A cooperative operation unit and a multi-vehicle marshalling cooperative operation system

Abstract

The application discloses a kind of cooperative operation unit and multi-car marshalling cooperative operation system, it is related to intelligent cooperative operation technical field, cooperative operation unit includes work car, transfer car, connection line, connection line automatic retractor, inclination detection module and controller, connection line automatic retractor is set on work car or transfer car, free end of connection line is connected on transfer car or work car, connection line automatic retractor is automatically collected when work car or transfer car is close, automatically releases connection line when far away, so that the connection line that releases always presents straight line state, inclination detection module detects the inclination of connection line exceeds the threshold value set when it is passed to controller and makes controller control transfer car steering until inclination is less than the threshold value set.The application further provides a kind of multi-car marshalling cooperative operation system, the scheme provided by the application can reduce artificial cost and improve sand planting efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent cooperative operation, in particular to a cooperative operation unit and a multi-vehicle marshalling cooperative operation system. BACKGROUND

[0002] China is a large agricultural country, and the sandy land is vast. Planting on the sandy land has a good prospect. However, the topography of the sandy land is complex, and the current unmanned driving technology cannot be used on the sandy land. This results in high labor cost and low efficiency of planting on the sandy land. Therefore, it is urgent to reduce labor cost and improve the efficiency of planting on the sandy land. SUMMARY

[0003] The present application aims to provide a cooperative operation unit and a multi-vehicle marshalling cooperative operation system to solve the problems of the prior art and reduce labor cost and improve the efficiency of planting on the sandy land.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions.

[0005] The present application provides a cooperative operation unit, which comprises a work vehicle, a transfer vehicle, a connecting line, an automatic connecting line winding and unwinding device, an inclination detection module and a controller. The automatic connecting line winding and unwinding device is arranged on the work vehicle or the transfer vehicle. The free end of the connecting line is connected to the transfer vehicle or the work vehicle. The automatic connecting line winding and unwinding device automatically winds the connecting line when the work vehicle and the transfer vehicle are close to each other and automatically unwinds the connecting line when the work vehicle and the transfer vehicle are far away from each other, so that the unwound connecting line is always in a straight line state. One side of the transfer vehicle is a discharging side, and one side of the work vehicle is a receiving side. When the connecting line is perpendicular to the discharging side and the receiving side, the receiving side faces the discharging side and they can be connected to each other. When the inclination of the connecting line exceeds a set threshold, the inclination detection module transmits the information to the controller and the controller controls the transfer vehicle to turn until the inclination is less than the set threshold.

[0006] Preferably, the inclination detection module comprises two contact sensors. Both of the contact sensors are arranged on the work vehicle and are located on both sides of the connecting line. The distance between the contact sensors and the connecting line is equal. When the connecting line is inclined to contact any one of the contact sensors, the contact sensor transmits a signal to the controller. The controller controls the transfer vehicle to turn until the connecting line is not in contact with the contact sensor.

[0007] Preferably, the transfer vehicle is provided with an automatic discharging module.

[0008] Preferably, the work vehicle is provided with a work vehicle vision system, a work vehicle loading tray and a work vehicle empty / full load sensor; the transfer vehicle is provided with a transfer vehicle vision system, a transfer vehicle loading tray and a transfer vehicle empty / full load sensor; the work vehicle loading tray and the transfer vehicle loading tray are used to load the pipes; the work vehicle empty / full load sensor can detect the empty and full load states of the work vehicle loading tray, and the transfer vehicle empty / full load sensor can detect the empty and full load states of the transfer vehicle loading tray; the work vehicle empty / full load sensor and the transfer vehicle empty / full load sensor are in communication connection with the controller; when the work vehicle loading tray is empty, the controller controls the transfer vehicle to move towards the work vehicle; when the transfer vehicle is transferring the pipes to the work vehicle, when the work vehicle loading tray is full, the controller controls the work vehicle to move and work according to the path planned by the controller; when the transfer vehicle loading tray is empty, the controller controls the transfer vehicle to move towards the supply point and manually load; and when the transfer vehicle loading tray is full, the manual loading is stopped.

[0009] Preferably, the connection line is a steel wire.

[0010] The application further provides a multi-vehicle marshalling cooperative working system, which comprises a plurality of cooperative working units and supply points as described above, the transfer vehicle is used to transfer the pipes at the supply points to the work vehicle, and the work vehicle is used to automatically or semi-automatically perform planting work.

[0011] The application has the following technical effects relative to the prior art:

[0012] The cooperative working unit provided by the application can realize intelligent connection of the work vehicle and the transfer vehicle, intelligent transfer of the pipes at the supply point, high docking precision without manual control, and thus the scheme provided by the application can reduce labor cost and improve sand planting efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0014] Figure 1 It is a structural schematic view of the work vehicle;

[0015] Figure 2 It is a structural schematic view of the transfer vehicle;

[0016] Figure 3 It is a schematic view of a working scene;

[0017] Figure 4 is a schematic diagram of a use scenario 1;

[0018] Figure 5 is a schematic diagram of a use scenario 2;

[0019] Figure 6 is a schematic diagram of a use scenario 3;

[0020] Figure 7 is a schematic diagram of a structure for transferring materials after the work vehicle and the transfer vehicle are docked;

[0021] In the figure: 1 - work vehicle; 11 - work vehicle vision system; 12 - work vehicle loading tray; 13 - work vehicle empty / full load sensor; 14 - work vehicle docking device; 15 - contact sensor; 16 - work vehicle discharge port; 2 - docking line; 3 - transfer vehicle; 31 - transfer vehicle vision system; 32 - transfer vehicle loading tray; 33 - transfer vehicle empty / full load sensor; 34 - transfer vehicle docking device; 4 - material pipe; 5 - replenishment point; 6 - feeding gear disc. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0023] The purpose of the present application is to provide a cooperative operation unit and a multi-vehicle marshalling cooperative operation system to solve the problems existing in the prior art, reduce labor costs, and improve sand planting efficiency.

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Embodiment One

[0026] The present embodiment provides a cooperative operation unit, such as Figures 1-7As shown, suitable for sandy land, including operation vehicle 1, transfer vehicle 3, connecting line 2, connecting line automatic winding and unwinding device, inclination detection module and controller, the connecting line automatic winding and unwinding device is arranged on the operation vehicle 1 or the transfer vehicle 3, the free end of the connecting line 2 is connected to the transfer vehicle 3 or the operation vehicle 1, the connecting line automatic winding and unwinding device automatically winds the connecting line 2 when the operation vehicle 1 or the transfer vehicle 3 is close, and automatically unwinds the connecting line 2 when the operation vehicle 1 or the transfer vehicle 3 is far away, so that the unwound connecting line 2 is always in a straight line state, one side of the transfer vehicle 3 is the unloading side, one side of the operation vehicle 1 is the material receiving side, when the connecting line 2 is perpendicular to the unloading side and the material receiving side, the material receiving side is opposite to the unloading side and close to each other to realize docking, after docking, manual unloading or manual starting of the automatic unloading module is carried out to realize automatic unloading, when the inclination of the connecting line 2 exceeds the set threshold, the inclination detection module transmits to the controller and makes the controller control the transfer vehicle 3 to turn until the inclination is less than the set threshold.

[0027] The connecting line automatic winding and unwinding device can adopt any mechanism with automatic winding and unwinding control function in the prior art, for example, in the embodiment of the present application, the motor driven winding shaft is used to rotate to wind and unwind the connecting line 2, and a tension detection mechanism is used to detect the tension of the connecting line 2, after the tension detection mechanism detects the tension, the information is transmitted to the controller, when the tension between the connecting lines 2 is greater than the threshold set by the controller, the motor driven winding shaft is controlled to rotate to unwind, when the tension between the connecting lines 2 is less than the threshold set by the controller, the motor driven winding shaft is controlled to rotate to wind, specifically, the tension detection mechanism can be a tension sensor, the tension sensor is arranged on the transfer vehicle 3 and connected to the free end of the connecting line 2, and the tension sensor is used to detect the tension of the connecting line 2.

[0028] The operation vehicle 1 and the transfer vehicle 3 both have the function of independent driving, the inclination detection module, the controller and the connecting line 2 can realize intelligent docking of the operation vehicle 1 and the transfer vehicle 3, intelligent transfer of the material pipe 4 of the supply point 5, without manual control, and high docking accuracy, therefore, the scheme provided by the present application can reduce labor cost and improve the efficiency of sandy land planting.

[0029] To further enhance intelligence, in some embodiments, the transfer vehicle 3 is equipped with an automatic unloading module, enabling the work vehicle 1 to perform operations automatically, such as planting. The work vehicle 1 is equipped with a work vehicle vision system 11, a work vehicle loading tray 12, and a work vehicle empty / full load sensor 13. The transfer vehicle 3 is equipped with a transfer vehicle vision system 31, a transfer vehicle loading tray 32, and a transfer vehicle empty / full load sensor 33. Both the work vehicle loading tray 12 and the transfer vehicle loading tray 32 are used to carry the material pipe 4. The work vehicle empty / full load sensor 13 can detect the empty and full load status of the work vehicle loading tray 12. It can detect the empty and full load status of the transfer vehicle's material tray 32; the empty and full load sensors 13 and 33 of the work vehicle are both connected to the controller; when the material tray 12 of the work vehicle is empty, the controller controls the transfer vehicle 3 to move towards the work vehicle; when the transfer vehicle 3 transfers the material pipe 4 onto the work vehicle 1, when the material tray 12 of the work vehicle is full, the controller controls the work vehicle 1 to move and work according to the path planned by the controller; when the material tray 32 of the transfer vehicle is empty, the controller controls the transfer vehicle 3 to move towards the replenishment point 5 and manually load materials; when the material tray 32 of the transfer vehicle is full, manual loading stops.

[0030] The automatic unloading module is a feeding toothed disc 6. The feeding toothed discs 6 are arranged in pairs. The rotation of the feeding toothed disc 6 drives the material tube to move towards the working vehicle's material tray 12. The material tube is transported to the feeding end of the feeding toothed disc 6 and removed from the discharge end of the feeding toothed disc 6 by manual means, or the material tubes are connected in sequence to form a material tube string. In this way, the material on the transfer vehicle's material tray 32 is driven by the feeding toothed disc 6 to move the material tube towards the working vehicle's material tray 12, which in turn pulls other material tubes to move towards the feeding end of the feeding toothed disc 6.

[0031] Specifically, the feeding toothed disc 6 has four feeding teeth, and only one material tube 4 can be accommodated between any two feeding teeth, so that when the feeding toothed disc 6 rotates, the feeding teeth will move the material tube.

[0032] In some embodiments, the tilt detection module includes two contact sensors 15, which may be visual sensors. When the connecting line 2 comes into contact with the contact sensor 15, it will be detected by the contact sensor 15. Both contact sensors 15 are set on the work vehicle 1 and are located on both sides of the connecting line 2 respectively. The distance between the two contact sensors 15 and the connecting line 2 is equal. When the connecting line 2 tilts to contact the contact sensor 15 on either side, the contact sensor 15 transmits a signal to the controller. The controller controls the transfer vehicle 3 to turn until the connecting line 2 no longer contacts the contact sensor 15.

[0033] Use case 1, such as Figure 4 As shown.

[0034] The receiving side is opposite to the discharging side, the connection line 2 does not touch the contact sensors 15 on the left and right sides of the working vehicle 1, the contact sensors 15 do not send a turning signal, the transfer vehicle 3 drives straight to the working vehicle 1 until the transfer vehicle 3 and the working vehicle 1 are successfully connected.

[0035] The use scenario 2 is as shown in Figure 5 .

[0036] In the driving process of the transfer vehicle 3, the connection line 2 touches the contact sensor 15 on one side of the working vehicle 1, the contact sensor 15 sends a corresponding signal to the controller, the controller sends a turning signal to the transfer vehicle 3, the transfer vehicle 3 turns correspondingly until the connection line 2 is separated from the contact sensor 15, and the cycle continues until the transfer vehicle 3 and the working vehicle 1 are successfully connected.

[0037] The use scenario 3 is as shown in Figure 6 .

[0038] In the driving process of the transfer vehicle 3, the connection line 2 touches the contact sensor 15 on the other side of the working vehicle 1, the contact sensor 15 sends a corresponding signal to the controller, the controller sends a turning signal to the transfer vehicle 3, the transfer vehicle 3 turns correspondingly until the connection line 2 is separated from the contact sensor 15, and the cycle continues until the transfer vehicle 3 and the working vehicle 1 are successfully connected.

[0039] In some embodiments, the connection line 2 is a steel wire, which can bear a large pulling force and has a long service life.

[0040] The working vehicle 1 is formed by integrating an automatic planting device or a semi-automatic planting device in the prior art on a vehicle body.

[0041] Embodiment two

[0042] The embodiment provides a multi-vehicle marshalling cooperative working system, which comprises the cooperative working units in the embodiment one and a supply point 5, the transfer vehicle 3 is used for transferring the pipe 4 at the supply point 5 to the working vehicle 1, and the working vehicle 1 is used for automatically working.

[0043] The supply point 5 can be one or more, and the whole working scene can be divided into a plurality of working modules, and a group of cooperative working units in each working module cooperatively work.

[0044] The principle and implementation mode of the application are described by using specific examples in the application, and the above embodiment is only used for helping to understand the method and core idea of the application; meanwhile, according to the idea of the application, the specific implementation mode and application range will be changed by the person skilled in the art. In conclusion, the content of the specification should not be understood as the limitation of the application.

Claims

1. A collaborative work unit, characterized in that: For planting in sandy areas, the system includes a work vehicle, a transport vehicle, a connecting line, an automatic connecting line retraction device, a tilt detection module, and a controller. The automatic connecting line retraction device is mounted on the work vehicle or the transport vehicle. The free end of the connecting line is connected to the transport vehicle or the work vehicle. When the work vehicle or the transport vehicle approaches each other, the automatic connecting line retraction device automatically retracts the connecting line; when they move away from each other, the connecting line automatically extends, ensuring the extended connecting line remains straight. One side of the transport vehicle is the unloading side, and one side of the work vehicle is the receiving side. When the connecting line is perpendicular to both the unloading and receiving sides, the receiving side faces the unloading side and is close enough to achieve docking. The tilt detection module detects when the tilt of the connecting line exceeds a set threshold and transmits this information to the controller, causing the controller to steer the transport vehicle until the tilt is less than the set threshold. The work vehicle is used for planting operations; the transport vehicle carries the material pipe; the transport vehicle is equipped with an automatic unloading module; the work vehicle… The system is equipped with a vision system for the work vehicle, a material tray for the work vehicle, and empty / full load sensors for the work vehicle. The transfer vehicle is also equipped with a vision system for the transfer vehicle, a material tray for the transfer vehicle, and empty / full load sensors for the transfer vehicle. Both the material tray for the work vehicle and the material tray for the transfer vehicle are used to carry material pipes. The empty / full load sensors for the work vehicle and the transfer vehicle can detect the empty and full load status of the material tray for the work vehicle. Both the empty / full load sensors for the work vehicle and the empty / full load sensors for the transfer vehicle are communicatively connected to the controller. When the material tray for the work vehicle is empty, the controller controls the transfer vehicle to move towards the work vehicle. When the material tray for the transfer vehicle is full, the controller controls the work vehicle to travel and operate according to the path planned by the controller. When the material tray for the transfer vehicle is empty, the controller controls the transfer vehicle to move towards the supply point and manually load material. When the material tray for the transfer vehicle is full, manual loading stops. The tilt detection module includes two contact sensors, both of which are mounted on the work vehicle and located on opposite sides of the connecting line. The distance between the two contact sensors and the connecting line is equal. When the connecting line tilts to contact either of the contact sensors, the contact sensor transmits a signal to the controller. The controller then controls the transfer vehicle to turn until the connecting line no longer contacts the contact sensor.

2. The collaborative work unit according to claim 1, characterized in that: The connecting line is a steel wire.

3. A multi-vehicle train cooperative operation system, characterized in that: It includes several collaborative joint operation units and supply points as described in any one of claims 1 to 2, wherein the transfer vehicle is used to transfer the material pipe at the supply point to the operation vehicle, and the operation vehicle is used to carry out planting operations automatically or semi-automatically.

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