WO2020206939A1 - Automatic steering system and method for automatic harvester - Google Patents

Abstract

An automatic steering method for an automatic harvester, comprising the steps of: (A) hydraulic oil of a hydraulic pump (60) is outputted to a reversing valve (20); (B) an electrical signal is inputted to a first coil (YV01) or a second coil (YV02) of the reversing valve, and the electrical signal is synchronously inputted to a third coil (YV03) of a hydraulic control apparatus; (C) the hydraulic oil enters a steering cylinder (30) from the reversing valve; (D) the size of the electrical signal inputted to the third coil is controlled, so as to control the pressure difference of the steering cylinder, in order to implement electrodeless control for steering the automatic harvester.

Description

Automatic steering system and method of automatic harvester Technical field

The invention relates to an automatic harvester, in particular to an automatic steering system of an automatic harvester and a method thereof, to intelligently and automatically control the steering and stepless adjustment of the automatic harvester.

Background technique

With the advancement and development of science and technology, nowadays agriculture is also progressing and developing relatively continuously. In the context of agricultural modernization, more and more agricultural machinery is used to replace labor. It can be said that modern agriculture has got rid of the backward method of farming by relying only on manpower in the past. Nowadays, almost all aspects of agriculture, from sowing, plant protection to harvesting, etc. Completely relying on agricultural machinery and equipment to complete, it can be said that modern agriculture has entered the mechanized era. Furthermore, agricultural mechanization is the use of advanced agricultural machinery to improve the conditions of agricultural production. It is the use of agricultural machinery that imitates a certain cultivation action of humans to replace people's heavy labor, and the use of agricultural machinery to replace the unsuitable human working environment. Improve agricultural production technology and economic benefits. Understandably, as the means of agricultural production continue to increase, the agricultural machinery industry has also shown a good momentum of development, and it has brought immediate benefits to farmers. In other words, modern agriculture has played a certain role in increasing labor productivity and promoting economic development.

Therefore, the development and improvement of agricultural machinery is also a means to make current agricultural and economic development continuous progress. As everyone knows, agricultural machinery generally walks or runs on uneven farmland or fields, and most of the steering methods currently applied to agricultural machinery use a manually controlled mechanical drawbar to achieve left-right steering, so that farmers and agricultural machinery operators Or the driver needs to spend a lot of energy and physical ability to manipulate the manually-operated mechanical drawbar to realize the left and right steering of the agricultural machine. Such an operation mode cannot achieve the stepless adjustment of the steering amplitude, which will cause greater impact and instability during steering, and further affect the life of the overall agricultural machinery and related components. In addition, in today’s harvesters, because farmers, agricultural machinery operators or drivers generally sit on the harvester to operate, and harvesters are walking on uneven farmland or fields, people usually have to endure strong Because of the bumps, the current harvester is also developing in the direction of unmanned aerial vehicles or autonomous driving. How to automatically steer during driving or operation is one of the elements that needs to be considered in the development and improvement of today's harvesters.

Summary of the invention

An advantage of the present invention is that it provides an automatic steering system for an automatic harvester and a method thereof, which are used to truly realize the unmanned driving technology of the automatic harvester or reduce the operation intensity of the operator, and ensure the automatic harvesting The smoothness of the machine during steering reduces the impact of the steering operation, and at the same time increases the service life of the components of the whole machine.

An advantage of the present invention is that it provides an automatic steering system for an automatic harvester and a method thereof, wherein the automatic harvester's left and right steering and stepless speed regulation of the steering range are realized by hydraulic control, so that the automatic harvester is Driving and steering are more smooth and smooth.

An advantage of the present invention is that it provides an automatic steering system for an automatic harvester and a method thereof, which can reduce the professional skills, energy and physical requirements of the operator, and make the operator more comfortable. In other words, when the automatic harvester is implemented as an unmanned aerial vehicle, automatic driving or remote control, the automatic steering system of the present invention can make the automatic harvester turn more smoothly, so as to reduce the risk to the operator. Various requirements.

An advantage of the present invention is that it provides an automatic steering system and method for an automatic harvester, wherein the automatic harvester is smoothly and automatically steered by remotely controlling the automatic harvester.

An advantage of the present invention is that it provides an automatic steering system and method for an automatic harvester, in which hydraulic and solenoid valves are used to control the steering amplitude by measuring and controlling related flow and pressure.

Another advantage of the present invention is that it provides a kind of adaptability, wherein the precision parts and complicated structure are not required, the manufacturing process is simple and the cost is low.

Other advantages and features of the present invention are fully embodied by the following detailed description and can be realized by the combination of means and devices specifically pointed out in the appended claims.

According to the present invention, the automatic steering system of the present invention, which can achieve the foregoing objectives and other objectives and advantages, is suitable for an automatic harvester and includes a controller, a reversing valve, a steering cylinder and a hydraulic control device. The reversing valve is connected to the controller. The steering cylinder is connected to the reversing valve and the controller. The hydraulic control device is connected to the reversing valve and the steering cylinder, wherein the controller issues a steering command to the reversing valve and the hydraulic control device, so that the steering cylinder is infinitely adjusted Steering operation.

According to an embodiment of the present invention, the automatic steering system further includes a telecommunications control device connected to the controller to transmit the steering command to the controller.

According to an embodiment of the present invention, the telecommunications control device is implemented as a remote remote controller, which issues the steering command of left-right steering or steering amplitude to the controller through a radio signal.

According to an embodiment of the present invention, the remote controller is implemented as a smart phone, tablet computer or other mobile device.

According to an embodiment of the present invention, the telecommunications control device is implemented as an electrical linear handle, which issues the steering command of left and right steering or steering amplitude to the controller through an electrical signal.

According to an embodiment of the present invention, the automatic steering system further includes a hydraulic pump connected to the controller and the reversing valve, wherein the controller issues a hydraulic control command to the hydraulic pump, and the hydraulic pump A hydraulic oil is input to the reversing valve.

According to an embodiment of the present invention, the reversing valve has a first coil and a second coil, the hydraulic control device has a third coil, and the controller is respectively connected to the first coil and the second coil. The second coil and the third coil respectively input an electrical signal.

According to an embodiment of the present invention, the steering cylinder includes at least one cylinder, which includes a cylinder body, a piston, and two piston rods, wherein the piston is disposed in the cylinder body so that the cylinder body is divided into one A first oil chamber and a second oil chamber, the two piston rods are respectively connected to both sides of the piston, wherein the first valve port of the reversing valve is connected to the hydraulic pump, and the reversing valve The second valve port is connected to the first oil chamber, the third valve port of the reversing valve is connected to the second oil chamber, the first oil chamber and the second oil chamber Respectively connected to the hydraulic control device.

According to an embodiment of the present invention, the steering cylinder includes two cylinders, wherein each cylinder includes a cylinder body, a piston and a piston rod, wherein the first piston is arranged in the first cylinder body so that the The first oil cylinder body is divided into a first rodless oil chamber and a first rod oil chamber, the first piston rod is located in the first rod oil chamber, and the second piston is arranged in In the second oil cylinder body, the second oil cylinder body is divided into a second rodless oil chamber and a second rod oil chamber, and the second piston rod is located in the second rod oil chamber The first valve port of the reversing valve is connected to the hydraulic pump, the second valve port of the reversing valve is connected to the first rodless oil chamber, and the third port of the reversing valve is The valve port is connected to the second rodless oil chamber, and the first rodless oil chamber and the second rodless oil chamber are respectively connected to the hydraulic control device.

According to an embodiment of the present invention, the hydraulic control device is implemented as a proportional valve.

According to an embodiment of the present invention, the opening size of the proportional valve will control the pressure difference of the steering cylinder.

In addition, in order to meet the above objectives of the present invention and other objectives and advantages of the present invention, the present invention provides an automatic harvester including the above-mentioned automatic steering system, a traveling device, an actuation device, a driving device and a control device, wherein The automatic steering system, the traveling device, the actuating device and the driving device are respectively connected to the control device.

According to an embodiment of the present invention, the automatic harvester includes a driving path planning system connected to the control device, wherein the automatic steering system cooperates with the driving path of the driving path planning system to perform stepless adjustment during driving. Steering operation.

In addition, in order to meet the above objectives of the present invention and other objectives and advantages of the present invention, the present invention also provides an automatic steering method of an automatic harvester, which includes the following steps:

(A) The hydraulic oil of a hydraulic pump is output to a reversing valve;

(B) Input an electric signal to a first coil or a second coil of the reversing valve, and synchronously input the electric signal to a third coil of a hydraulic control device;

(C) The hydraulic oil enters the steering cylinder through the reversing valve;

(D) Controlling the magnitude of the electrical signal input to the third coil to control the pressure difference of the steering cylinder to realize the stepless control of the steering of the automatic harvester.

According to a method of the present invention, the hydraulic oil passes through the first valve port to the second valve port or the first valve port to the third valve port of the reversing valve to control the left and right steering of the automatic harvester.

According to a method of the present invention, the hydraulic control device is connected to a first oil chamber and a second oil chamber of the steering cylinder to adjust the pressure difference of the steering cylinder.

According to a method of the present invention, the hydraulic control device connects a first rod oil chamber and a second rod oil chamber of the steering cylinder to adjust the pressure difference of the steering cylinder.

According to a method of the present invention, when the automatic harvester turns to the right, the hydraulic oil enters a first rodless oil chamber of the steering cylinder to push a first piston of the steering cylinder and drive it to A first piston rod of the steering cylinder of the first rod oil chamber moves, and the hydraulic oil in the first rod oil chamber will enter the hydraulic control device.

According to a method of the present invention, when the automatic harvester turns to the left, the hydraulic oil enters a second rodless oil chamber of the steering cylinder to push a second piston of the steering cylinder and drive the A second piston rod of the steering cylinder of the second rod oil chamber moves, and at the same time the hydraulic oil in the second rod oil chamber will enter the hydraulic control device.

Through the understanding of the following description and the drawings, the further objectives and advantages of the present invention will be fully embodied.

These and other objectives, features and advantages of the present invention are fully embodied by the following detailed description, drawings and claims.

Description of the drawings

Fig. 1 is a logical schematic diagram of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention.

Fig. 2 is a logical schematic diagram of a further automatic steering system of an automatic harvester according to a preferred embodiment of the present invention, in which it is illustrated that the telecommunication control device is implemented as a remote remote controller.

Fig. 3 is a logical schematic diagram of a further automatic steering system of the automatic harvester according to a preferred embodiment of the present invention, in which it is illustrated that the telecommunication control device is implemented as an electric linear handle.

Fig. 4 is a schematic cross-sectional view of a reversing valve of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of the principle of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention, in which the structure of the steering cylinder is illustrated.

Fig. 7 is a schematic diagram of the principle of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention, in which the structure of another steering cylinder is illustrated.

Fig. 8 is a schematic diagram of the principle of an automatic steering system of an automatic harvester according to a preferred embodiment of the present invention, in which the structure of another steering cylinder and the structure of another hydraulic control device are illustrated.

Fig. 9 is a logical schematic diagram of an automatic harvester according to a preferred embodiment of the present invention.

Fig. 10 is a logical schematic diagram of an automatic harvester according to a preferred embodiment of the present invention, in which the description includes a driving path planning system.

detailed description

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms should not be construed as limiting the present invention.

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 may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.

As shown in Figures 1 to 6, it is an automatic steering system and method for an automatic harvester according to the first preferred embodiment of the present invention, which automatically controls the left and right steering and steering of the automatic harvester 1 with stepless adjustment. Amplitude. Furthermore, the automatic steering system 100 will slow down the impact of the automatic harvester 1 when turning, so that the automatic harvester 1 will be more stable when turning, and at the same time reduce the components of the automatic harvester 1 Wear and increase the service life of the components of the automatic harvester 1.

According to the embodiment of the present invention, the automatic steering system 100 includes a controller 10, a reversing valve 20, a steering cylinder 30, and a hydraulic control device 40. The controller 10 is respectively connected to the reversing valve 20 and the hydraulic control device 40, wherein the reversing valve 20 and the hydraulic control device 40 can be controlled separately through the controller 10, so as to more easily control the述Automatic harvester 1. The reversing valve 20 is connected to the steering cylinder 30 to control the steering cylinder 30 to make the automatic harvester 1 turn. The hydraulic control device 40 is connected to the steering cylinder 30 to control the return pressure of the steering cylinder 30 so that the left and right steering and the steering range of the automatic harvester 1 can be adjusted steplessly. The steering cylinder 30 is connected to the controller 10 to immediately report the state of the steering cylinder 30 to the controller 10.

According to the embodiment of the present invention, the automatic steering system 100 further includes a telecommunication control device 50 connected to the controller 10 to issue a steering command to the controller 10. Furthermore, the telecommunications control device 50 is used for wireless or wired telecommunications to control the automatic harvester 1 to perform stepless steering. It is worth mentioning that when the telecommunications control device 50 is implemented as a remote controller 51, it is wirelessly connected to the controller 10 to issue a left-right turn to the controller 10 through a radio signal from the remote controller 51 Or the steering command of the steering amplitude, wherein the controller 10 controls the reversing valve 20 and the hydraulic control device 40 respectively according to the steering command, and makes the steering cylinder 30 actuate. In other words, the steering cylinder 30 will perform a stepless adjustment operation. It is worth mentioning that the remote controller 51 has a mobile application to control the controller 10 wirelessly. In other words, the mobile application program is installed on the remote controller 51 to run thereon and used to give instructions to the controller 10. It is understandable that the remote controller 51 can be implemented as a smart phone, a tablet computer or other mobile devices, which is not a limitation of the present invention. In addition, the telecommunications control device 50 can also be implemented as an electrical linear handle 52, which is electrically connected to the controller 10, so as to issue left and right steering or steering to the controller 10 through an electrical signal from the electrical linear handle 52 The magnitude of the steering command, wherein the controller 10 issues the steering command and controls the reversing valve 20 and the hydraulic control device 40, and makes the reversing valve 20 and the hydraulic control device 40 The actions of the steering cylinder 30 are respectively controlled, so that the steering cylinder 30 performs a steplessly adjusted steering operation.

According to the embodiment of the present invention, the automatic steering system 100 further includes a hydraulic pump 60 connected to the reversing valve 20 to provide hydraulic oil for the reversing valve 20. In other words, the hydraulic oil of the hydraulic pump 60 enters the reversing valve 20 and then enters the steering cylinder 30 via the reversing valve 20 to activate the steering cylinder 30. In addition, the controller 10 is connected to the hydraulic pump 60 so that the controller 10 sends a hydraulic control command to the hydraulic pump 60 after receiving the steering command. It is understandable that after receiving the steering instruction, the controller 10 will respectively issue operation instructions to the reversing valve 20, the hydraulic control device 40, and the hydraulic pump 60 to make the reversing valve 20 After the hydraulic control device 40 and the hydraulic pump 60 are relatively coordinated to operate, the automatic harvester 1 achieves a smooth and stepless steering adjustment.

According to an embodiment of the present invention, the reversing valve 20 is implemented as an electromagnetic reversing valve, which includes a body 21 and a sliding shaft 22, wherein the body has a plurality of valve ports 211. The sliding shaft 22 moves in the body 21 to open and close different valve ports 211. Furthermore, in this embodiment, four valve ports 211 are implemented, which are defined as a first valve port P, a second valve port A, a third valve port B, and a fourth valve port T for convenience of description. When the sliding shaft 22 moves in the main body 21, the corresponding valve ports 211 are connected or closed to further control the operation of the steering cylinder 30. Furthermore, after the controller 10 issues the hydraulic control command to the hydraulic pump 60, the hydraulic oil of the hydraulic pump 60 will be input to the reversing valve 20. In addition, the reversing valve 20 also has a first coil YV01 and a second coil YV02. The hydraulic control device 40 is implemented as a proportional valve with a third coil YV03. The controller 10 is respectively connected to the first coil YV01, the second coil YV02, and the third coil YV03 to input an electrical signal to the first coil YV01 or the second coil YV02. In particular, the electrical signal is synchronously input to the third coil YV03 of the hydraulic control device 40. It is worth mentioning that the hydraulic control device 40 is implemented as a proportional valve, which replaces the original control part with a proportional electromagnet on ordinary pressure valves, flow valves and directional valves, and continuously, according to the input electrical signal, Proportionally control the pressure, flow or direction of the oil flow remotely. In other words, once the proportional valve has pressure compensation performance, the output pressure and flow can not be affected by load changes.

According to the embodiment of the present invention, the steering cylinder 30 includes at least one cylinder 31 and a sensor 32. The sensor 32 is connected to the oil cylinder 31 and the controller 10. As shown in FIG. 6, the cylinder 31 includes a cylinder body 311, a piston 312 and two piston rods 313. The cylinder body 311 has a first oil chamber 3111 and a second oil chamber 3112, wherein the piston 312 is disposed in the cylinder body 311, so that the cylinder body 311 is divided into the first oil chamber The chamber 3111 and the second oil chamber 3112. The two piston rods 313 are respectively connected to both sides of the piston 312, that is, the two piston rods 313 are respectively located in the first oil chamber 3111 and the second oil chamber 3112. It is worth mentioning that the first valve port P is connected to the hydraulic pump 60. The second valve port A is connected to the first oil chamber 3111. The third valve port B is connected to the second oil chamber 3112.

According to an embodiment of the present invention, when the automatic steering system 100 performs a right turn of the automatic harvester 1, the controller 10 issues the hydraulic control command to the hydraulic pump 60, which is a right turn hydraulic control command, The controller 10 inputs the electrical signal to the first coil YV01 of the reversing valve 20 and the third coil YV03 of the hydraulic control device 40. In other words, after the hydraulic pump 60 receives the hydraulic control command, the hydraulic oil output by the hydraulic pump 60 is input to the reversing valve 20 through a pipeline connection. At the same time, the electrical signal enables the first coil YV01 to be energized, and the electrical signal is sent to the hydraulic control device 40 to control the third coil YV03, so that the hydraulic oil passes through the reversing valve 20 From the first valve port P to the second valve port A, the hydraulic oil enters the first oil chamber 3111 to push the piston 312 and drive it in the second oil chamber 3112 The piston rod 313 moves, and the hydraulic oil in the second oil chamber 3112 will enter the hydraulic control device 40. At this time, the electrical signal of the third coil YV03 is input to control the first The pressure difference between the two oil chambers 3112 is used to realize the stop position of the piston 312, thereby realizing the stepless control of the steering amplitude.

According to the embodiment of the present invention, when the automatic steering system 100 executes the left turn of the automatic harvester 1, the controller 10 issues the hydraulic control command to the hydraulic pump 60, which is a left turn hydraulic control command, The controller 10 inputs the electrical signal to the second coil YV02 of the reversing valve 20 and the third coil YV03 of the hydraulic control device 40. In other words, after the hydraulic pump 60 receives the hydraulic control command, the hydraulic oil output by the hydraulic pump 60 is input to the reversing valve 20 through a pipeline connection. At the same time, the electrical signal enables the second coil YV02 to be energized, and the electrical signal is sent to the hydraulic control device 40 to control the third coil YV03, so that the hydraulic oil passes through the reversing valve 20 The first valve port P to the third valve port B, and the hydraulic oil enters the second oil chamber 3112 to push the piston 312 and drive it in the first oil chamber 3111 The piston rod 313 moves, and the hydraulic oil in the first oil chamber 3111 will enter the hydraulic control device 40. At this time, the electrical signal of the third coil YV03 is input to control the The pressure difference of an oil chamber 3111 is used to realize the stop position of the piston 312, thereby realizing the stepless control of the steering amplitude.

In the embodiment of the present invention, since the steering direction is controlled by the reversing valve 20, it is only necessary to control the first coil YV01 or the second coil YV02 through the remote controller 51 or the electrical linear handle 52 The operation can be carried out if the power is lost or gained. Overall, the automatic steering system 100 of the present invention can reduce the difficulty of operation and save effort. In particular, when the piston 312 of the steering cylinder 30 is controlled to stop at a certain position, it is controlled steplessly by changing the input signal of the hydraulic control device 40. Therefore, it is more stable and does not produce shocks, which improves the performance The service life of hydraulic components.

As shown in FIG. 7 and FIG. 8, it is a modified embodiment of the steering cylinder 30 in the present invention, wherein the steering cylinder includes two cylinders 31. Further, FIG. 8 shows an embodiment of a different hydraulic control device 40. It is worth mentioning that each of the cylinders 31 includes at least one cylinder body 311, a piston 312 and a piston rod 313. For the convenience of description, the two oil cylinders are defined as the first oil cylinder 31A and the second oil cylinder 31B, respectively. The first oil cylinder 31A includes a first oil cylinder body 311A, a first piston 312A, and a first piston rod 313A. The second oil cylinder 31B includes a second oil cylinder body 311B, a second piston 312B, and a first piston rod 313A. Two piston rods 313B. The first cylinder body 311A has a first rodless oil chamber 3111A and a first rodless oil chamber 3112A, wherein the first piston 312A is disposed in the first cylinder body 311A, so that the An oil cylinder body 311A is divided into the first rodless oil chamber 3111A and the first rodless oil chamber 3112A. The first piston rod 313A is located in the first rod oil chamber 3112A. The second cylinder body 311B has a second rodless oil chamber 3111B and a second rodless oil chamber 3112B, wherein the second piston 312B is disposed in the second cylinder body 311B, so that the The second cylinder body 311B is divided into the second rodless oil chamber 3111B and the second rodless oil chamber 3112B. The second piston rod 313B is located in the second rod oil chamber 3112B. It is worth mentioning that the first valve port P is connected to the hydraulic pump 60. The second valve port A is connected to the first rodless oil chamber 3111A. The third valve port B is connected to the second rodless oil chamber 3111B.

Therefore, in the modified embodiment of the steering cylinder 30, when the automatic steering system 100 performs a right turn of the automatic harvester 1, the controller 10 issues the hydraulic control command to the hydraulic pump 60, which For a right-turn hydraulic control command, the controller 10 inputs the electrical signal to the first coil YV01 of the reversing valve 20 and the third coil YV03 of the hydraulic control device 40. In this way, the hydraulic oil passes through the first valve port P of the reversing valve 20 to the second valve port A, and allows the hydraulic oil to enter the first rodless oil chamber 3111A to push the The first piston 312A drives the first piston rod 313A located in the first rod oil chamber 3112A to move, and the hydraulic oil in the first rod oil chamber 3112A will enter the hydraulic control The device 40 controls the pressure difference of the first rod oil chamber 3112A by changing the magnitude of the electrical signal input to the third coil YV03, so as to realize the dwell position of the first piston rod 313A, So as to realize the stepless control of the steering range.

Similarly, in the modified embodiment of the steering cylinder 30, when the automatic steering system 100 performs a left turn of the automatic harvester 1, the controller 10 issues the hydraulic control command to the hydraulic pump 60, It is a left-turn hydraulic control command, and the controller 10 inputs the electric signal to the second coil YV02 of the reversing valve 20 and the third coil YV03 of the hydraulic control device 40. In this way, the hydraulic oil passes through the first valve port P of the reversing valve 20 to the third valve port B, and allows the hydraulic oil to enter the second rodless oil chamber 3111B to push the The second piston 312B drives the second piston rod 313B located in the second rod oil chamber 3112B to move, and at the same time the hydraulic oil in the second rod oil chamber 3112B will enter the hydraulic control The device 40 controls the pressure difference of the second rod oil chamber 3112B by changing the magnitude of the electrical signal input to the third coil YV03, so as to realize the dwell position of the second piston rod 313B, So as to realize the stepless control of the steering range.

It is worth mentioning that, as shown in FIG. 9, the automatic harvester 1 includes the automatic steering system 100, a control device 200, a driving device 300, a traveling device 400, and an actuation device 500. The automatic steering system 100, the driving device 300, the traveling device 400, and the actuating device 500 are respectively connected to the control device 200. It is understandable that the control device 200 is a central control system of the automatic harvester 1 for integrated control of various devices of the automatic harvester 1. The driving device 300 is respectively connected to the actuating device 500, the traveling device 400 and the control device 200, and provides power for them, and is controlled by the control device 200 to drive various components to perform corresponding operations. It is worth mentioning that the driving device 300 can be implemented as a fuel, electric or hybrid drive, which is not a limitation of the present invention. The traveling device 400 is used to drive the automatic harvester 1 to travel, which may be crawler walking, two-wheel walking or four-wheel walking. The actuating device 500 is used to perform various operations, such as harvesting, transplanting seedlings, transplanting, and plant protection. The automatic steering system 100 is used to provide endless steering. In addition, the automatic harvester 1 can be implemented as a harvester, a rice transplanter, a plant protection machine, a transplanter, etc., which is not a limitation of the present invention.

In addition, as shown in FIG. 10, the automatic harvester may further include a driving path planning system 600, which is connected to the control device 200 to provide a planned path. It is worth mentioning that the driving path planning system 600 is used to plan the driving path of the automatic harvester 1, wherein the planning of the driving path takes into account the conditions of various farms or fields, and considers various agricultural operations. the way. Furthermore, when the driving route planning system 600 plans the driving route, it is based on the size, shape, and nature of the farmland or field, as well as various types such as harvesting, planting, planting, transplanting, soil turning, and soil preparation. The operation mode is planned to achieve the best driving path. In other words, the driving path planning system 600 is applicable to the automatic harvester 1 to plan the driving path of the automatic harvester 1 in advance or simultaneously during driving. It is worth mentioning that the automatic steering system 100 can be used in conjunction with the driving path planning system 600, that is, the steering and the steering amplitude are known in the planned driving path, so that the automatic harvester 1 will not When steering is required, the control device 200 will directly control the controller 10 of the automatic steering system 100, so that the automatic harvester 1 can perform an endless steering operation.

An automatic steering method of an automatic harvester provided by the present invention will be described. The automatic steering method of the automatic harvester includes the following steps:

(A) The hydraulic oil of a hydraulic pump 60 is output to a reversing valve 20;

(B) Input an electric signal to a first coil YV01 or a second coil YV02 of the reversing valve 20, and synchronously input the electric signal to a third coil YV03 of a hydraulic control device 40;

(C) The hydraulic oil enters the steering cylinder 30 through the reversing valve 20;

(D) Control the magnitude of the electrical signal input to the third coil YV03 to control the pressure difference of the steering cylinder 30 to realize the stepless control of the steering of the automatic harvester 1.

In the above steps, the hydraulic oil passes through the first valve port P to the second valve port A or the first valve port P to the third valve port B of the reversing valve 20 to control the automatic harvester 1 Turn left and right.

In the above steps, the size of the opening of the hydraulic control device 40 will control the pressure difference of the steering cylinder 30.

In the above steps, when turning right, the hydraulic oil enters a first rodless oil chamber 3111A to push a first piston 312A and drive the first rod located in a first rodless oil chamber 3112A A piston rod 313A moves while the hydraulic oil in the first rod oil chamber 3112A will enter the hydraulic control device 40.

In the above steps, when turning left, the hydraulic oil enters a second rodless oil chamber 3111B to push a second piston 312B and drive the first rod located in a second rodless oil chamber 3112B The two piston rods 313B move, and the hydraulic oil in the second rod oil chamber 3112B will enter the hydraulic control device 40.

Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention.

The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims (22)

1. An automatic steering method for an automatic harvester is characterized in that it includes the following steps:

   (A) The hydraulic oil of a hydraulic pump is output to a reversing valve;

   (B) Input an electric signal to a first coil or a second coil of the reversing valve, and synchronously input the electric signal to a third coil of a hydraulic control device;

   (C) The hydraulic oil enters the steering cylinder through the reversing valve; and

   (D) Controlling the magnitude of the electrical signal input to the third coil to control the pressure difference of the steering cylinder to realize the stepless control of the steering of the automatic harvester.
2. The automatic steering method according to claim 1, wherein the hydraulic oil passes through the first valve port to the second valve port or the first valve port to the third valve port of the reversing valve to control the automatic harvester Turn left and right.
3. The automatic steering method according to claim 1, wherein the hydraulic control device connects a first oil chamber and a second oil chamber of the steering cylinder to adjust the pressure difference of the steering cylinder.
4. The automatic steering method according to claim 1, wherein the hydraulic control device connects a first rod oil chamber and a second rod oil chamber of the steering cylinder to adjust the pressure difference of the steering cylinder .
5. The automatic steering method according to claim 4, wherein when the automatic harvester turns to the right, the hydraulic oil enters a first rodless oil chamber of the steering cylinder to push a first of the steering cylinder The piston drives a first piston rod of the steering cylinder located in the first rod oil chamber to move, and at the same time, the hydraulic oil in the first rod oil chamber will enter the hydraulic control device.
6. The automatic steering method according to claim 4, wherein when the automatic harvester turns left, the hydraulic oil enters a second rodless oil chamber of the steering cylinder to push a second rodless chamber of the steering cylinder. The piston drives a second piston rod of the steering cylinder located in the second rod oil chamber to move, and at the same time, the hydraulic oil in the second rod oil chamber will enter the hydraulic control device.
7. An automatic steering system suitable for automatic harvesters, characterized in that it includes:

   A controller;

   A reversing valve connected to the controller;

   A steering cylinder connected to the reversing valve and the controller; and

   A hydraulic control device, which connects the reversing valve and the steering cylinder, wherein the controller issues a steering command to the reversing valve and the hydraulic control device to enable the steering cylinder to perform stepless adjustment Steering operation.
8. 7. The automatic steering system according to claim 7, further comprising a telecommunication control device connected to the controller to transmit the steering command to the controller.
9. 8. The automatic steering system according to claim 8, wherein the telecommunications control device is implemented as a remote remote controller, which issues the steering command of left and right steering or steering amplitude to the controller through a radio signal.
10. The automatic steering system according to claim 9, wherein the remote controller is implemented as a smart phone, a tablet computer or other mobile devices.
11. 8. The automatic steering system according to claim 8, wherein the telecommunications control device is implemented as an electrical linear handle, which issues the steering command of left and right steering or steering amplitude to the controller through an electrical signal.
12. The automatic steering system according to claim 7, further comprising a hydraulic pump connected to the controller and the reversing valve, wherein the controller issues a hydraulic control command to the hydraulic pump, and the hydraulic pump controls A hydraulic oil is input to the reversing valve.
13. The automatic steering system according to claim 8, further comprising a hydraulic pump connected to the controller and the reversing valve, wherein the controller issues a hydraulic control command to the hydraulic pump, and the hydraulic pump controls A hydraulic oil is input to the reversing valve.
14. The automatic steering system according to claim 7, wherein the reversing valve has a first coil and a second coil, the hydraulic control device has a third coil, and the controller is respectively connected to the first coil , The second coil and the third coil to input an electric signal respectively.
15. The automatic steering system according to claim 12, wherein the steering cylinder includes at least one cylinder, which includes a cylinder body, a piston, and two piston rods, wherein the piston is disposed in the cylinder body so that the cylinder body Is divided into a first oil chamber and a second oil chamber, the two piston rods are respectively connected to both sides of the piston, wherein the first valve port of the reversing valve is connected to the hydraulic pump, so The second valve port of the reversing valve is connected to the first oil chamber, the third valve port of the reversing valve is connected to the second oil chamber, the first oil chamber and the first oil chamber The two oil chambers are respectively connected to the hydraulic control device.
16. The automatic steering system according to claim 13, wherein the steering cylinder includes at least one cylinder, which includes a cylinder body, a piston and two piston rods, wherein the piston is arranged in the cylinder body so that the cylinder body Is divided into a first oil chamber and a second oil chamber, the two piston rods are respectively connected to both sides of the piston, wherein the first valve port of the reversing valve is connected to the hydraulic pump, so The second valve port of the reversing valve is connected to the first oil chamber, the third valve port of the reversing valve is connected to the second oil chamber, the first oil chamber and the first oil chamber The two oil chambers are respectively connected to the hydraulic control device.
17. The automatic steering system according to claim 12, wherein the steering cylinder includes two cylinders, wherein each cylinder includes a cylinder body, a piston, and a piston rod, wherein the first piston is disposed on the first cylinder body Inside, the first oil cylinder body is divided into a first rodless oil chamber and a first rod oil chamber, the first piston rod is located in the first rod oil chamber, wherein the first rod Two pistons are arranged in the second oil cylinder body, so that the second oil cylinder body is divided into a second rodless oil chamber and a second rod oil chamber. The second piston rod is located in the second oil chamber. A rod oil chamber, wherein the first valve port of the reversing valve is connected to the hydraulic pump, the second valve port of the reversing valve is connected to the first rodless oil chamber, and the reversing valve The third valve port of the valve is connected to the second rodless oil chamber, and the first rod oil chamber and the second rod oil chamber are respectively connected to the hydraulic control device.
18. The automatic steering system according to claim 13, wherein the steering cylinder includes two cylinders, wherein each cylinder includes a cylinder body, a piston, and a piston rod, wherein the first piston is disposed on the first cylinder body Inside, the first oil cylinder body is divided into a first rodless oil chamber and a first rod oil chamber, the first piston rod is located in the first rod oil chamber, wherein the first rod Two pistons are arranged in the second oil cylinder body, so that the second oil cylinder body is divided into a second rodless oil chamber and a second rod oil chamber. The second piston rod is located in the second oil chamber. A rod oil chamber, wherein the first valve port of the reversing valve is connected to the hydraulic pump, the second valve port of the reversing valve is connected to the first rodless oil chamber, and the reversing valve The third valve port of the valve is connected to the second rodless oil chamber, and the first rod oil chamber and the second rod oil chamber are respectively connected to the hydraulic control device.
19. The automatic steering system according to claim 7, wherein the hydraulic control device is implemented as a proportional valve.
20. The automatic steering system according to claim 19, wherein the opening size of the proportional valve will control the pressure difference of the steering cylinder.
21. An automatic harvester, characterized in that it includes:

    An automatic steering system;

    A driving device;

    An actuation device;

    A driving device; and

    A control device, wherein the automatic steering system, the traveling device, the actuating device and the driving device are respectively connected to the control device, wherein the automatic steering system further includes:

    A controller;

    A reversing valve connected to the controller;

    A steering cylinder connected to the reversing valve and the controller; and

    A hydraulic control device, which connects the reversing valve and the steering cylinder, wherein the controller issues a steering command to the reversing valve and the hydraulic control device to enable the steering cylinder to perform stepless adjustment Steering operation.
22. The automatic harvester according to claim 21, comprising a driving path planning system connected to the control device, wherein the automatic steering system cooperates with the driving path of the driving path planning system to perform infinitely adjusted steering when driving operating.

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