Edge-finding devices and unmanned agricultural vehicles

Abstract

The present invention provides an edge-finding device and an unmanned agricultural vehicle, relating to the technical field of agricultural machinery. The edge-finding device comprises: an edge-finding assembly comprising at least two wheel-shaped edge-finding members; a mounting member, the edge-finding members being adjustably mounted on the mounting member via connecting rods connected thereto, with the plurality of edge-finding members being adjusted to move closer or further away from each other, thereby determining the edge-finding range; and a connecting member, one end of which is fixedly connected to the mounting member and the other end of which is a rotation axis. When the edge-finding members are moved by thrust, the connecting member is driven to rotate about the rotation axis. Because the distances between the plurality of edge-finding members can be adjusted, the edge-finding device can be applied to fields with various ridge widths and crop row spacings, thereby improving the applicability of the edge-finding device.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an edge-finding device and an unmanned agricultural vehicle. Background Art

[0002] Smart agriculture uses intelligent information technology combined with equipment to guide agricultural production. It provides users with a variety of smart agricultural equipment in an intuitive and visual way on computers or other smart terminals.

[0003] Unmanned agricultural equipment is one of the most widely used intelligent agricultural technologies. When working in the fields, unmanned equipment follows a pre-set route to carry out agricultural production. However, crops are planted in irregular locations, making it easy for unmanned equipment to damage them.

[0004] To reduce crop damage, existing technologies have installed edge-finding devices on unmanned equipment. These devices detect the boundaries of the field during operation. However, ridge widths and crop row spacing vary across fields, making edge-finding devices difficult to adapt to a variety of ridge widths and crop row spacings. Consequently, their applicability is limited. Summary of the Invention

[0005] The object of the present invention is to provide an edge-finding device to solve the technical problem of low applicability of the edge-finding device in the prior art.

[0006] The edge-finding device provided by the present invention comprises:

[0007] An edge-finding assembly comprising at least two wheel-shaped edge-finding members;

[0008] A mounting member, wherein the edge-finding member is adjustably mounted on the mounting member via a connecting rod connected thereto, and the plurality of edge-finding members are moved closer or further away from each other by adjusting the connecting rod, thereby determining an edge-finding range;

[0009] The connecting piece has one end fixedly connected to the mounting piece and the other end being a rotation axis. When the edge-finding piece moves under the action of thrust, the connecting piece is driven to rotate around the rotation axis.

[0010] Furthermore, the annular side wall of the edge-finding member is used to abut against an object, the diameter of the edge-finding member is greater than the distance between adjacent objects, and the edge-finding range is the outermost range determined by the annular side walls of multiple edge-finding members in the horizontal direction.

[0011] Furthermore, the edge-finding member and the connecting rod are fixedly or rotationally connected to the axis of the edge-finding member.

[0012] Furthermore, it also includes a return component, which includes an elastic body symmetrically arranged on both sides of the connecting member, and is used to restore the connecting member to its initial position when the connecting member is not subjected to force. The initial position is the preset extension direction of the connecting member.

[0013] Furthermore, it also includes an angle detector, which is arranged at the rotation axis and is used to detect the rotation angle value of the connecting member caused by the edge-finding member.

[0014] Furthermore, it also includes a pressure detector, which is arranged between the mounting member and the connecting member and is used to detect the force condition of the edge-finding member.

[0015] The purpose of the present invention is also to provide an unmanned agricultural vehicle, including a body, a controller and the edge-finding device provided by the present invention, wherein the edge-finding device is arranged on the body, the controller is connected to the angle detector, and the controller can receive the angle value of the rotation of the connecting part and issue a control instruction to adjust the driving direction according to the angle value of the rotation of the connecting part.

[0016] Furthermore, the edge-finding range of the edge-finding device is larger than the width of the vehicle body and smaller than the width of the vehicle body driving passage.

[0017] Furthermore, the controller is connected to the pressure detector, and when the pressure value detected by the pressure detector is greater than a preset value, the controller controls the vehicle body to stop traveling.

[0018] Furthermore, the initial position of the connecting member is such that its extending direction faces the direction in which the vehicle body travels.

[0019] The present invention provides an edge-finding device comprising: an edge-finding assembly comprising at least two wheel-shaped edge-finding members; a mounting member, wherein the edge-finding members are adjustably mounted on the mounting member via connecting rods connected thereto, and the plurality of edge-finding members are moved closer or further apart by adjusting the connecting rods, thereby defining an edge-finding range; and a connecting member, one end of which is fixedly connected to the mounting member and the other end of which is a rotation axis. When the edge-finding members are moved by thrust, the connecting member is driven to rotate about the rotation axis. Before use, the distance between the plurality of edge-finding members is adjusted according to the ridge width and crop row spacing of the field in which the edge-finding members are used. Appropriate edge-finding members are selected so that the width of the outermost range defined by the annular sidewalls of the plurality of edge-finding members is greater than the width of the vehicle body and less than the width of the walking path, and the diameter of the edge-finding members is greater than the distance between adjacent objects. After the plurality of edge-finding members are secured to appropriate positions on the mounting member, edge-finding operation can be performed. Because the distance between the plurality of edge-finding members can be adjusted and the diameter of the edge-finding members can be selected, the edge-finding device can be applied to fields with a variety of ridge widths, crop row spacings, and crop distances, thereby improving the applicability of the edge-finding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a top view of an edge-finding device provided by an embodiment of the present invention;

[0022] Figure 2 is a bottom view of an edge-finding device provided by an embodiment of the present invention;

[0023] Figure 3 It is a structural schematic diagram of an unmanned agricultural vehicle provided by an embodiment of the present invention.

[0024] Icons: 1-edge-finding piece; 11-annular part; 12-fixing part; 13-reinforcement rod; 14-reinforcement piece; 2-connecting rod; 3-mounting piece; 4-pressure detector; 5-connecting piece; 6-elastic body; 7-angle detector; 8-car body. DETAILED DESCRIPTION

[0025] The following is a clear and initial description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0026] The present invention provides an edge-finding device and an unmanned agricultural vehicle. The edge-finding device and the unmanned agricultural vehicle provided by the present invention are described in detail below in multiple embodiments.

[0027] Example 1

[0028] The edge-finding device provided in this embodiment is used to find the boundary, which can be a row boundary formed by the crop growth arrangement, that is, a boundary formed by the line connecting the crop roots, or an actual boundary of a ridge, or a boundary of an obstacle, etc. Figures 1 to 2As shown, it includes: an edge-finding assembly comprising at least two wheel-shaped edge-finding members 1; a mounting member 3, on which the edge-finding members 1 are adjustably mounted via connecting rods 2 connected thereto. Multiple edge-finding members 1 can be moved closer or further apart by adjusting the connecting rods 2, thereby determining the edge-finding range; and a connecting member 5, one end of which is fixedly connected to the mounting member 3 and the other end of which serves as a rotation axis. When the edge-finding members 1 move under thrust, the connecting member 5 rotates about the rotation axis. It should be noted that the edge-finding range is the width between the edge-finding members 1 in the horizontal plane.

[0029] Before use, the distance between the multiple edge-finding members 1 is adjusted according to the ridge width and crop row spacing of the field, so that the edge-finding range is larger than the width of the vehicle body 8 and smaller than the width of the walking path. After the multiple edge-finding members 1 are respectively fixed to the appropriate positions on the mounting member 3, the edge-finding device can be used for edge-finding operations. Since the distance between the multiple edge-finding members 1 can be adjusted, the edge-finding device can be applied to fields with various ridge widths and crop row spacings, thereby improving the applicability of the edge-finding device.

[0030] The angles at which the edge-finding members 1 are adjusted relative to the mounting member 3 may be the same or different, without affecting the accuracy of the edge-finding.

[0031] Furthermore, the size of the edge-finding element 1 can be selected, as long as its diameter is greater than the distance between adjacent objects. The objects can be crops in the field, specifically crop roots. The diameter of the edge-finding element 1 can be determined based on the distance between the roots of adjacent crops planted in the same field, allowing the appropriate edge-finding element 1 to be selected. When the edge-finding device is operating, since the diameter of the edge-finding element 1 is greater than the distance between the roots of adjacent crops planted in the same field, it can avoid missed detections or crossing crop rows into other rows, greatly improving detection accuracy.

[0032] Among them, each edge-finding piece 1 can be hinged to the mounting piece 3 respectively, and each edge-finding piece 1 can also be slidingly connected to the mounting piece 3 respectively. There is no restriction on the connection method of each edge-finding piece 1 and the mounting piece 3, as long as the position of each edge-finding piece 1 can be adjusted.

[0033] As an embodiment, each edge-finding member 1 is hinged to the mounting member 3 via a connecting rod 2 to form a hinge point; one end of the connecting rod 2 is hinged to the mounting member 3, and the other end of the connecting rod 2 is connected to the edge-finding member 1. When the connecting rod 2 rotates around the hinge point, it can drive the edge-finding member 1 to rotate around the hinge point, thereby driving the multiple edge-finding members 1 to move closer to or away from each other to adjust the distance between the multiple edge-finding members 1. The edge-finding members 1 are connected by the connecting rod 2, thereby achieving the adjustment of the multiple edge-finding members 1, which is convenient for installation and operation. Each connecting rod 2 can be provided with a fixed gear, and rotated according to the fixed gear to adjust the distance between the multiple edge-finding members 1; each connecting rod 2 can also not be provided with a fixed gear, and each connecting rod 2 can be rotated to any suitable angle.

[0034] During adjustment, the angle of rotation of each connecting rod 2 can be consistent or inconsistent. For example, when there are two edge-finding members 1, the angles of rotation of the two connecting rods 2 can be consistent in size and in opposite directions, so that the two edge-finding members 1 remain symmetrical to improve the accuracy of edge-finding. Of course, if the detection range of the two edge-finding members 1 is large, the angles of rotation of the two connecting rods 2 can also be inconsistent, and this will not hinder the accuracy of edge-finding. As another embodiment, a slide groove is provided on the mounting member 3, and each edge-finding member 1 is slidably connected to the slide groove by a connecting rod 2. When multiple edge-finding members 1 slide along the slide groove, the distance between the multiple edge-finding members 1 can be adjusted.

[0035] After the multiple edge-finding members 1 are moved to a suitable position relative to the mounting member 3, the multiple edge-finding members 1 need to be fixed in the suitable position. This fixing method can utilize the damping between the connecting rod 2 and the mounting member 3, or the connecting rod 2 can be fixed in the suitable position using a fixing member to prevent the edge-finding member 1 from being displaced relative to the mounting member 3 under the force exerted by the crop. Preferably, the edge-finding assembly also includes a fixing member; the connecting rod 2 is fixedly connected to the mounting member 3 via the fixing member. After the distance between the multiple edge-finding members 1 is adjusted to a suitable distance, the multiple connecting rods 2 can be fixed to the mounting member 3 using the fixing member, so that the multiple edge-finding members 1 are fixed in the suitable position, thereby improving stability.

[0036] Among them, the fixing part can be a bolt, and a threaded through hole is provided on the connecting rod 2. The bolt is inserted into the threaded through hole and rotated continuously until the bolt presses the connecting rod 2 onto the mounting part 3 to fix it; the fixing part can also be a clamp, which is buckled on the connecting rod 2 and then connected to the mounting part 3 with a bolt to fix it. Bolt fixing facilitates adjustment and disassembly, thereby improving the user experience.

[0037] In this embodiment, the edge-finding assembly includes at least two wheel-shaped edge-finding members 1 , and the number of the edge-finding members 1 can be any suitable number, such as two, three or four.

[0038] Furthermore, the annular sidewalls of the edge-finding element 1 are used to contact objects. The edge-finding range is defined by the outermost edges of the annular sidewalls of the multiple edge-finding elements 1 in the horizontal direction. When the edge-finding device is positioned parallel to the direction of travel, the range is defined by the width perpendicular to the direction of travel. Because the edge-finding element 1 is wheel-shaped, its annular sidewalls are relatively smooth. When contacting crops, this reduces friction between the edge-finding element 1 and the crops, thereby minimizing damage to the crops. Installing multiple edge-finding elements 1 in contact with the roots of crops makes the roots less susceptible to damage, further minimizing damage to the crops. Furthermore, the multiple edge-finding elements 1 detect boundaries through contact, which, compared to visual or laser sensors, is unaffected by light, environmental factors, and leaf obstructions. During use, the annular sidewalls of the edge-finding element 1 contact obstacles, but the diameter of the edge-finding element 1 ensures that it will not penetrate the roots of adjacent crops, ensuring accurate edge-finding.

[0039] It should be noted that the connecting rod 2 rotates in a horizontal plane, while the wheel-shaped cross-section of the edge-finding member 1 also remains horizontal. The connecting rod 2 and the edge-finding member 1 are in the same horizontal plane to improve the transmission performance of the structure, facilitate subsequent inspections, and make the structure more reasonable and easy to install and maintain. At the same time, the horizontal setting of the edge-finding member 1 can increase its detection range, reduce the probability of missing objects, and minimize the diameter of the wheel body to avoid structural redundancy. In optional embodiments, the connecting rod 2 can also rotate in other planes, as long as the rotation plane of the connecting rod 2 and the wheel-shaped cross-section of the edge-finding member 1 are in the same plane.

[0040] Furthermore, the edge finding member 1 and the connecting rod 2 are fixedly or rotationally connected to the axis of the edge finding member 1. The edge finding member 1 and the connecting rod 2 can be fixedly connected, so that the connecting rod 2 can be driven to rotate according to the force applied to the edge finding member 1.

[0041] To further reduce friction between the edge-finding device and the crop, thereby minimizing crop damage, the center of each edge-finding member 1 is pivotally connected to one end of a connecting rod 2, allowing each member 1 to rotate around its axis. When the edge-finding device is in use, the annular sidewall of the edge-finding member 1 contacts the crop. The thrust forces the edge-finding member 1 to rotate, creating sliding friction with the crop, reducing friction and significantly minimizing crop damage.

[0042] Furthermore, to reduce the weight of the edge-finding member 1, improve its flexibility, and further minimize damage to crops, the edge-finding member 1 may include an annular portion 11, a fixed portion 12, and a reinforcing rod 13. The annular portion 11 is annular and fits around the fixed portion 12. The reinforcing rod 13 is connected between the annular portion 11 and the fixed portion 12, creating a hollow structure for the edge-finding member 1 and reducing its weight. To increase the robustness of the edge-finding member 1, reinforcing members 14 may be provided between the reinforcing rod 13 and the annular portion 11, and between the reinforcing rod 13 and the fixed portion 12, thereby enhancing the overall strength of the edge-finding member 1 and preventing damage from impacts. When the edge-finding member 1 rotates about its axis, the fixed portion 12 of the edge-finding member 1 is connected to the rotating shaft at one end of the connecting rod 2, allowing it to rotate about the rotating shaft. This creates sliding friction between the edge-finding member 1 and the crops, reducing damage to the crops. Along the traveling direction of the vehicle body 8, multiple edge-finding members 1 are arranged in front of the vehicle body 8 and protrude from the vehicle body 8. The connecting member 5 is rotatably connected to the vehicle body 8 and forms a rotation axis. When the side walls of the multiple edge-finding members 1 encounter obstacles such as ridges or crop roots, the connecting member 5 is driven to rotate around the rotation axis under the thrust of the obstacle.

[0043] Furthermore, a return component is included, which includes an elastic body 6, which is symmetrically arranged on both sides of the connecting member 5 and is used to restore the connecting member 5 to its initial position when it is not subjected to force. The initial position is the preset extension direction of the connecting member 5.

[0044] Specifically, one end of the elastic body 6 is connected to the connector 5, and the other end of the elastic body 6 is connected to the vehicle body 8. The return assembly can drive the extension direction of the connector 5 to change to an initial position. The initial position can be determined based on the installation position and can also be adjusted at any time. In this embodiment, the initial position is parallel to the travel direction of the vehicle body 8. When any one or more edge-finding members 1 contact an obstacle, the connector 5 rotates. When any one or more edge-finding members 1 move away from the obstacle, the return assembly drives the connector 5 to rotate, automatically returning the connector 5 to a position parallel to the travel direction, facilitating the next stage of detection, while improving the angle detection sensitivity, and further improving the accuracy and sensitivity of vehicle control. In other embodiments, the initial position of the extension direction of the connector 5 can also be any direction toward the travel direction of the vehicle body 8, set at an angle to the travel direction.

[0045] When the return component drives the connector 5 to return, the angle detector 7 can be used for correction. From the time the detection value is obtained to the end, the rotation angle is continuously superimposed. After the detection is completed, whether the rotation angle returns to the angle value of the initial position is detected. If it is equal to the initial position angle value, the return is accurate, ensuring the return accuracy of the connector 5. If it is not equal, a prompter is used to prompt. In other embodiments, whether the return is accurate can also be detected by judging whether the rotation angle of the connector 5 when it returns is the same as the last time. If the angle is the same and the rotation direction is opposite, the return is accurate, otherwise the return is inaccurate. The return correction can be set with a suitable deviation range to improve applicability.

[0046] When the return assembly is not provided, when any one or more edge-finding members 1 contact an obstacle next time, the rotation angle and direction of the previous rotation need to be used to calculate the current rotation information. In this case, the edge-finding device structure is simpler and the maintenance cost can be reduced.

[0047] In an optional embodiment of this embodiment, limiters are provided on both sides of connector 5. Positioned between connector 5 and the return assembly, the limiters do not interfere with the return assembly's operation. These limiters prevent connector 5 from rotating excessively, preventing it from returning to its original position and preventing the timely detection of other crops. Furthermore, by preventing connector 5 from rotating excessively due to excessive force, excessive steering angles of vehicle body 8 can be avoided, further preventing instability in driving, thereby improving driving stability and safety.

[0048] In this embodiment, in order to facilitate installation and disassembly and make the structure simpler, the elastic body 6 is a tension spring.

[0049] Furthermore, an angle detector 7 is included. The angle detector 7 is arranged at the rotation axis and is used to detect the rotation angle value of the connecting member 5 caused by the edge-finding member 1.

[0050] Specifically, one end of the connecting member 5 is fixed to the mounting member 3 on which the edge-finding member 1 is fixed, and the other end is used to be hinged to the vehicle body 8 to form a hinge point; the angle detector 7 is set at the hinge point to detect the angle value of the rotation of the connecting member 5.

[0051] Along the direction of travel of the vehicle body 8, multiple edge-finding members 1 are arranged in front of the vehicle body 8 and protrude from the vehicle body 8. When the side walls of any one or more edge-finding members 1 encounter obstacles such as ridges or crop roots, the thrust of the obstacle drives the mounting member 3 to rotate, thereby driving the connecting member 5 to rotate around the hinge point. The angle detector 7 obtains the angle value of the connecting member 5 rotation and transmits it to the controller. The controller can control the vehicle body 8 to change its travel route to avoid the obstacle based on the angle value of the connecting member 5 rotation. The edge-finding device detects obstacle information in the channel, thereby adjusting the travel direction of the vehicle body 8 in real time, so that the vehicle body 8 can move along the trajectory of the crop growth row, providing a guarantee for precise operation. The angle detector 7 can be installed on the hinge point. The angle detector 7 is connected to the connecting member 5 at the hinge through the rotating shaft. As the connecting member 5 rotates, the rotating shaft is driven to rotate, thereby detecting and obtaining the rotation angle value.

[0052] In this embodiment, after the edge-finding device is installed in front of the vehicle body 8, the extension direction of the initial position of the connecting member 5 is parallel to the horizontal direction, and the axial directions of the multiple edge-finding members 1 are parallel to the vertical direction, so that the annular side walls of the multiple edge-finding members 1 are used to abut against obstacles. The structure of this embodiment is simple, which facilitates the detection of the angle of the angle detector 7, improves the detection accuracy, and is also convenient for installation and removal. In other embodiments, the edge-finding device can be installed at any position on the vehicle body 8, and the axial direction of the edge-finding member 1 is set at an angle to the vertical direction, as long as the connecting member 5 extends in the direction of travel of the vehicle body 8 and the axial direction of the edge-finding member 1 is not set at a right angle to the vertical direction.

[0053] Furthermore, it also includes a pressure detector 4, which is arranged between the mounting part 3 and the connecting part 5 and is used to detect the stress condition of the edge-finding part 1. The pressure on the edge-finding part 1 will be transmitted to the pressure detector 4 through the mounting part 3. When the pressure value is greater than the preset value, the controller will control the vehicle body 8 to stop driving to avoid damage to the edge-finding device. This means that any one or more edge-finding parts 1 are subject to a large thrust from the obstacle, and direct driving will cause damage to any one or more edge-finding parts 1, or damage to crops. The pressure is detected in real time by the pressure detector 4 to avoid damage to the device or crops, making the operation safer. The pressure detector 4 is arranged between the mounting part 3 and the connecting part 5, and only one detector is needed to detect the stress condition of multiple edge-finding parts 1, and the structure is simpler.

[0054] Before use, the edge-finding device provided in this embodiment is configured to adjust the distance between the multiple edge-finding members 1 according to the ridge width and crop row spacing of the field, so that the edge-finding range is greater than the width of the vehicle body 8 and less than the width of the walking path. After the multiple edge-finding members 1 are secured to appropriate positions on the mounting member 3, the edge-finding device can be used for edge-finding operations. Because the distance between the multiple edge-finding members 1 can be adjusted, the edge-finding device can be applied to fields with various ridge widths and crop row spacings, thereby improving the applicability of the edge-finding device.

[0055] Example 2

[0056] The unmanned agricultural vehicle provided in this embodiment is as follows: Figure 3 As shown, it includes a vehicle body 8, a controller and an edge-finding device provided in Example 1. The edge-finding device is arranged on the vehicle body 8. The controller is connected to the angle detector 7. The controller can receive the angle value of the rotation of the connecting member 5 and issue a control instruction to adjust the driving direction according to the angle value of the rotation of the connecting member 5.

[0057] When any one or more edge-finding members 1 are hit by an obstacle, the connecting member 5 rotates. The angle value of the connecting member 5 can be obtained through the angle detector 7, and then the direction of rotation can be obtained. The controller controls the vehicle body 8 to adjust the driving direction and angle according to the angle value and direction of rotation, avoids obstacles, and drives along the trajectory of the ridge / boundary.

[0058] In an optional embodiment, multiple edge-finding members 1 are protruding from the front end of the vehicle body 8, so as to predict the trajectory of the ridge in advance. Furthermore, the entirety of the multiple edge-finding members 1 is protruding from the front end of the vehicle body 8, so that crops can be found in time and the direction of the vehicle can be accurately controlled.

[0059] The edge-finding device of this embodiment can be installed anywhere on the vehicle body 8, as long as the initial position of the connecting member 5 of any one or more edge-finding members 1 is directed toward the front end of the vehicle body. When the edge-finding member 1 is subjected to external thrust, the connecting member 5 rotates by a certain angle. When any one or more edge-finding members 1 are freed from the external thrust, the connecting member 5 returns to its initial position under the action of the return assembly, facilitating real-time detection of the rotation angle and improving the vehicle's steering sensitivity.

[0060] Before use, the distance between the multiple edge-finding members 1 is automatically or manually adjusted according to the ridge width or crop row spacing of the field in use, so that the edge-finding range is larger than the width of the vehicle body 8 and smaller than the width of the driving path of the vehicle body 8. After the multiple edge-finding members 1 are fixed to the appropriate position on the mounting member 3, the edge-finding device can be used for edge-finding operations. It is also possible to set edge-finding members 1 of different diameters, and select the edge-finding member 1 with a diameter larger than the distance between adjacent crops according to the distance between adjacent crops. Because the distance between the multiple edge-finding members 1 can be adjusted, the edge-finding device can be applied to fields with various ridge widths or crop row spacings, improving the applicability of the edge-finding device. During use, the multiple edge-finding members 1 are all wheel-shaped, which can reduce the friction between the edge-finding members 1 and obstacles. When the obstacles are crops, it can reduce damage to the crops and ensure efficient and safe operation. At the same time, the multiple edge-finding members 1 are connected to the connecting member 5 through a rotating connection, ensuring that the friction with the obstacles is sliding friction, which greatly reduces the friction and further reduces damage to the crops.

[0061] Furthermore, the controller is connected to the pressure detector 4 , and when the pressure value detected by the pressure detector 4 is greater than a preset value, the controller controls the vehicle body 8 to stop traveling.

[0062] The pressure applied to the edge-finding device 1 is transmitted to the pressure detector 4 via the mounting member 3. When the pressure exceeds a preset value, the controller stops the vehicle body 8 to prevent damage to the edge-finding device. This indicates that one or more edge-finding devices 1 are experiencing significant thrust from an obstacle. Direct movement could damage any one or more edge-finding devices 1, or the crop. Real-time pressure monitoring by the pressure detector 4 prevents damage to the device or the crop, ensuring safer operation.

[0063] Furthermore, the initial position of the connecting member 5 is such that its extending direction faces the direction of travel of the vehicle body 8 .

[0064] The initial position of the connecting member 5 is parallel to the driving direction of the vehicle body 8. When any one or more edge-finding members 1 contact an obstacle, the connecting member 5 rotates. When any one or more edge-finding members 1 move away from the obstacle, the return assembly drives the connecting rod 2 to actively return the connecting member 5 to a position parallel to the driving direction, thereby reducing the difficulty of angle detection and improving accuracy.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned agricultural vehicle comprising a vehicle body and an edge-finding device, characterized in that: The edge-finding device comprises: An edge-finding assembly includes at least two wheel-shaped edge-finding members; the wheel-shaped cross-sections of the edge-finding members are arranged horizontally; a plurality of the edge-finding members are arranged in front of the vehicle body and protrude from the vehicle body; the edge-finding members are rotatably arranged on a connecting rod; the annular side walls of the edge-finding members are used to abut against an object, and the diameter of the edge-finding members is larger than the distance between adjacent objects planted in the same row; The mounting member, the edge-finding member is adjustably arranged on the mounting member through a connecting rod connected thereto, and the plurality of edge-finding members are brought closer or farther away from each other by adjusting the connecting rod, thereby determining the edge-finding range; the central position of each edge-finding member is rotatably connected to the corresponding connecting rod; wherein, the edge-finding range is the outermost range determined by the annular side walls of the plurality of edge-finding members in the horizontal direction, and the edge-finding range of the edge-finding device is greater than the width of the vehicle body and smaller than the width of the vehicle body driving channel; a slide groove is provided on the mounting member, and each edge-finding member is slidably connected to the slide groove by the connecting rod, and when the plurality of edge-finding members slide along the slide groove, the distance between the plurality of edge-finding members can be adjusted; A connecting member, one end of which is fixedly connected to the mounting member, and the other end of which is rotatably connected to the vehicle body and forms a rotation axis, and when the edge-finding member moves under the thrust, the connecting member is driven to rotate around the rotation axis; The unmanned agricultural vehicle further comprises an angle detector, which is arranged at the rotation axis and is used to detect the rotation angle value of the connecting member caused by the edge-finding member; The unmanned agricultural vehicle further comprises a controller, which is connected to the angle detector. The controller is capable of receiving the angle value of the rotation of the connecting member and issuing a control instruction to adjust the driving direction according to the angle value of the rotation of the connecting member.

2. The unmanned agricultural vehicle according to claim 1, characterized in that: It also includes a return component, which includes an elastic body symmetrically arranged on both sides of the connecting member and is used to return the connecting member to its initial position when the connecting member is not subjected to force. The initial position is the preset extension direction of the connecting member.

3. The unmanned agricultural vehicle according to claim 1, characterized in that: It also includes a pressure detector, which is arranged between the mounting member and the connecting member and is used to detect the force applied to the edge-finding member.

4. The unmanned agricultural vehicle according to claim 3, characterized in that: The controller is connected to the pressure detector, and when the pressure value detected by the pressure detector is greater than a preset value, the controller controls the vehicle body to stop traveling.

5. The unmanned agricultural vehicle according to claim 1, characterized in that: The initial position of the connecting member is such that its extending direction faces the direction in which the vehicle body travels.

Images