Automatic row control system for joystick

Abstract

The utility model relates to the technical field of agricultural machinery, in particular to an automatic row control system for a joystick. The device comprises a carrier machine, a grounding wheel and an angle sensor, an operating lever assembly; a drive controller; and the driving controller is used for acquiring the offset of the aerial carrier machine relative to the ridge surface according to the swing angle, and is also used for controlling the operating rod assembly to drive the grounding wheel to adjust the swing angle according to the offset so as to realize automatic row alignment. When the automatic row aligning device is applied to ridge crops (such as vegetables and tobaccos), the grounding wheel at the front end is in contact with the ridge side surface, the angle sensor is used for detecting the swing angle, the offset of the carrier machine relative to the ridge surface is calculated, and the operating rod assembly is controlled to drive the grounding wheel to adjust the swing angle so as to realize automatic row aligning. The utility model is convenient to transform the existing model, simple and convenient, and low in cost.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to an automatic row control system for a joystick. Background Art

[0002] At present, automation is gradually being adopted in the agricultural field, and a large number of automatic operating machines are used for field operations. When these operating machines are used for ridge crops (such as vegetables, tobacco, etc.), they usually need to be carried by a riding machine to automatically walk in the field and perform operations along the ridges.

[0003] However, since the sides of the ridges cannot be guaranteed to be completely regular, the mounted machine is prone to deviation when moving along the ridges, which directly affects the normal operation of the operating machine. Utility Model Content

[0004] The purpose of the utility model is to solve the above problems and to provide an automatic alignment control device for a joystick.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An automatic control system for a joystick, comprising:

[0007] A carrier machine is configured to carry operating equipment for planting and raising seedlings;

[0008] Ground contacting wheels, used to abut against the side of the field ridge and carry the carrier machine along the field ridge;

[0009] An angle sensor, provided on the ground-contacting wheel, for detecting the swing angle of the ground-contacting wheel;

[0010] An operating rod assembly is drivingly connected to the ground contact wheel and is used to drive the ground contact wheel to adjust the swing angle;

[0011] A drive controller, communicatively connected with the angle sensor and the operating rod assembly;

[0012] The controller is used to obtain the offset of the carrier machine relative to the ridge surface according to the swing angle, and is also used to control the operating rod assembly to drive the ground contact wheel to adjust the swing angle according to the offset, so as to achieve automatic row alignment.

[0013] As a preference, it further comprises: a device body, a carrier machine is mounted on the device body, a sowing mechanism is mounted on the upper end surface of the carrier machine, and the sowing mechanism is used to perform crop seed sowing operations; the operating rod assembly comprises an operating rod mechanism and a steering mechanism; the operating rod mechanism comprises a manual push rod; the steering mechanism is arranged at the front end of the carrier machine, and the steering mechanism further comprises a steering drive component and an electric control component;

[0014] The steering mechanism is used to change the walking direction of the carrier machine through the steering drive component, the manual push rod is used to manually control the operation of the steering drive component, and the electric control component is used to electrically control the operation of the steering drive component;

[0015] A driving mechanism is provided at the rear end of the carrier machine, and the driving mechanism is used to realize the movement of the carrier machine;

[0016] The steering mechanism includes a first support rod arranged at the front end of the carrier machine and located in the middle. A steering housing is provided at the end of the first support rod away from the carrier machine. A rotating motor is provided inside the rotating housing. The output shaft of the rotating motor is provided with a front axle. Two driven wheels are respectively provided at both ends of the front axle. The driven wheels are ground-engaging wheels for automatic alignment.

[0017] When the automatic row control device for a joystick provided by the utility model is actually used, the user needs to mark the location where crops need to be planted on the ridges, so that the depth camera and the distance sensor can recognize and feedback signals; when the device body is performing a sowing operation, the controller can control the action of the steering mechanism based on the angle sensor or the feedback signals from the depth camera and the distance sensor, and the steering mechanism controls the device body to walk between the ridges without deviation, avoiding derailment such as deflection of the device body during walking due to complex terrain, thereby better enabling the sowing mechanism to perform sowing operations.

[0018] Preferably, the steering mechanism includes a first support rod arranged at the front end of the carrier machine and located in the middle, a steering housing is provided at the end of the first support rod away from the carrier machine, a rotating motor is provided inside the rotating housing, a front axle is provided on the output shaft of the rotating motor, and two driven wheels are provided at both ends of the front axle.

[0019] Through the above structure, when the main controller controls the action of the steering mechanism based on the feedback signals of the depth camera and the distance sensor, the rotating motor can control the rotation of the front axle, thereby better realizing the change of the walking direction of the device body.

[0020] Preferably, the steering housing is connected to the corresponding end of the first support rod through a first buffer; the first buffer comprises a cylinder.

[0021] Through the above structure, if encountering complex terrain, the cylinder can provide better buffering force to keep the device body stable when walking.

[0022] Preferably, the two driven wheels are respectively installed at the two ends of the front axle through the second buffer component, and a spline hole is provided at the end of the front axle. The driven wheel is engaged with the spline hole through a spline, and a stopper is provided at the end of the spline extending out of the spline hole. The second buffer component includes a compression spring sleeved on the outer wall of the spline, and the compression spring is used to provide a buffering force.

[0023] Through the above structure, if encountering complex terrain, the second buffer component and the first buffer component cooperate with each other to jointly provide buffering force, further maintaining the stability of the device body when walking.

[0024] Preferably, the driving mechanism includes two second support rods arranged at the rear end of the carrier machine and located at both sides respectively, a rear axle is provided at the ends of the two second support rods, a driving motor is provided in the middle of the rear axle, and driving wheels are provided at both ends of the rear axle respectively, and the driving motor drives the driving wheel to rotate through a connecting rod structure arranged in the rear axle.

[0025] Through the above structure, the driving motor drives the driving wheel to rotate, thereby better driving the device body to move between the ridges.

[0026] Preferably, the upper end surface of the carrier machine is provided with a groove surface.

[0027] Through the above structure, the groove surface can better facilitate users to install the sowing mechanism.

[0028] Preferably, a mounting seat is provided on the upper end surface of the carrier machine.

[0029] Through the above structure, the sowing mechanism can be installed on the mounting seat.

[0030] Preferably, a bracket is provided on the upper end surface of the carrier machine and at the front end, the bracket is T-shaped, and two groups of depth cameras and distance sensors are provided and are respectively arranged on both sides of the bracket.

[0031] Through the above structure, the depth camera and the distance sensor are set in two groups, which can better feedback signals to the main controller to ensure that the device body will not deviate during walking.

[0032] Preferably, a control slot is provided in the middle of the carrier machine, and a battery and a main controller are arranged in the control slot.

[0033] Through the above structure, the battery can better supply power to the main controller and provide power supply for the device body to perform operations; secondly, the battery can also increase the weight of the device body, so that the device body exerts greater pressure on the ground, thereby making the device body have better grip when walking.

[0034] Compared with the prior art, the utility model has the following beneficial effects: when the utility model is applied to ridge crops (such as vegetables, tobacco, etc.), the front ground wheel is used to contact the side of the ridge, and then the swing angle is detected by the angle sensor to calculate the offset of the carrier machine relative to the ridge surface, and then the ground wheel is driven by the control lever assembly to adjust the swing angle to achieve automatic row alignment. The utility model is convenient for the modification of existing models, simple and convenient, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1A schematic structural diagram of an automatic control system for a joystick provided in Example 1 is given;

[0036] Figure 2 A structural schematic diagram of a carrier machine provided in Example 2 is given. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] Example 1

[0039] See also Figure 1 This embodiment provides an automatic control system for a joystick, which includes:

[0040] The carrier machine 110 is configured to carry operating equipment for planting and raising seedlings;

[0041] Ground contacting wheels, used to abut against the side of the field ridge and carry the carrier machine along the field ridge;

[0042] An angle sensor, provided on the ground-contacting wheel, for detecting the swing angle of the ground-contacting wheel;

[0043] An operating rod assembly is drivingly connected to the ground contact wheel and is used to drive the ground contact wheel to adjust the swing angle;

[0044] A drive controller, communicatively connected with the angle sensor and the operating rod assembly;

[0045] The controller is used to obtain the offset of the carrier machine relative to the ridge surface according to the swing angle, and is also used to control the operating rod assembly to drive the ground contact wheel to adjust the swing angle according to the offset, so as to achieve automatic row alignment.

[0046] The utility model is applied to ridge crops (such as vegetables, tobacco, etc.), the front ground wheel is in contact with the side of the ridge, and then the swing angle is detected by the angle sensor to calculate the offset of the carrier machine relative to the ridge surface, and then the ground wheel is driven by the control lever assembly to adjust the swing angle to achieve automatic row alignment. The utility model is convenient for the modification of existing models, simple and convenient, and low cost.

[0047] The steering drive component 4 in the operating lever assembly for driving the grounding wheel 1 to steer and adjust the swing angle can be a steering hydraulic valve or other drive elements with the same function in the prior art. The operating lever assembly also includes an electric control component 5 for electric control and a manual push rod 3 for manual control to manually control the steering drive component 4 to steer when the electric control component 5 is disconnected.

[0048] The electric control component 5 may be a motor with a clutch, or other electric control components with the same function in the prior art.

[0049] The entire control system can be easily and directly modified for existing models, which is simple, convenient and low-cost.

[0050] Example 2

[0051] Combination Figure 2 This embodiment provides a carrier machine applicable to the embodiment 1, which includes a device body 100, the device body 100 includes a carrier machine 110 that can walk between ridges, the upper end surface of the carrier machine 110 is equipped with a sowing mechanism, and the sowing mechanism is used to perform crop seed sowing operations; the operating rod mechanism includes a manual push rod; the steering mechanism is arranged at the front end of the carrier machine, and the steering mechanism also includes a driving component and an electric control component; the steering mechanism is used to change the walking direction of the carrier machine 110, and the rear end of the carrier machine 110 is provided with a driving mechanism, and the driving mechanism is used to realize the walking of the carrier machine 110;

[0052] When the automatic row control device for a joystick provided in this embodiment is actually used, the user needs to mark the location where crops need to be planted on the ridges, so that when the carrier machine moves along the ridges, it can not only cooperate with the angle sensor to adjust the swing angle of the ground contact wheel, but also further cooperate with the depth camera and the distance sensor to identify and feedback signals; when the device body 100 performs sowing operations, the main controller controls the action of the steering mechanism based on the feedback signals of the depth camera and the distance sensor, and the steering mechanism controls the device body 100 to walk between the ridges without deviation, thereby avoiding derailment such as deflection of the device body 100 during walking due to complex terrain, thereby better realizing the sowing operation of the sowing mechanism.

[0053] Among them, the sowing mechanism is not shown in the illustration, and those skilled in the art should understand that the core of the utility model is not this, so the sowing mechanism in this embodiment will not be described in detail.

[0054] Specifically, the steering mechanism includes a first support rod 120 arranged at the front end of the carrier machine 110 and located in the middle. A steering housing is provided at the end of the first support rod 120 away from the carrier machine 110. A rotating motor is provided inside the rotating housing 140. In this embodiment, the rotating motor is preferably used as the driving component of the steering mechanism, and the steering hydraulic valve described in Example 1 can also be used as the driving component.

[0055] The output shaft of the rotating motor is provided with a front axle 150 , and two driven wheels 170 are respectively provided at both ends of the front axle 150 , and the driven wheels 170 are used as the grounding wheels.

[0056] Through the above structure, the controller can adjust the swing angle based on the angle sensor, and can further cooperate with the depth camera and distance sensor feedback signals to control the steering mechanism. The rotating motor can control the rotation of the front axle 150, thereby better realizing the change of the walking direction of the device body 100.

[0057] Specifically, the steering housing is connected to the corresponding end of the first support rod 120 through a first buffer; the first buffer includes a cylinder 130.

[0058] Through the above structure, if encountering complex terrain, the cylinder 130 can provide a good buffer force to keep the device body 100 stable when walking.

[0059] Specifically, the two driven wheels 170 are respectively installed at the two ends of the front axle 150 through the second buffer component. A spline hole is provided at the end of the front axle 150. The driven wheel 170 is matched with the spline hole through a spline 162. A stopper 161 is provided at the end of the spline 162 extending out of the spline hole. The second buffer component includes a compression spring 163 mounted on the outer wall of the spline 162, and the compression spring 163 is used to provide a buffering force.

[0060] The spline 162 cooperates with the spline hole, which can better limit the circumferential rotation of the spline 162.

[0061] Through the above structure, when encountering complex terrain, the second buffer component and the first buffer component cooperate with each other to jointly provide a buffer force, thereby further maintaining the stability of the device body 100 when walking.

[0062] Specifically, the driving mechanism includes two second support rods 180 arranged at the rear end of the carrier machine 110 and respectively located on both sides, a rear axle 190 is provided at the ends of the two second support rods 180, a driving motor 210 is provided in the middle of the rear axle 190, and driving wheels 220 are respectively provided at both ends of the rear axle 190. The driving motor 210 drives the driving wheel 220 to rotate through a connecting rod structure arranged in the rear axle 190.

[0063] Through the above structure, the driving motor 210 drives the driving wheel 220 to rotate, thereby better driving the device body 100 to move between the ridges.

[0064] Specifically, a groove surface 110 is provided on the upper end surface of the carrier machine 110 .

[0065] Through the above structure, the groove surface 110 can better facilitate users to install the sowing mechanism.

[0066] Specifically, a mounting seat 112 is disposed on the upper end surface of the carrier machine 110 .

[0067] Through the above structure, the sowing mechanism can be installed on the mounting seat 112.

[0068] Specifically, a bracket 113 is provided on the upper end surface of the carrier machine 110 and at the front end. The bracket 113 is T-shaped. Two groups of depth cameras and distance sensors are provided and are respectively disposed on both sides of the bracket 113 .

[0069] Through the above structure, the depth camera and the distance sensor are arranged in two groups, which can better feedback signals to the main controller to ensure that the device body 100 will not deviate during walking.

[0070] Specifically, a control slot 230 is provided in the middle of the carrier machine 110 , and a battery and a main controller are arranged in the control slot 230 .

[0071] Through the above structure, the battery can better supply power to the main controller and provide power supply for the device body 100 to perform operations; secondly, the battery can also increase the weight of the device body 100, so that the device body 100 exerts greater pressure on the ground, thereby making the device body 100 have better grip when walking.

[0072] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic control system for a joystick, characterized in that: include: A carrier machine (110) is configured to carry operating equipment for planting and raising seedlings; Ground contacting wheels (1) are used to abut against the side of a field ridge and carry the carrier machine along the field ridge; An angle sensor (2) is arranged on the ground contact wheel and is used to detect the swing angle of the ground contact wheel; An operating rod assembly is drivingly connected to the ground contact wheel and is used to drive the ground contact wheel to adjust the swing angle; A drive controller, communicatively connected with the angle sensor and the operating rod assembly; The drive controller is used to obtain the offset of the carrier machine relative to the ridge surface according to the swing angle, and is also used to control the operating rod assembly to drive the ground contact wheel to adjust the swing angle according to the offset to achieve automatic row alignment.

2. The automatic control system for a joystick according to claim 1, characterized in that: Also includes: The device body (100) is provided with a carrier machine (110) mounted on the device body (100). The upper end surface of the carrier machine (110) is provided with a sowing mechanism, which is used to perform a crop seed sowing operation. The operating rod assembly comprises an operating rod mechanism and a steering mechanism. The operating rod mechanism comprises a manual push rod (3). The steering mechanism is arranged at the front end of the carrier machine (110), and the steering mechanism further comprises a steering drive component (4) and an electric control component (5). The steering mechanism is used to change the travel direction of the carrier machine (110) through the steering drive component (4), the manual push rod (3) is used to manually control the operation of the steering drive component (4), and the electric control component (5) is used to electrically control the operation of the steering drive component (4); A driving mechanism is provided at the rear end of the carrier machine (110), and the driving mechanism is used to realize the movement of the carrier machine (110); the steering mechanism comprises a first support rod (120) arranged at the front end of the carrier machine (110) and located in the middle; a steering housing is provided at the end of the first support rod (120) away from the carrier machine (110); a rotating motor is provided inside the rotating housing (140); a front axle (150) is provided on the output shaft of the rotating motor; two driven wheels (170) are respectively provided at both ends of the front axle (150), and the driven wheels (170) are ground-engaging wheels for automatic alignment.

3. The automatic control system for a joystick according to claim 2, characterized in that: The steering housing is connected to the corresponding end of the first support rod (120) through a first buffer; the first buffer comprises a cylinder (130).

4. The automatic control system for a joystick according to claim 2, characterized in that: The two driven wheels (170) are respectively installed at the two ends of the front bridge (150) through the second buffer component. A spline hole is provided at the end of the front bridge (150). The driven wheel (170) is matched with the spline hole through a spline (162). A stopper (161) is provided at the end of the spline (162) extending out of the spline hole. The second buffer component includes a compression spring (163) sleeved on the outer wall of the spline (162). The compression spring (163) is used to provide a buffer force.

5. The automatic control system for a joystick according to claim 2, characterized in that: The driving mechanism comprises two second support rods (180) arranged at the rear end of the carrier machine (110) and respectively located at both sides, a rear axle (190) is arranged at the ends of the two second support rods (180), a driving motor (210) is arranged in the middle of the rear axle (190), and driving wheels (220) are respectively arranged at both ends of the rear axle (190), and the driving motor (210) drives the driving wheel (220) to rotate through a connecting rod structure arranged in the rear axle (190).

6. The automatic steering control system for a joystick according to claim 1, characterized in that: The upper end surface of the carrier machine (110) is provided with a groove surface (111).

7. The automatic control system for a joystick according to claim 1, characterized in that: The upper end surface of the carrier machine (110) is provided with a mounting seat (112).

8. The automatic steering control system for a joystick according to claim 1, characterized in that: A bracket (113) is provided on the upper end surface of the carrier machine (110) and at the front end thereof. The bracket (113) is T-shaped. Two groups of depth cameras and distance sensors are provided and are respectively arranged on both sides of the bracket (113).

9. The automatic steering control system for a joystick according to claim 1, characterized in that: A control slot (230) is provided in the middle of the carrier machine (110), and a storage battery and a main controller are arranged in the control slot (230).

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