步骤：The automatic steering method according to claim 17, wherein the step (a) further comprises the step of:
    (a.1)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化；和(a.1) According to the current driving state and the driving environment information, analyze the required driving direction changes; and
    (a.2)根据当前行驶状态和所述行驶环境信息，分析所需行驶方向变化角度。(a.2) According to the current driving state and the driving environment information, analyze the required driving direction change angle.
  20. 根据权利要求17所述的自动转向方法，进一步包括如下步骤：The automatic steering method according to claim 17, further comprising the following steps:
    (c)基于当前行驶状态和所述行驶环境信息，预测所述高速插秧机的下一行驶状态；和(c) predict the next driving state of the high-speed rice transplanter based on the current driving state and the driving environment information; and
    (d)根据当前行驶状态和下一行驶状态，形成一插植部升降控制信息。(d) According to the current traveling state and the next traveling state, forming an implanting section lifting control information.
  21. 根据权利要求20所述的自动转向方法，其中所述步骤(d)进一步包括步骤：The automatic steering method according to claim 20, wherein the step (d) further comprises the step of:
    (d.1)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于转弯趋势，则形成插植部上升控制信息；和(d.1) According to the current driving state and the next driving state, if the high-speed rice transplanter is in a turning trend, the ascending control information of the planting part is formed; and
    (d.2)根据当前行驶状态和下一行驶状态，如果所述高速插秧机处于回正趋势，则形成插植部下降控制信息。(d.2) According to the current driving state and the next driving state, if the high-speed rice transplanter is returning to the positive trend, the planting part descending control information is formed.
  22. 根据权利要求20所述的自动转向方法，其中所述步骤(b)包括步骤：The automatic steering method according to claim 20, wherein the step (b) includes the steps of:
    先根据所述所述插植部升降控制信息操作一插植部处于对应的状态之后，再根据所述转向控制信息驱动所述转向车轮转向至对应的位置。After operating the planting part in a corresponding state according to the lifting control information of the planting part, the steering wheel is driven to turn to a corresponding position according to the steering control information.
  23. 根据权利要求20所述的自动转向方法，其中所述步骤(b)包括步骤：The automatic steering method according to claim 20, wherein the step (b) includes the steps of:
    当所述高速插秧机转向被驱动至预设角度时，根据所述所述插植部升降控制信息操作一插植部。When the steering of the high-speed rice transplanter is driven to a preset angle, a planting part is operated according to the lifting control information of the planting part.
PCT/CN2019/106717 2018-12-26 2019-09-19 Automatic steering system and automatic steering method for high-speed rice transplanter WO2020134217A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021538415A JP2022517552A (en) 2018-12-26 2019-09-19 Automatic steering system and automatic steering method for high-speed rice transplanters

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201822197784.8U CN209987992U (en) 2018-12-26 2018-12-26 Automatic steering system of high-speed rice transplanter
CN201811598461.8A CN109677484A (en) 2018-12-26 2018-12-26 High-speed transplanter automatic steering system and self-steering method
CN201811598461.8 2018-12-26
CN201822197784.8 2018-12-26

Publications (1)

Publication Number Publication Date
WO2020134217A1 true WO2020134217A1 (en) 2020-07-02

Family

ID=71129583

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/106717 WO2020134217A1 (en) 2018-12-26 2019-09-19 Automatic steering system and automatic steering method for high-speed rice transplanter

Country Status (2)

Country Link
JP (1) JP2022517552A (en)
WO (1) WO2020134217A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112650215A (en) * 2020-12-01 2021-04-13 广州极飞科技有限公司 Plant protection operation method and plant protection operation device for unmanned vehicle, and unmanned vehicle control system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001086817A (en) * 1999-09-21 2001-04-03 Kubota Corp Paddy field working machine
CN102771235A (en) * 2011-05-09 2012-11-14 洋马株式会社 Rice transplanter
CN104691615A (en) * 2013-12-06 2015-06-10 刘扬 Rice transplanter steering automatic control system
CN205499049U (en) * 2015-12-29 2016-08-24 天津市达昆电子科技有限公司 Steering control device is assisted to vehicle
CN107972732A (en) * 2017-12-04 2018-05-01 安徽农业大学 A kind of unmanned rice transplanter automatic steering control system and its control method
CN108860297A (en) * 2018-08-28 2018-11-23 杭州天爵舞台工程有限公司 A kind of automatic Pilot steering system and vehicle
CN109677485A (en) * 2019-01-04 2019-04-26 丰疆智慧农业股份有限公司 Autosteerer and high-speed transplanter
CN109677484A (en) * 2018-12-26 2019-04-26 丰疆智慧农业股份有限公司 High-speed transplanter automatic steering system and self-steering method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5938087Y2 (en) * 1977-12-07 1984-10-23 ヤンマー農機株式会社 Rice transplanter steering device
JPH0994006A (en) * 1995-09-29 1997-04-08 Matsushita Electric Ind Co Ltd Unmanned apparatus for farm working
JP2004090799A (en) * 2002-08-30 2004-03-25 Kubota Corp Steering operation structure for working machine
JP6525902B2 (en) * 2016-03-03 2019-06-05 株式会社クボタ Field work vehicle
JP6896434B2 (en) * 2017-01-24 2021-06-30 株式会社クボタ Work platform
JP6805946B2 (en) * 2017-04-12 2020-12-23 井関農機株式会社 Work vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001086817A (en) * 1999-09-21 2001-04-03 Kubota Corp Paddy field working machine
CN102771235A (en) * 2011-05-09 2012-11-14 洋马株式会社 Rice transplanter
CN104691615A (en) * 2013-12-06 2015-06-10 刘扬 Rice transplanter steering automatic control system
CN205499049U (en) * 2015-12-29 2016-08-24 天津市达昆电子科技有限公司 Steering control device is assisted to vehicle
CN107972732A (en) * 2017-12-04 2018-05-01 安徽农业大学 A kind of unmanned rice transplanter automatic steering control system and its control method
CN108860297A (en) * 2018-08-28 2018-11-23 杭州天爵舞台工程有限公司 A kind of automatic Pilot steering system and vehicle
CN109677484A (en) * 2018-12-26 2019-04-26 丰疆智慧农业股份有限公司 High-speed transplanter automatic steering system and self-steering method
CN109677485A (en) * 2019-01-04 2019-04-26 丰疆智慧农业股份有限公司 Autosteerer and high-speed transplanter

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112650215A (en) * 2020-12-01 2021-04-13 广州极飞科技有限公司 Plant protection operation method and plant protection operation device for unmanned vehicle, and unmanned vehicle control system
CN112650215B (en) * 2020-12-01 2024-02-23 广州极飞科技股份有限公司 Unmanned vehicle plant protection operation method, plant protection operation device and unmanned vehicle control system

Also Published As

Publication number Publication date
JP2022517552A (en) 2022-03-09

Similar Documents

Publication Publication Date Title
CN111645478A (en) Wheeled farmland management robot with flexible profiling chassis and profiling control method
CN101773016B (en) Intelligent variable rate fertilizer for rice and variable rate fertilization method thereof
CN103314689A (en) Intelligent orchard ditching and fertilizing machine with automatic navigation function
CN203369088U (en) Intelligent ditching fertilizer distributor for garden based on automatic navigation
JP2019154394A (en) Work vehicle
CN110352707B (en) Automatic profiling follow-up system of sugarcane harvester and control method thereof
CN102550202A (en) Small-sized inter-row weeding robot for paddy fields
CN109429586A (en) It is a kind of collection in the ranks, between strain weeding function one the device that weeds with a hoe
CN106258028A (en) The intelligent thinning of a kind of machine vision servo is hoed up weeds facility
CN111133853B (en) Multi-parameter combined automatic regulation system and method for tractor tilling depth
CN107787664A (en) Harvester for peanut ground-contour-following device
CN109677484A (en) High-speed transplanter automatic steering system and self-steering method
CN106647440A (en) Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof
WO2020134217A1 (en) Automatic steering system and automatic steering method for high-speed rice transplanter
CN110199637A (en) A kind of rupture of membranes based on infrared technique draws seedling banking machine
CN111279819A (en) Subsoiling mechanism, subsoiling device, subsoiling system and use method thereof
KR102298784B1 (en) Artificial intelligence variable complex tillage robot for weed management of upland crop
CN209987992U (en) Automatic steering system of high-speed rice transplanter
CN207460776U (en) A kind of agricultural trolley of digging pit
KR102181930B1 (en) Off-road transporting robor using screw wheel and folding wheel
CN113057007A (en) Adjusting device of ridge-culture potato harvester and excavation depth control method thereof
CN210130080U (en) Intelligent agricultural machine with adjustable chassis and chassis thereof
CN206759947U (en) A kind of powdery ridge depth survey automatic tracking system
CN207040379U (en) Rupture of membranes draws seedling machine after sowing overlay film emergence
CN113892471B (en) Intelligent agricultural robot and use method thereof

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19903153

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021538415

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19903153

Country of ref document: EP

Kind code of ref document: A1