Unmanned driving system for crawler tractor

Abstract

The invention discloses an unmanned driving system for a crawler tractor, and the technical scheme thereof mainly comprises: a GNSS antenna, a vehicle-mounted terminal, a steering wheel motor, a steering component, an electric control handle, a travel controller, a push rod motor, a clutch motor controller, a clutch motor, a travel hydraulic pump transmission device, a travel hydraulic motor, an electromagnetic valve, a lifting cylinder and a PTO tensioning mechanism; the GNSS antenna is used for navigation and positioning and sending information to the vehicle-mounted terminal; the vehicle-mounted terminal receives the position information of the GNSS antenna and drives the steering wheel motor to move, the vehicle-mounted terminal performs CAN communication with the travel controller and controls the travel controller to move; the steering wheel motor controls the steering wheel to rotate and realizes the steering of the crawler tractor through the steering component; the unmanned driving system for the crawler tractor can ensure that the crawler tractor realizes unmanned automatic driving and operation under a set path.

Description

Technical Field

[0001] The invention relates to the field of agriculture, and in particular to an unmanned driving system for a crawler tractor. Background Art

[0002] At present, crawler tractors use manually operated mechanical rods to move, and the mechanical rods then drive two travel hydraulic pumps through a series of connecting rod mechanisms to achieve the movement of the crawler tractor. When the crawler tractor is reversing in the field, the operator needs to first lift the agricultural machinery carried by the crawler tractor and then operate the mechanical rod to reverse the crawler tractor. The mechanical rod structure used by crawler tractors is relatively complex and requires a large operating force.

[0003] The defects and shortcomings of the current existing technology are as follows:

[0004] 1. Because the mid-position range of the two travel hydraulic pump transmission devices of the crawler tractor is very small, it is difficult to quickly and accurately stop the mechanical lever in the mid-position immediately if it is manually operated, which results in failure to stop the vehicle immediately and brings danger.

[0005] 2. Crawler tractors often need to perform reversing operations when working in the field. In the existing structure, the agricultural machinery carried by the crawler tractor needs to be lifted up before the reversing operation is performed, which not only increases the work intensity of the operator but also affects the efficiency.

[0006] 3. Since the mechanical structure of the walking operation in the prior art is relatively complex and the required operating force is relatively large, it is difficult for the operator to quickly and accurately push the joystick to the desired position during operation, which will cause the operator to sometimes push the joystick faster and sometimes push it slower, thus requiring the operator to repeat the operation and affecting efficiency. Summary of the invention

[0007] In view of the problems mentioned in the background technology, the purpose of the present invention is to provide an unmanned driving system for a crawler tractor to solve the problems mentioned in the background technology.

[0008] The above technical objectives of the present invention are achieved through the following technical solutions:

[0009] A crawler tractor unmanned driving system, comprising: a GNSS antenna, a vehicle-mounted terminal, a steering wheel motor, a steering component, an electric control handle, a travel controller, a push rod motor, a clutch motor controller, a clutch motor, a travel hydraulic pump transmission device, a travel hydraulic motor, a solenoid valve, a lifting cylinder and a PTO tensioning mechanism; the GNSS antenna is used for navigation, positioning and sending information to the vehicle-mounted terminal; the vehicle-mounted terminal receives the position information of the GNSS antenna and drives the steering wheel motor to move, the vehicle-mounted terminal performs CAN communication with the travel controller and controls the travel controller to move; the steering wheel motor controls the steering wheel to rotate and realizes the crawler through the steering component The tractor is turned; the electric control handle is communicatively connected with the travel controller, the electric control handle sends a travel signal to the travel controller, the travel controller receives the signal sent by the electric control handle and sends a travel signal to the push rod motor; the push rod motor controls the travel hydraulic pump transmission device; the travel hydraulic pump transmission device drives the travel hydraulic motor to realize the travel of the crawler tractor; the clutch motor controller and the travel controller perform CAN communication, the clutch motor controller receives the travel controller signal and sends it to the clutch motor; the clutch motor controls the action of the PTO tensioning mechanism; the solenoid valve controls the rise and fall of the lifting cylinder.

[0010] By adopting the above technical solution, the crawler tractor unmanned driving system can ensure that the crawler tractor can achieve unmanned automatic driving and operation on the set path.

[0011] Preferably, a speed reducer is provided between the steering wheel motor and the steering component.

[0012] By adopting the above technical solution, the reducer can reduce the speed during turning.

[0013] Preferably, the vehicle-mounted terminal is integrated and fixed on the vehicle frame.

[0014] By adopting the above technical solution, the vehicle-mounted terminal can be integrated and fixed on the vehicle frame to facilitate overall integration and fixation.

[0015] Preferably, the walking controller and the electric control handle are connected via Bluetooth communication.

[0016] By adopting the above technical solution, the method of using Bluetooth for communication has the advantages of being reliable and simple.

[0017] Preferably, the travel controller is a PLC controller.

[0018] By adopting the above technical solution, when the travel controller adopts a PLC controller, it has the advantage of a reliable control structure.

[0019] Preferably, it further includes an electromagnetic brake, and the electromagnetic brake is electrically connected to the control output end of the walking controller.

[0020] By adopting the above technical solution, the brake can be directly controlled conveniently by setting the electromagnetic brake disc to be controlled by the travel controller.

[0021] Preferably, the clutch motor controller is a slip clutch control device.

[0022] By adopting the above technical solution, the slip clutch control device has the advantage of reliable structure.

[0023] In summary, the present invention mainly has the following beneficial effects:

[0024] The crawler tractor unmanned driving system can ensure that the crawler tractor can realize unmanned automatic driving and operation on the set path. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural block diagram of the present invention.

[0026] Figure numerals: 1. GNSS antenna; 2. On-board terminal; 3. Steering wheel motor; 4. Steering component; 5. Display screen; 6. Electric control handle; 7. Travel controller; 8. Solenoid valve; 9. Lifting cylinder; 10. PTO open button; 11. Angle sensor; 12. PTO close button; 13. Clutch motor controller; 14. Clutch motor; 15. PTO tensioning mechanism; 16. Push rod motor; 17. Travel hydraulic pump transmission device; 18. Travel hydraulic motor. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] refer to Figure 1A crawler tractor unmanned driving system includes: a GNSS antenna 1, a vehicle terminal 2, a steering wheel motor 3, a steering component 4, an electric control handle 6, a travel controller 7, a push rod motor 16, a clutch motor 14 controller 13, a clutch motor 14, a travel hydraulic pump transmission device 17, a travel hydraulic motor 18, a solenoid valve 8, a lifting cylinder 9 and a PTO tensioning mechanism 15; the GNSS antenna 1 is used for navigation, positioning and sending information to the vehicle terminal 2; the vehicle terminal 2 receives the position information of the GNSS antenna 1 and drives the steering wheel motor 3 to move, the vehicle terminal 2 communicates with the travel controller 7 through CAN and controls the travel controller 7 to move; the steering wheel motor 3 controls the steering wheel to rotate and transmits The crawler tractor is steered by the steering component 4; the electric control handle 6 is connected to the travel controller 7 for communication, the electric control handle 6 sends a travel signal to the travel controller 7, the travel controller 7 receives the signal sent by the electric control handle 6 and sends the travel signal to the push rod motor 16; the push rod motor 16 controls the travel hydraulic pump transmission device 17; the travel hydraulic pump transmission device 17 drives the travel hydraulic motor 18 to realize the travel of the crawler tractor; the clutch motor 14 controller 13 and the travel controller 7 perform CAN communication, the clutch motor 14 controller 13 receives the signal of the travel controller 7 and sends it to the clutch motor 14; the clutch motor 14 controls the action of the PTO tensioning mechanism 15; the solenoid valve 8 controls the rise and fall of the lifting cylinder 9.

[0029] refer to Figure 1 A reducer is arranged between the steering wheel motor 3 and the steering component 4, and the reducer can reduce the speed during steering; the vehicle-mounted terminal 2 is integrated and fixed on the vehicle frame, and the integration and fixing of the vehicle-mounted terminal 2 on the vehicle frame can facilitate the overall integrated fixation; the travel controller 7 and the electric control handle 6 are connected via Bluetooth communication, and the method of using Bluetooth for communication has the advantages of reliability and simplicity.

[0030] refer to Figure 1 , wherein the travel controller 7 is a PLC controller. When the travel controller 7 adopts a PLC controller, it has the advantage of reliable control structure; wherein the system also includes an electromagnetic brake, which is electrically connected to the control output end of the travel controller 7. By setting the electromagnetic brake disc to be controlled by the travel controller 7, the brake can be conveniently and directly controlled; wherein the clutch motor 14 controller 13 is a slip clutch control device, and the slip clutch control device has the advantage of reliable structure.

[0031] Among them, the GNSS antenna 1, the vehicle-mounted terminal 2, the steering wheel motor 3, the steering component 4, the electric control handle 6, the travel controller 7, the push rod motor 16, the clutch motor 14 controller 13, the clutch motor 14, the travel hydraulic pump transmission device 17, the travel hydraulic motor 18, the solenoid valve 8, the lifting cylinder 9 and the PTO tensioning mechanism 15 in this system are all existing technologies in this field.

[0032] Specific principles and controls:

[0033] 1. During the route setting process, the GNSS antenna 1 can send positioning information to the vehicle terminal 2, which is used to record the location information points and calculate the driving route;

[0034] 2. During the travel of the crawler tractor, the vehicle-mounted terminal 2 sends a signal to the travel controller 7 according to the set travel route, and the travel controller 7 sends a signal to the clutch motor 14 controller 13, and the clutch motor 14 controller 13 drives the clutch motor 14 to work, and the clutch motor 14 drives the PTO tensioning structure to be tensioned so that the PTO device of the crawler tractor is opened. At the same time, the travel controller 7 controls the push rod motor 16, and the push rod motor 16 drives the connecting rod mechanism on the travel hydraulic pump transmission device 17 to move, and the travel hydraulic pump transmission device 17 drives the travel hydraulic motor 18 to perform the travel action. According to the travel speed set on the vehicle-mounted terminal 2, the angle of the valve opening on the travel hydraulic pump transmission device 17 can be controlled by the extended length of the push rod motor 16 to achieve the control of the travel speed. The vehicle-mounted terminal 2 calculates the travel speed through the position information fed back by the GNSS antenna 1;

[0035] 3. During left and right turns and U-turns, the vehicle-mounted terminal 2 confirms the position information in real time through the GNSS antenna 1. When deviation occurs along the set driving route, the vehicle-mounted terminal 2 drives the steering wheel motor 3 to rotate. The vehicle-mounted terminal 2 continuously adjusts the driving direction based on the position information located by the GNSS antenna 1, so that the crawler tractor moves along the set route. When the set route requires left, right turns and U-turns, the vehicle-mounted terminal 2 sends a deceleration signal to the travel controller 7, and the travel control controls the extension and contraction amount of the push rod motor 16 to control the angle of opening of the valve on the travel hydraulic pump transmission device 17 to control the crawler tractor to decelerate; at the same time, the vehicle-mounted terminal 2 sends a signal of the riser to the travel controller 7, and the travel controller 7 controls the solenoid valve 8 to work so that the lifting cylinder 9 can realize the lifting of the lifter, and the angle sensor 11 feeds back the actual height information of the lifter to the travel controller 7. After the lifter is in place, the travel controller 7 stops outputting the signal of controlling the solenoid valve 8, and then the vehicle-mounted terminal 2 drives the steering wheel motor 3 to realize the steering or U-turn; when the steering or U-turn is completed, the vehicle-mounted terminal 2 sends a signal of the riser to the travel controller 7, and the travel controller 7 controls the solenoid valve 8 to work so that the lifting cylinder 9 can descend to realize the lifting of the lifter, and the angle sensor 11 feeds back the actual height information of the lifter to the travel controller 7. After the lifter is lowered into place, the travel controller 7 stops outputting the signal of controlling the solenoid valve 8, and at the same time, the travel controller 7 controls the crawler tractor to accelerate walking;

[0036] 4. When human intervention in driving occurs, when the electric control handle 6 is pushed forward, the travel controller 7 drives the push rod motor 16 to move forward, the push rod motor 16 drives the valve on the travel hydraulic pump transmission device 17 to open forward, and the travel hydraulic pump transmission device 17 drives the travel hydraulic motor 18 to work to enable the crawler tractor to move forward. By operating the forward push range of the electric control handle 6, the telescopic amount of the push rod motor 16 can be controlled to control the opening angle of the valve on the travel hydraulic pump transmission device 17, and finally the control of the forward driving speed of the crawler tractor is realized; when the electric control handle 6 returns to the middle position, the travel controller 7 controls the push rod motor 16 to return to the middle position, and the push rod motor 16 controls the angle of the valve on the travel hydraulic pump transmission device 17 to the closed state, and the travel hydraulic pump transmission device 17 stops driving the travel hydraulic motor 18; when the electric control handle 6 is pushed backward, the travel controller 7 controls the push rod motor 16 to move backward, and the push rod motor 16 drives the valve on the travel hydraulic pump transmission device 17 to open backward, and the travel hydraulic pump transmission device 17 drives the travel hydraulic motor 18 to work to realize the crawler tractor to travel backward; by operating the backward push range of the electric control handle 6, the telescopic amount of the push rod motor 16 can be controlled to control the opening angle of the valve on the travel hydraulic pump transmission device 17, and finally the control of the backward driving speed of the crawler tractor is realized; when steering is required, steering is achieved by turning the steering wheel.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned driving system for a crawler tractor, characterized in that: include: GNSS antenna (1), vehicle-mounted terminal (2), steering wheel motor (3), steering component (4), electric control handle (6), travel controller (7), push rod motor (16), clutch motor controller (13), clutch motor (14), travel hydraulic pump transmission device (17), travel hydraulic motor (18), solenoid valve (8), lifting cylinder (9) and PTO tensioning mechanism (15); the GNSS antenna (1) is used for navigation, positioning and sending information to the vehicle-mounted terminal (2); the vehicle-mounted terminal (2) receives the position information of the GNSS antenna (1) and drives the steering wheel motor (3) to move, the vehicle-mounted terminal (2) performs CAN communication with the travel controller (7) and controls the travel controller (7) to move; the steering wheel motor (3) controls the steering wheel to rotate and realizes the steering of the crawler tractor through the steering component (4) ; The electric control handle (6) is connected to the travel controller (7) for communication, the electric control handle (6) sends a travel signal to the travel controller (7), the travel controller (7) receives the signal sent by the electric control handle (6) and sends the travel signal to the push rod motor (16); the push rod motor (16) controls the travel hydraulic pump transmission device (17); the travel hydraulic pump transmission device (17) drives the travel hydraulic motor (18) to realize the crawler tractor to travel; the clutch motor controller (13) and the travel controller (7) perform CAN communication, the clutch motor controller (13) receives the signal of the travel controller (7) and sends it to the clutch motor (14); the clutch motor (14) controls the action of the PTO tensioning mechanism (15); the solenoid valve (8) controls the lifting cylinder (9) to rise and fall; A speed reducer is provided between the steering wheel motor (3) and the steering component (4); The vehicle-mounted terminal (2) is integrated and fixed on the vehicle frame; The walking controller (7) is connected to the electric control handle (6) via Bluetooth communication; The travel controller (7) is a PLC controller; It also includes an electromagnetic brake, which is electrically connected to the control output end of the walking controller (7); The clutch motor controller (13) is a slip clutch control device.

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