CN109164808B - Intelligent automatic aligning device for agricultural machinery - Google Patents
Intelligent automatic aligning device for agricultural machinery Download PDFInfo
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- CN109164808B CN109164808B CN201811044734.4A CN201811044734A CN109164808B CN 109164808 B CN109164808 B CN 109164808B CN 201811044734 A CN201811044734 A CN 201811044734A CN 109164808 B CN109164808 B CN 109164808B
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- 238000001514 detection method Methods 0.000 claims abstract description 68
- 238000009313 farming Methods 0.000 claims abstract description 8
- 238000009413 insulation Methods 0.000 claims 2
- 230000003137 locomotive effect Effects 0.000 claims 1
- 238000013507 mapping Methods 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 description 11
- 230000006872 improvement Effects 0.000 description 5
- 230000007306 turnover Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 125000001475 halogen functional group Chemical group 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 206010019345 Heat stroke Diseases 0.000 description 1
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- 230000008602 contraction Effects 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses an intelligent agricultural machinery automatic alignment device, which comprises: the straight line detector is arranged at the tail position of the agricultural vehicle and used for detecting whether the agricultural vehicle runs along a straight line or not and outputting a deviation signal when the agricultural vehicle deviates from the straight line; the position detector is arranged on the agricultural vehicle and used for detecting the position of the agricultural vehicle and outputting a corresponding position signal; the farmland mapper is arranged above a farmland during farming and used for outputting a corresponding detection graph after collecting and detecting the area and the shape of the farmland; the line aligning server is coupled with the farmland mapper. The intelligent agricultural machine automatic row alignment device can effectively realize planning of a cultivation route after surveying and mapping of a farmland through the cooperation of the linear detector, the position detector, the farmland surveying and mapping device and the row alignment server, and then effectively perform row alignment cultivation operation on the agricultural machine.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to agricultural machinery equipment, in particular to an intelligent automatic aligning device of an agricultural machinery.
[ background of the invention ]
The agricultural machine occupies a very important position in the process of farming, and by using the agricultural machine, the farming efficiency of a farmland can be effectively increased, and the yield of crops can be effectively increased;
the existing agricultural machinery is operated manually to ensure that the agricultural machinery can keep a straight-line walking mode when ploughing, and cultivates the field in a row, however, the weather is increasingly hot now on the one hand, when the manual operation agricultural machinery cultivates, the condition of heatstroke is easy to occur, and on the other hand, the manual operation is adopted to adjust the row, because of certain error of the manual operation itself, the last sowing distance which can not be effectively caused by the row is too large or too small when the cultivation is likely to occur.
[ summary of the invention ]
In view of the defects of the prior art, the invention aims to provide an automatic row aligning device capable of automatically tilling an agricultural machine to align rows.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic device of going of intelligence agricultural machinery includes:
the straight line detector is arranged at the tail position of the agricultural vehicle and used for detecting whether the agricultural vehicle runs along a straight line or not and outputting a deviation signal when the agricultural vehicle deviates from the straight line;
the position detector is arranged on the agricultural vehicle and used for detecting the position of the agricultural vehicle and outputting a corresponding position signal;
the farmland mapper is arranged above a farmland during farming and used for outputting a corresponding detection graph after collecting and detecting the area and the shape of the farmland;
and the line-aligning server is coupled with the farmland surveying instrument and used for receiving the detection graph output by the farmland surveying instrument, then calculating and analyzing the detection graph, extracting an image in the line-aligning server and dividing a cultivation route on the image, and is also coupled with the position detector and used for receiving the position signal output by the position detector and displaying a position point on the image after analyzing the position signal.
As a further improvement of the invention, the line detector comprises a detection rod and a detection head, one end of the detection rod is fixed on the tail of the agricultural vehicle, the other end of the detection rod is connected with the detection head, the detection head comprises an angle sensor arranged in the detection rod and a detection plate rotatably arranged at the end part of the detection rod, the angle sensor is coupled with the opposite-row server so as to output a deviation signal to the opposite-row server when the angle sensor detects that the deviation angle is larger than an angle threshold value in the detection rod, the detection plate is linked with the angle sensor so as to detect the rotation angle of the detection plate through the angle sensor, and the detection plate is inserted into a field when the agricultural vehicle is in farming.
As a further improvement of the invention, the angle sensor comprises an inner fixed column and an outer rotary cylinder which is rotatably sleeved on the inner fixed column, one end of the inner fixed column is fixed on the end part of the detection rod, a conductive slip sheet is fixed on the outer side wall of the outer rotary drum, a left resistance coil and a right resistance coil are arranged on the inner drum wall of the outer rotary drum at positions close to the conductive slip sheet, the left resistance coil and the right resistance coil are both arc-shaped and are attached to the inner cylinder wall of the outer cylinder, the two are arranged at intervals and in an insulating way, the conductive sliding sheet is abutted against the positions of the left resistance coil and the right resistance coil which are arranged at intervals and in an insulating way, the detection board is fixed on the outer cylinder wall of the outer cylinder, the left resistance coil and the right resistance coil are both coupled with the opposite-row server, the conductive sliding sheet is coupled with a power supply, when the detection plate rotates and deviates, the outer rotary drum rotates, and the conductive slide sheet is abutted against the left resistance coil or the right resistance coil and is electrified.
As a further improvement of the present invention, the position detector is a red light, the red light is disposed on the agricultural vehicle, and the red light is coupled to the peer server, so that when it emits light, it outputs a light emitting signal as a position signal to be sent into the peer server, and the peer server controls the farm land surveying and mapping device to collect an image and determine a red light spot on the image as a position point.
As a further improvement of the invention, the farmland surveying instrument comprises an aircraft and a camera arranged on the aircraft, the aircraft is coupled with the contra-line server to be controlled by the contra-line server to fly, and the camera is coupled with the contra-line server to shoot farmland images and transmit the farmland images into the contra-line server.
As a further improvement of the invention, the edge of the lens of the camera is hinged with a reversible optical filter, an electric telescopic rod is arranged on the aircraft close to the optical filter, one end of the electric telescopic rod is hinged with the aircraft, the other end of the electric telescopic rod is hinged with the optical filter, the electric telescopic rod is coupled with the aircraft, the optical filter is driven to turn over to cover or open the lens by the expansion and contraction of the aircraft, and when the position signal is received by the row server, the row server outputs a signal to the aircraft, so that the aircraft controls the electric telescopic rod to extend to drive the optical filter to turn over to cover the.
The invention has the advantages that whether the running route of the agricultural vehicle is a straight line or not can be effectively detected through the arrangement of the straight line detector, the shape of the current farmland can be effectively detected and drawn through the arrangement of the position detector and the farmland surveying and mapping device, then the farmland is divided through the row server according to the shape of the farmland, the agricultural vehicle is controlled to cultivate in the farmland along the cultivating route after the division is completed, meanwhile, the position of the agricultural vehicle can be monitored in real time, and thus, the row server can better control the agricultural vehicle to cultivate along the cultivating route.
[ description of the drawings ]
FIG. 1 is a block diagram of an intelligent agricultural machinery automatic alignment device of the present invention;
FIG. 2 is an overall structural view of the line detector of FIG. 1;
FIG. 3 is an overall block diagram of the field mapper of FIG. 1.
[ detailed description ] embodiments
The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.
Referring to fig. 1 to 3, the intelligent agricultural machinery automatic alignment device of the embodiment includes:
the straight line detector a is arranged at the tail position of the agricultural vehicle and used for detecting whether the agricultural vehicle runs along a straight line or not and outputting a deviation signal when the agricultural vehicle deviates from the straight line;
the position detector b is arranged on the agricultural vehicle and used for detecting the position of the agricultural vehicle and outputting a corresponding position signal;
the farmland surveying instrument 3 is arranged above a farmland during farming and used for outputting a corresponding detection graph after collecting and detecting the area and the shape of the farmland;
a row-aligning server 4 coupled to the farm land surveying instrument 3 for receiving the detection pattern outputted from the farm land surveying instrument 3, calculating and analyzing the detection pattern, extracting an image therein, and dividing a cultivation route on the image, wherein the row-aligning server 4 is further coupled to a position detector b for receiving a position signal outputted from the position detector b and displaying a position point on the image after analyzing the position signal, the row-aligning server 4 is further coupled to a line detector a and the agricultural vehicle for outputting a signal to the agricultural vehicle to adjust a driving route of the agricultural vehicle when receiving a deviation signal, and in the process of using the row-aligning device of the present embodiment, the farm land surveying instrument 3 is first disposed above the field, the line detector a is disposed at a position of a tail of the agricultural vehicle, the position detector b is disposed on the agricultural vehicle, and the line detector a, b, The position detector b, the farmland surveying instrument 3 and the agricultural vehicle are connected with the opposite-row server 4 through wireless modules such as a 4G module and the like so as to establish mutual communication, then the farmland surveying instrument 3 detects the shape of a field needing to be cultivated currently, then the shape is transmitted into the opposite-row server 4, the opposite-row server 4 records the shape of the field, then a plurality of cultivation routes are divided on the shape image of the field, wherein the cultivation routes are divided in a mode that a person communicates with the opposite-row server 4 through man-machine interaction equipment for division, or corresponding division templates are prestored in the opposite-row server 4, automatic matching division is carried out after the shape of the field is received, then signals are sent to the opposite-row server 4 again to control the agricultural vehicle to move along the cultivation routes, at the moment, the linear detector a and the position detector b feed back the motion condition and the position condition of the agricultural vehicle in real time, therefore, the agricultural vehicle can accurately move along with the tilling route, so that the field can be tilled well.
As a modified embodiment, the straight line detector a comprises a detection rod 1 and a detection head 2, wherein one end of the detection rod 1 is fixed on the tail of the agricultural vehicle, the other end is connected with the detection head 2, the detection head 2 comprises an angle sensor 21 arranged in the detection rod 1 and a detection plate 22 rotatably arranged at the end part of the detection rod 1, the angle sensor 21 is coupled with the opposite-row server 4 to output a deviation signal to the opposite-row server 4 when the angle sensor 21 detects that the deviation angle is larger than an angle threshold value in the deviation angle, the detection plate 22 is linked with the angle sensor 21 to detect the rotation angle of the detection plate 22 through the angle sensor 21, the detection plate 22 is inserted into the field when the agricultural vehicle is in farming, and in the process that the agricultural vehicle moves, because the detection plate 22 and the detection rod 1 are inserted into the field at the moment, if the detection plate is in the straight line motion, detection plate 22 is a straight line with measuring staff 1, and earth can be because of measuring staff 1's reason, move along detection plate 22's periphery, when the departure of agricultural machinery vehicle appears, corresponding measuring staff 1 will turn to along with the departure, so earth on every side just can promote the detection plate 22 rotatory, angle sensor 21 will detect this angle of departure so, consequently, alright effectual realization when the departure appears in the removal of agricultural machinery vehicle, timely effectual detection comes out, and overall structure is comparatively simple, set up easily on agricultural machinery vehicle, and holistic detection precision does not need very high, so compare in the straight line detection device among the prior art, the cost is lower.
As an improved specific embodiment, the angle sensor 21 includes an inner fixing column 211 and an outer rotating cylinder 212 rotatably sleeved on the inner fixing column 211, one end of the inner fixing column 211 is fixed on an end of the detection rod 1, a conductive sliding vane 2111 is fixed on an outer sidewall of the inner fixing column 211, a left resistive coil 2121 and a right resistive coil 2122 are arranged on an inner cylinder wall of the outer rotating cylinder 212 at a position close to the conductive sliding vane 2111, the left resistive coil 2121 and the right resistive coil 2122 are both arc-shaped and attached to an inner cylinder wall of the outer rotating cylinder 212 and are spaced apart from each other and insulated from each other, the conductive sliding vane 2111 abuts against a position where the left resistive coil 2121 and the right resistive coil 2122 are spaced apart and insulated from each other, the detection board 22 is fixed on an outer cylinder wall of the outer rotating cylinder 212, the left resistive coil 2121 and the right resistive coil 2122 are both coupled to the opposite row server 4, the conductive sliding vane 2111 is, when the detecting plate 22 is deviated in rotation, the outer rotor 212 rotates, the conductive sliding piece 2111 contacts with the left resistance coil 2121 or the right resistance coil 2122 for electrification, when the detecting plate 22 is turned over with the detecting rod 1 as an axis, the outer rotating cylinder 212 is carried on the inner fixed column 211 to rotate, and the corresponding conductive slider 2111 slides on the left resistive coil 2121 or the right resistive coil 2122, thus, the output resistance of the left resistor 2121 or the right resistor 2122 changes according to the sliding amount, that is, the rotation angle of the outer rotor 212 is represented by the output resistance of the left resistor 2121 or the right resistor 2122, so that the detection of the turned angle of the detecting plate 22 can be easily and effectively achieved, the turning angle of the server 4 can be adjusted, so that the effect that the agricultural vehicle can keep running straight under the unmanned condition is effectively kept.
As an improved specific embodiment, the position detector b is a red light emitter, which is disposed on the agricultural vehicle, and the red light emitter is coupled to the parade server 4, so that when it emits light, a light emitting signal is output as a position signal to be sent to the parade server 4, the parade server 4 controls the farmland mapper 3 to collect an image, and determines a red light spot on the image as a position point, by setting the position detector b as the red light emitter, the collection of the light emitting spot of the red light emitter by the farmland mapper 3 can be effectively achieved, and then by analyzing the image red spot on the farmland mapper 3 by the parade server 4, the detection of the position of the agricultural vehicle can be effectively completed, so that compared with the prior art that a GPS locator is used, the problem of inaccurate positioning caused by an error of 1 to 2 meters of the GPS locator itself can be avoided, and the whole structure is simple, and the cost is low.
As a modified embodiment, the farmland surveying instrument 3 comprises an aircraft 31 and a camera 32 arranged on the aircraft 31, the aircraft 31 is coupled with the opposite row server 4 to be controlled by the opposite row server 4 to fly, the camera 32 is coupled with the opposite row server 4 to shoot farmland images and transmit the farmland images to the opposite row server 4, the farmland images can be shot and collected from top to bottom through the camera 32 in a mode of flying to the upper part of the farmland by the arrangement of the aircraft 31, so that an additional support structure is not needed, and the farmland surveying instrument 3 is greatly convenient to use.
As a modified embodiment, the lens edge of the camera 32 is hinged with a reversible optical filter 5, the aircraft 31 is provided with an electric telescopic rod 6 at a position close to the optical filter 5, one end of the electric telescopic rod 6 is hinged with the aircraft 31, the other end of the electric telescopic rod is hinged with the optical filter 5, the electric telescopic rod 6 is coupled with the aircraft 31, the aircraft 31 is controlled to telescopically drive the optical filter 5 to turn over to cover or open the lens, when receiving a position signal to the row server 4, the row server 4 outputs a signal to the aircraft 31, so that the aircraft 31 controls the electric telescopic rod 6 to extend to drive the optical filter 5 to turn over to cover the lens, since when the red light is emitting, the brightness is generally set to be higher in order to effectively display in the daytime, if the camera 32 directly shoots at the moment, the halo is probably formed at the lens to cover the whole image, so that the effect of collecting the image and the red point on the image cannot be effectively realized, the light of the red lamp is filtered and then shot by the camera 32 through the arrangement of the optical filter 5 in the embodiment, and the problem of forming the halo on the image shot by the camera 32 can be well avoided.
To sum up, the automatic device of going of intelligent agricultural machinery of this embodiment, through farmland surveying ware 3 and the mating reaction to going server 4, alright realize detecting the field image, then make the route of cultivateing, and through the setting of linear detector a and position detector b, alright timely detection agricultural machinery's motion condition to when the departure of agricultural machinery vehicle cultivates the route removal, timely adjustment the agricultural machinery vehicle.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. The utility model provides an automatic device of going of intelligence agricultural machinery which characterized in that includes:
the line detector (a) comprises a detection rod (1) and a detection head (2), wherein the detection head (2) comprises a detection plate (22) which is rotatably arranged at the end part of the detection rod (1), one end of the detection rod (1) is fixed on the tail of the agricultural vehicle, and the other end of the detection rod is connected with the detection plate (22) and is used for detecting whether the agricultural vehicle runs along a straight line or not and outputting a deviation signal when the agricultural vehicle deviates from the straight line;
the position detector (b) is arranged on the agricultural vehicle and used for detecting the position of the agricultural vehicle and outputting a corresponding position signal;
the farmland mapper (3) is arranged above a farmland during farming and used for outputting a corresponding detection graph after collecting and detecting the area and the shape of the farmland;
the line-aligning server (4) is coupled with the farmland surveying instrument (3) and used for receiving the detection graph output by the farmland surveying instrument (3), then calculating and analyzing the detection graph, extracting an image in the detection graph and dividing a cultivation route on the image, the line-aligning server (4) is also coupled with the position detector (b) and used for receiving a position signal output by the position detector (b) and displaying a position point on the image after analyzing the position signal, and the line-aligning server (4) is also coupled with the linear detector (a) and the agricultural vehicle so as to output a signal to the agricultural vehicle to adjust the running route of the agricultural vehicle when receiving the deviation signal.
2. The intelligent agricultural machinery automatic row aligning device according to claim 1, wherein the detection head (2) further comprises an angle sensor (21) arranged in the detection rod (1), the angle sensor (21) is coupled with the row aligning server (4) to output a deviation signal to the row aligning server (4) when the angle sensor detects that the deviation angle is larger than an angle threshold value in the angle sensor, the detection plate (22) is linked with the angle sensor (21) to detect the rotation angle of the detection plate (22) through the angle sensor (21), and the detection plate (22) is inserted into a field when the agricultural machinery is agro-ploughed.
3. The intelligent agricultural machinery automatic row aligning device according to claim 2, wherein: the angle sensor (21) comprises an inner fixed column (211) and an outer rotating cylinder (212) which is rotatably sleeved on the inner fixed column (211), one end of the inner fixed column (211) is fixed on the end part of the detection rod (1), a conductive sliding sheet (2111) is fixed on the outer side wall of the inner fixed column, a left resistance coil (2121) and a right resistance coil (2122) are arranged on the position, close to the conductive sliding sheet (2111), of the inner cylinder wall of the outer rotating cylinder (212), the left resistance coil (2121) and the right resistance coil (2122) are both arc-shaped, the left resistance coil (2121) and the right resistance coil (2122) are attached to the inner cylinder wall of the outer rotating cylinder (212) and are arranged in an insulation mode at intervals, the conductive sliding sheet (2111) abuts against the positions, in the insulation mode, of the left resistance coil (2121) and the right resistance coil (2122) are mutually spaced, the detection plate (22) is fixed on the outer cylinder wall of the outer rotating cylinder (212), and the left resistance coil (2121, the conductive sliding piece (2111) is coupled to a power supply, when the detection plate (22) deviates in rotation, the outer rotating cylinder (212) rotates along with the rotation, and the conductive sliding piece (2111) is in contact with and electrified with the left resistance coil (2121) or the right resistance coil (2122).
4. The intelligent agricultural machinery automatic row aligning device according to claim 3, wherein: the position detector (b) is a red luminescent lamp which is arranged on the agricultural locomotive and is coupled with the opposite row server (4) so as to output luminescent signals as position signals to be sent into the opposite row server (4) when the red luminescent lamp emits light, the opposite row server (4) controls the farmland mapper (3) to collect images and determine a red light spot on the images as a position point.
5. The intelligent agricultural machinery automatic row aligning device according to claim 4, wherein: the farmland mapper (3) comprises an aircraft (31) and a camera (32) arranged on the aircraft (31), the aircraft (31) is coupled with the contra-line server (4) to be controlled by the contra-line server (4) to fly, and the camera (32) is coupled with the contra-line server (4) to shoot farmland images and transmit the farmland images into the contra-line server (4).
6. The intelligent agricultural machinery automatic row aligning device according to claim 5, wherein: the camera lens edge of camera (32) articulates there is light filter (5) that can overturn, be equipped with electric telescopic handle (6) on aircraft (31) is close to the position of light filter (5), the one end and aircraft (31) of electric telescopic handle (6) are articulated, and the other end is articulated with light filter (5), electric telescopic handle (6) are coupled with aircraft (31), receive aircraft (31) control flexible drive light filter (5) upset in order to cover or open the camera lens, when going server (4) and receiving position signal, to going server (4) output signal to aircraft (31) in for aircraft (31) control electric telescopic handle (6) extension drives light filter (5) upset and covers the camera lens.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811044734.4A CN109164808B (en) | 2018-09-07 | 2018-09-07 | Intelligent automatic aligning device for agricultural machinery |
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| CN201811044734.4A CN109164808B (en) | 2018-09-07 | 2018-09-07 | Intelligent automatic aligning device for agricultural machinery |
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| CN109164808A CN109164808A (en) | 2019-01-08 |
| CN109164808B true CN109164808B (en) | 2021-04-02 |
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| CN201811044734.4A Expired - Fee Related CN109164808B (en) | 2018-09-07 | 2018-09-07 | Intelligent automatic aligning device for agricultural machinery |
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| CN109885060B (en) * | 2019-01-18 | 2020-06-26 | 丰疆智能科技研究院(常州)有限公司 | Path management system and management method thereof |
| CN110687911A (en) * | 2019-10-18 | 2020-01-14 | 宿州学院 | Intelligent automatic aligning device for agricultural machinery |
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| CN105684587A (en) * | 2014-12-10 | 2016-06-22 | 井关农机株式会社 | Agricultural working vehicle |
| CN106922238A (en) * | 2017-04-28 | 2017-07-07 | 中国农业大学 | A kind of intelligent agricultural machinery automatic aligning device |
| CN107703945A (en) * | 2017-10-30 | 2018-02-16 | 洛阳中科龙网创新科技有限公司 | A kind of intelligent farm machinery paths planning method of multiple targets fusion |
| CN107992049A (en) * | 2017-12-20 | 2018-05-04 | 上海交通大学 | Paddy planter modularization automatic Pilot control device and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10224939B4 (en) * | 2002-05-31 | 2009-01-08 | Deere & Company, Moline | Driving-axle trailer |
| EP3491675B1 (en) * | 2016-07-29 | 2022-11-16 | trinamiX GmbH | Optical sensor and detector for optical detection |
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|---|---|---|---|---|
| CN105684587A (en) * | 2014-12-10 | 2016-06-22 | 井关农机株式会社 | Agricultural working vehicle |
| CN204650278U (en) * | 2015-06-02 | 2015-09-16 | 浙江联辉智能科技有限公司 | Big Dipper agricultural machinery self-navigation Ride Control System |
| CN106922238A (en) * | 2017-04-28 | 2017-07-07 | 中国农业大学 | A kind of intelligent agricultural machinery automatic aligning device |
| CN107703945A (en) * | 2017-10-30 | 2018-02-16 | 洛阳中科龙网创新科技有限公司 | A kind of intelligent farm machinery paths planning method of multiple targets fusion |
| CN107992049A (en) * | 2017-12-20 | 2018-05-04 | 上海交通大学 | Paddy planter modularization automatic Pilot control device and its control method |
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