A row-following and contour-following agricultural working device and a working control method thereof

Abstract

The present invention relates to the technical field of agricultural machinery, and in particular to a row alignment and profiling agricultural operation device and an operation control method for agriculture. The control method includes a row alignment control method and a profiling control method; the present invention can achieve row alignment and profiling between rows through a set of sensors, has strong versatility, is applicable to various crops and different agricultural equipment requirements, is convenient to install the system, and has a wide application range. Regarding profiling in the present invention, it is mainly used to adjust the height of the operation components of agricultural machinery (such as harvesters, sprayers, fertilizer spreaders, etc.) from the ground and the distance from the crops. Regarding row alignment in the present invention, based on a depth camera or a distance sensor, the height and distance of the crops are obtained, and the row position and the position between rows of the crops are obtained through the analysis of the depth distance information, and then the offset of the operation machine relative to the position between the crop rows is calculated to achieve automatic row alignment. Both the profiling and row alignment systems can be started or stopped through a switch control. After turning off the automatic adjustment, the operator can still easily control manually.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a row alignment and contour following agricultural operation device and an operation control method for agriculture. Background Art

[0002] At present, automation has been gradually adopted in the agricultural field, such as agricultural machines like seeders, fertilizer spreaders, and pesticide sprayers. These agricultural machines can travel on ridges and perform operations such as seeding, fertilizing, and pesticide spraying, greatly improving the work efficiency of agricultural personnel. However, the existing agricultural machine automation is not perfect, resulting in the existing agricultural machines being deflected when encountering relatively complex terrains (such as pits, slopes, etc.) during actual operations, and then causing situations such as crushing and breaking of crops. Therefore, there are defects in the actual operation control of the existing agricultural machines. Summary of the Invention

[0003] The purpose of the present invention is to propose a row alignment and contour following agricultural operation device and an operation control method for agriculture in order to solve the above problems.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] An agricultural row alignment and contour following operation control method, the control method includes a row alignment control method and a contour following control method;

[0006] The row alignment control method includes:

[0007] Press the wheels at the bottom of the device main body against the side of the ridge;

[0008] During the traveling process, use the angle sensors installed at the wheels to detect the swing angle to obtain the offset of the device main body relative to the ridge surface in real time;

[0009] According to the offset, control the wheels to keep pressing against the side of the ridge to achieve automatic row alignment of the ridge;

[0010] And / or:

[0011] Use multi-point distance sensors to obtain the height data and distance data of the crops to be operated;

[0012] According to the height data and distance data, obtain the position information between the crop row itself and adjacent crop rows;

[0013] Calculate the offset of the device main body relative to the space between crop rows according to the position information;

[0014] Control the wheels according to the offset to achieve automatic row alignment of the position between rows;

[0015] The contour following control method includes:

[0016] S1. Use a multi-point distance sensor to obtain the crop height H1, the horizontal distance L between the device main body and the crop, and the distance H2 between the device main body and the ground. The horizontal distance L includes a left horizontal distance L1 and a right horizontal distance L2;

[0017] S2. Based on S1, obtain the difference a between the distance H2 between the device main body and the ground and the crop height H1;

[0018] S3. Based on S2, adjust the distance H2 between the device main body and the ground through the profiling module;

[0019] The row alignment control method and the profiling control method share the same set of the multi-point distance sensors.

[0020] Preferably, the crop height H1, the horizontal distance L between the device main body and the crop, and the distance H2 between the device main body and the ground are obtained through the multi-point distance sensor;

[0021] The actuator of the profiling module is used to adjust the height of the working component on the device main body from the top of the crop to be worked according to the crop height H1 so as to improve the working effect;

[0022] The actuator of the profiling module is used to adjust the height of the working component on the device main body from the ground according to the distance H2 so as to improve the working effect.

[0023] Preferably, the execution actions of the row alignment module and the profiling module are both realized by a traveling mechanism arranged at the device main body;

[0024] Preferably, the multi-point distance sensor is a depth camera or a lidar.

[0025] Preferably, the actuator of the profiling module includes a clutch motor and a driving steering hydraulic valve; the working component is a harvester cutting table or a sprayer nozzle.

[0026] An agricultural row alignment and profiling agricultural working device is used to implement the above-mentioned agricultural row alignment and profiling agricultural working control method. It includes a device main body, and the device main body includes a carrier plate. The upper end surface of the carrier plate is used to install a working machine, and the working machine is used to perform any one of watering, spraying medicine, fertilizing, and harvesting operations; a traveling mechanism is arranged on the lower end surface of the carrier plate, and the traveling mechanism is used to drive the working machine at the carrier plate to adaptively travel between the ridges; a main controller is arranged in the carrier plate, a row alignment module and a profiling module are arranged in the main controller, and the traveling mechanism performs actions under the command of the main controller.

[0027] During actual use of the present invention, the user can install the working machine (any one of a sprinkler, a pesticide spraying machine, a fertilizer applicator, and a harvester) on the upper end surface of the carrier plate. Subsequently, the main body of the device is placed between the ridges, and the main body of the device is started, so that the traveling mechanism drives the working machine at the carrier plate to adaptively travel between the ridges, and performs any one of the operations of watering, spraying pesticides, applying fertilizers, and harvesting on the crops;

[0028] During the walking process of the main body of the device, the row alignment module always obtains the height of the crops and the distance between the main body of the device and the crops, thereby calculating the offset of the main body of the device relative to the crop rows, and adjusting the working machine through the traveling mechanism, so as to avoid derailment phenomena such as skew during the walking process of the main body of the device due to complex terrain, and further avoid situations such as crushing and breaking of the crops; the profiling module always measures the distance between the working machine and the ground and the distance from the crops, and adjusts the distance between the working machine and the ground according to the set height value comparison, so that the working machine is at least higher than the highest point of the crop branches and leaves, thus preferably realizing any one of the operations of watering, spraying pesticides, applying fertilizers, and harvesting by the working machine.

[0029] Preferably, the traveling mechanism includes four walking legs respectively located at the four corners of the carrier plate; the four walking legs and the carrier plate form a frustum structure, and the walking legs are rotatably arranged on the lower end surface of the carrier plate. The walking legs are successively provided with a buffer mechanism, a telescopic mechanism, a steering mechanism, and a driving mechanism from top to bottom; the buffer mechanism is used to provide a buffering force during the walking process of the main body of the device, the telescopic mechanism is used to adjust the height of the working machine from the ground, the steering mechanism is used to adjust the steering of the driving mechanism, and the driving mechanism is used to drive the main body of the device to walk.

[0030] Through the above structure, the four walking legs work together to jointly realize the adaptive walking of the main body of the device between the ridges. Since the terrain between the ridges is complex and diverse, the buffer mechanism can provide a buffering force for the main body of the device, so that the main body of the device will not jolt during the walking process; if the distance parameters obtained by the depth camera and the distance sensor detect that the working machine is lower than the crops, the telescopic mechanisms at the four walking legs will synchronously expand and contract to adjust the height of the working machine from the ground to the set height, facilitating the operation of the working machine.

[0031] Among them, the four walking legs and the carrier plate form a frustum structure, which is relatively stable, improves the anti-tipping ability of the main body of the device, and ensures the reliable operation performance of the main body of the device.

[0032] Preferably, the carrier plate is provided with bases at the four corners respectively, the ends of the corresponding walking legs are installed at the bases, the ends of the walking legs are provided with first gears, the first gears rotate at the bases, and the bases are also provided with first motors, and the output shafts of the first motors are provided with second gears for meshing with the first gears.

[0033] With the above structure, the main controller issues instructions to the traveling mechanism according to the distance parameters obtained by the depth camera and the distance sensor. When the carrier plate deviates from the predetermined track due to complex terrain, the first motor drives the second gear to mesh with the first gear, controlling the rotation of the walking legs to adapt to the complex terrain and keeping the main body of the device walking normally between the ridges, thereby better realizing the operation of the working machine on the crop at the main body of the device.

[0034] Preferably, the buffer mechanism includes a movable rod. The first gear is arranged at one end of the movable rod. A stroke frame is provided at the telescopic mechanism. An activity hole is provided at the stroke frame, and the other end of the movable rod passes through the activity hole. A first baffle is provided at the end of the movable rod passing through the activity hole. A second baffle is provided on the movable rod. A damping spring is provided between the second baffle and the stroke frame. The walking legs are kept in cooperation with the ground under the action of the compression spring; the activity hole is a spline hole, and splines matching the spline hole are provided on the outer wall of the movable rod.

[0035] With the above structure, when the main body of the device is walking between the ridges and bumps occur due to complex terrain, the damping spring of the buffer mechanism can preferably provide a buffering force to prevent the main body of the device from tipping over.

[0036] Among them, the structure of the activity hole is a spline hole, which restricts the circumferential movement of the movable rod at the activity hole, avoiding the phenomenon of the walking legs rotating by themselves.

[0037] Preferably, the telescopic mechanism includes a telescopic sleeve. The stroke frame is installed at the corresponding end of the telescopic sleeve. A second motor is fixed inside the telescopic sleeve. An external threaded column is provided on the output shaft of the second motor. An internal threaded column for thread-matching with the external threaded column is provided inside the telescopic sleeve. The steering mechanism is arranged at the end of the internal threaded column extending out of the telescopic sleeve. A limiting channel is arranged along the axial direction on the inner wall of the telescopic sleeve, and a limiting track for moving in the limiting channel is provided on the outer wall of the internal threaded column.

[0038] With the above structure, when the distance parameters obtained by the depth camera and the distance sensor detect that the working machine is lower than the crop, the telescopic mechanisms at the four walking legs synchronously expand and contract. When expanding and contracting, the second motor drives the external threaded column to rotate. Under the action of the rotation of the external thread, the internal threaded column extends out of the telescopic sleeve, thereby preferably realizing the overall increase in the height of the carrier plate from the ground, facilitating the working machine to operate on the crop.

[0039] Among them, the setting of the limiting channel and the limiting channel restricts the circumferential movement of the internal threaded column inside the telescopic sleeve, so that the internal threaded column moves linearly along the axial direction of the telescopic sleeve under the action of the external threaded column.

[0040] Preferably, the steering mechanism includes a rotating housing. The rotating housing is installed at the end of the internal threaded column. A third motor is provided inside the rotating housing, and the driving mechanism is installed at the output shaft of the third motor.

[0041] With the above structure, the master controller issues instructions to the traveling mechanism according to the distance parameters obtained by the depth camera and the distance sensor. When the carrier plate deviates from the predetermined track due to complex terrain, the third motor drives the driving mechanism to turn, which can better adjust the traveling direction of the device body.

[0042] Preferably, the driving mechanism includes a driving housing. A bridge shaft is provided inside the driving housing. A driving wheel and a driven wheel are respectively provided on both sides of the bridge shaft. A fourth motor is provided inside the bridge shaft, and the fourth motor is used to drive the driving wheel to rotate.

[0043] With the above structure, the fourth motor drives the driving wheel to rotate, so as to better realize the traveling of the device body between the ridges.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention can be carried out for ridge crops (such as vegetables, tobacco, etc.) by a row-by-row method suitable for ridges. Specifically, the wheels equipped with angle sensors can be in contact with the side of the ridge, and the swing angle is detected by the angle sensor, and the offset of the machine relative to the ridge surface is calculated. Then, by controlling the clutch motor and driving the hydraulic steering push rod, automatic row alignment can be realized; the clutch motor can disconnect the clutch when not powered or the system is not started. When the whole device is in use, the user can manually operate the steering to facilitate the transformation of the existing machine type, which is simple, convenient and low-cost.

[0046] 2. The present invention can also achieve row alignment and profiling between rows through a set of sensors, with strong versatility, suitable for a variety of crops and different agricultural equipment requirements, and the system is easy to install and has a wide application range.

[0047] 3. Regarding profiling in the present invention, it is mainly used to adjust the height of the working parts of agricultural machinery (such as harvesters, sprayers, fertilizer spreaders, etc.) from the ground and the distance from the crops. Through the depth camera or the distance sensor, the height of the crops and the distance from the ground are calculated, and by comparing with the set required height, the clutch motor is adjusted to drive the lifting valve to act, and then the height of the working parts is adjusted.

[0048] 4. Regarding row alignment in the present invention, based on the depth camera or the distance sensor, the height and distance of the crops are obtained, the row position and the inter-row position of the crops are obtained through the analysis of the depth distance information, and then the offset of the working machine relative to the crop rows is calculated, and by controlling the clutch motor and driving the steering hydraulic valve, automatic row alignment is realized. Both the profiling and row alignment systems can be started or closed through switches. After turning off the automatic adjustment, the operator can still manually operate it easily. Description of the Drawings

[0049] Figure 1Shows a demonstration schematic diagram of the relevant structure of the row control method of the ridge according to Embodiment 1.

[0050] Figure 2 Shows a demonstration schematic diagram of the relevant structure of the automatic row alignment of the inter-row position according to Embodiment 1.

[0051] Figure 3 Shows a demonstration schematic diagram of the relevant structure of the profiling control method according to Embodiment 1;

[0052] Figure 4 Shows a schematic diagram of the structure of the device body according to an embodiment of the present invention.

[0053] Figure 5 Shows a partial schematic diagram of the structure of the device body according to an embodiment of the present invention.

[0054] Figure 6 Shows a schematic diagram of the structure of the carrier plate according to an embodiment of the present invention.

[0055] Figure 7 Shows a schematic diagram of the structure of the traveling mechanism according to an embodiment of the present invention.

[0056] Figure 8 Shows a schematic diagram of the structure of the movable rod according to an embodiment of the present invention.

[0057] Figure 9 Shows a partial schematic diagram of the structure of the traveling mechanism according to an embodiment of the present invention.

[0058] Figure 10 Shows a cross-sectional schematic diagram of the traveling mechanism according to an embodiment of the present invention.

[0059] Figure 11 Shows a schematic diagram of the structure of the telescopic sleeve according to an embodiment of the present invention.

[0060] Figure 12 Shows a schematic diagram of the structure of the drive mechanism according to an embodiment of the present invention.

[0061] Legend:

[0062] 100. Device main body; 110. Carrier plate; 120. Mounting base; 130. Traveling mechanism; 140. Bracket; 150. Extension frame; 210. Control groove; 310. Base; 410. Movable rod; 411. First gear; 420. First motor; 421. Second gear; 430. Damping spring; 440. Stroke frame; 450. Telescopic sleeve; 460. Rotating housing; 470. Driving housing; 481. Driving wheel; 482. Driven wheel; 510. First baffle; 520. Second baffle; 530. Spline; 610. Movable hole; 710. Second motor; 720. External threaded column; 730. Internal threaded column; 740. Third motor; 750. Bridge shaft; 760. Fourth motor; 810. Limit channel; 910. Limit track. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0064] Embodiment 1

[0065] Please refer to Figures 1-3 , this embodiment provides an agricultural row alignment and profiling agricultural operation control method, and the control method includes a row alignment control method and a profiling control method;

[0066] In combination with Figure 1 , the row alignment control method includes:

[0067] Press the wheels at the bottom of the device main body against the side of the ridge;

[0068] During the traveling process, use the angle sensor installed at the wheels to detect the swing angle to obtain the offset of the device main body relative to the ridge surface in real time;

[0069] According to the offset, control the wheels to keep pressing against the side of the ridge to achieve automatic row alignment of the ridge;

[0070] And / or:

[0071] In combination with Figure 2 , use a multi-point distance sensor to obtain the height data and distance data of the crops to be operated;

[0072] According to the height data and distance data, obtain the position information between the crop row itself and the adjacent crop rows;

[0073] Calculate the offset of the device main body relative to the crop rows according to the position information;

[0074] Control the wheels according to the offset to achieve automatic alignment of the inter-row position;

[0075] Combined with Figure 3 , the profiling control method includes:

[0076] S1. Use a multi-point distance sensor to obtain the crop height H1, the horizontal distance L between the device main body and the crop, and the distance H2 between the device main body and the ground. The horizontal distance L includes the left horizontal distance L1 and the right horizontal distance L2;

[0077] S2. Based on S1, obtain the difference a between the distance H2 between the device main body and the ground and the crop height H1;

[0078] S3. Based on S2, adjust the distance H2 between the device main body and the ground through the profiling module;

[0079] The row alignment control method and the profiling control method share the same set of the multi-point distance sensors.

[0080] In this embodiment, the crop height H1, the horizontal distance L between the device main body and the crop, and the distance H2 between the device main body and the ground are obtained through a multi-point distance sensor;

[0081] The actuator of the profiling module is used to adjust the height of the working component on the device main body (100) from the top of the crop to be worked according to the crop height H1, so as to improve the working effect;

[0082] The actuator of the profiling module is used to adjust the height of the working component on the device main body (100) from the ground according to the distance H2, so as to improve the working effect.

[0083] In this embodiment, the execution actions of the row alignment module and the profiling module are both realized by a walking mechanism arranged at the device main body 100;

[0084] In this embodiment, the multi-point distance sensor is a depth camera or a lidar.

[0085] In this embodiment, the actuator of the profiling module includes a clutch motor and a driving steering hydraulic valve; the working component is a harvester cutting table or a sprayer nozzle.

[0086] Embodiment 2

[0087] Please refer to Figures 4-12 , the present invention provides a technical solution to be applied to Embodiment 1 and used for carrying a working equipment (working machine) and automatic walking;

[0088] An in-row and contour-following agricultural operation device, which is used to implement the above-mentioned in-row and contour-following agricultural operation control method, includes a device main body 100. The device main body 100 includes a carrier plate 110. The upper end surface of the carrier plate 110 is used to install an operation machine, and the operation machine is used to perform any one of watering, spraying medicine, fertilizing, and harvesting operations; a traveling mechanism 130 is provided on the lower end surface of the carrier plate 110, and the traveling mechanism 130 is used to drive the operation machine at the carrier plate 110 to adaptively travel between the ridges; a main controller is provided inside the carrier plate 110, and the main controller includes an in-row module and a contour-following module. The in-row module is used to obtain the crop height and the distance between the device main body 100 and the crop; the contour-following module is used to obtain the distance between the operation machine and the ground and the distance from the crop, and the traveling mechanism 130 performs actions under the command of the main controller.

[0089] In actual use of this embodiment, the user can install the operation machine (any one of a water sprinkler, a medicine sprayer, a fertilizer applicator, and a harvester) on the upper end surface of the carrier plate 110, and then place the device main body 100 between the ridges, start the device main body 100, so that the traveling mechanism 130 drives the operation machine at the carrier plate 110 to adaptively travel between the ridges, and perform any one of watering, spraying medicine, fertilizing, and harvesting operations on the crops;

[0090] During the walking process of the device main body 100, the in-row module always obtains the crop height and the distance between the device main body 100 and the crop, thereby calculating the offset of the device main body 100 relative to the crop row space, and adjusting the operation machine through the traveling mechanism 130, so as to avoid derailment phenomena such as skewing of the device main body 100 during the walking process due to complex terrain, and further avoid situations such as crushing and breaking of the crops; the contour-following module always obtains the distance between the operation machine and the ground and the distance from the crop, and adjusts the distance between the operation machine and the ground according to the set height value, so that the operation machine is at least higher than the highest point of the crop branches and leaves, thus better realizing any one of watering, spraying medicine, fertilizing, and harvesting operations performed by the operation machine.

[0091] In this embodiment, an installation surface is provided on the upper end surface of the carrier plate 110, and a plurality of mounting seats 120 are provided on the installation surface, and the operation machine is used to be installed at the mounting seats 120.

[0092] Through the above structure, any one of a water sprinkler, a medicine sprayer, a fertilizer applicator, and a harvester can be installed on the carrier plate 110, so that the traveling mechanism 130 can better drive the operation machine to perform operations on the crops between the ridges.

[0093] In this embodiment, a control groove 210 is provided at the carrier plate 110, and the main controller is used to be installed in the control groove 210; a bracket 140 is provided on the upper end surface of the carrier plate 110 at the walking end of the device main body 100. Two extension frames 150 branch out from the upper end of the bracket 140. The two extension frames 150 are respectively located on both sides of the walking direction of the device main body 100. A depth camera and a distance sensor are provided at the end of the extension frame 150; the depth camera and the distance sensor are used to obtain corresponding distance parameters, and the main controller issues commands to the walking mechanism 130 based on the parameters.

[0094] With the above structure, a storage battery is also installed in the control groove 210. The storage battery can supply power to the main controller well and provide power supply for the device main body 100 to perform operations; secondly, the storage battery can also increase the weight of the device main body 100, so that the device main body 100 has a greater pressure on the ground, and then the walking mechanism 130 has better grip; the distance parameters obtained by the depth camera and the distance sensor in this embodiment include the crop height, the distance between the device main body 100 and the crop, the distance between the working machine and the ground, and the distance between the working machine and the crop, so as to better realize that the main controller issues commands to the walking mechanism 130 based on the parameters;

[0095] It is worth mentioning that when the main controller issues commands to the walking mechanism 130 based on the parameters, the plate surface of the carrier plate 110 always remains horizontal with the horizontal plane.

[0096] In this embodiment, the walking mechanism 130 includes four walking legs respectively located at the four corners of the carrier plate 110; the four walking legs and the carrier plate 110 form a frustum structure. The walking legs are rotatably arranged at the lower end surface of the carrier plate 110. The walking legs are successively provided with a buffer mechanism, a telescopic mechanism, a steering mechanism and a driving mechanism from top to bottom; the buffer mechanism is used to provide a buffering force during the walking process of the device main body 100, the telescopic mechanism is used to adjust the height of the working machine from the ground, the steering mechanism is used to adjust the steering of the driving mechanism, and the driving mechanism is used to drive the device main body 100 to walk.

[0097] With the above structure, the four walking legs work together to realize the adaptive walking of the device main body 100 between the ridges. Since the terrain between the ridges is complex and diverse, the buffer mechanism can provide a buffering force for the device main body 100 so that the device main body 100 will not jolt during the walking process; if the distance parameters obtained by the depth camera and the distance sensor detect that the working machine is lower than the crop, the telescopic mechanisms at the four walking legs will synchronously expand and contract to adjust the height of the working machine from the ground to the set height, which is convenient for the working machine to perform operations.

[0098] Among them, the four walking legs and the carrier plate 110 form a frustum structure, which is relatively stable, improves the anti-tipping ability of the device main body 100, and ensures the reliable operation performance of the device main body 100.

[0099] In this embodiment, bases 310 are respectively provided at the four corners of the carrier plate 110. The ends of the corresponding walking legs are installed at the bases 310. A first gear 411 is provided at the end of the walking leg. The first gear 411 rotates at the base 310. A first motor 420 is also provided at the base 310. A second gear 421 for meshing with the first gear 411 is provided on the output shaft of the first motor 420.

[0100] With the above structure, the main controller issues instructions to the traveling mechanism 130 according to the distance parameters obtained by the depth camera and the distance sensor. When the carrier plate 110 deviates from the predetermined track due to complex terrain, the first motor 420 drives the second gear 421 to mesh with the first gear 411, controlling the rotation of the walking legs to adapt to the complex terrain and keeping the main body 100 of the device walking normally between the ridges, so as to better realize the operation of the working machine on the main body 100 of the device on the crops.

[0101] In this embodiment, the buffer mechanism includes a movable rod 410. The first gear 411 is arranged at one end of the movable rod 410. A stroke frame 440 is provided at the telescopic mechanism. An activity hole 610 is provided at the stroke frame 440. The other end of the movable rod 410 penetrates into the activity hole 610. A first baffle 510 is provided at the end of the movable rod 410 penetrating into the activity hole 610. A second baffle 520 is provided on the movable rod 410. A damping spring 430 is provided between the second baffle 520 and the stroke frame 440. The walking legs are kept in cooperation with the ground under the action of the compressed spring; the activity hole 610 is a spline hole, and a spline 530 matching the spline hole is provided on the outer wall of the movable rod 410.

[0102] With the above structure, when the main body 100 of the device walks between the ridges and bumps occur due to complex terrain, the damping spring 430 of the buffer mechanism can provide a better buffering force to prevent the main body 100 of the device from tipping over.

[0103] Among them, the structure of the activity hole 610 is a spline hole, which restricts the circumferential movement of the movable rod 410 at the activity hole 610, avoiding the phenomenon of the walking legs rotating by themselves.

[0104] In this embodiment, the telescopic mechanism includes a telescopic sleeve 450. The stroke frame 440 is installed at the corresponding end of the telescopic sleeve 450. A second motor 710 is fixed in the telescopic sleeve 450. An external threaded column 720 is provided on the output shaft of the second motor 710. An internal threaded column 730 for threaded cooperation with the external threaded column 720 is provided in the telescopic sleeve 450. The steering mechanism is arranged at the end of the internal threaded column 730 extending out of the telescopic sleeve 450. A limiting channel 810 is axially provided on the inner wall of the telescopic sleeve 450. A limiting track 910 moving in the limiting channel 810 is provided on the outer wall of the internal threaded column 730.

[0105] With the above structure, when the distance parameters obtained by the depth camera and the distance sensor detect that the working machine is lower than the crop, the telescopic mechanisms at the four walking legs extend and retract synchronously. During the extension and retraction, the second motor 710 drives the external thread column 720 to rotate. Under the action of the external thread rotation, the internal thread column 730 extends out of the telescopic sleeve 450, thereby preferably realizing an overall increase in the height of the carrier plate 110 from the ground, facilitating the working machine to work on the crop.

[0106] Among them, the setting of the limiting groove 810 and the limiting groove 810 restricts the circumferential direction of the internal thread column 730 within the inner circumference of the telescopic sleeve 450, so that the internal thread column 730 moves linearly along the axial direction of the telescopic sleeve 450 under the action of the external thread column 720.

[0107] In this embodiment, the steering mechanism includes a rotating housing 460. The rotating housing 460 is installed at the end of the internal thread column 730. A third motor 740 is provided inside the rotating housing 460, and the driving mechanism is installed at the output shaft of the third motor 740.

[0108] With the above structure, the main controller issues instructions to the walking mechanism 130 according to the distance parameters obtained by the depth camera and the distance sensor. When the carrier plate 110 deviates from the predetermined track due to complex terrain, the third motor 740 drives the driving mechanism to turn, preferably adjusting the walking direction of the device main body 100.

[0109] In this embodiment, the driving mechanism includes a driving housing 470. A bridge shaft 750 is provided inside the driving housing 470. A driving wheel 481 and a driven wheel 482 are respectively provided on both sides of the bridge shaft 750. A fourth motor 760 is provided inside the bridge shaft 750, and the fourth motor 760 is used to drive the driving wheel 481 to rotate.

[0110] With the above structure, the fourth motor 760 drives the driving wheel 481 to rotate, thereby preferably realizing the walking of the device main body 100 between the ridges.

[0111] 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 obvious to those skilled in the art. The general principles defined herein can 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 these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural row-aligning and contouring agricultural operation device, characterized in that: The device comprises a device body (100), the device body (100) comprises a carrier plate (110), the upper end surface of the carrier plate (110) is used to install an operating machine, the operating machine is used to perform any one of the four operations of watering, spraying, fertilizing and harvesting; the lower end surface of the carrier plate (110) is provided with a walking mechanism (130), the walking mechanism (130) is used to drive the operating machine on the carrier plate (110) to walk adaptively between ridges; a main controller is provided in the carrier plate (110), a row module and a profiling module are arranged in the main controller, and the walking mechanism (130) performs actions under the command of the main controller; The walking mechanism (130) comprises four walking legs respectively located at the four corners of the carrying plate (110); the four walking legs and the carrying plate (110) form a prism structure, the walking legs are rotatably arranged at the lower end surface of the carrying plate (110), and the walking legs are provided with a buffer mechanism, a telescopic mechanism, a steering mechanism and a driving mechanism in order from top to bottom; the buffer mechanism is used to provide a buffer force when the device body (100) is walking, the telescopic mechanism is used to adjust the height of the working machine and the ground, the steering mechanism is used to adjust the steering of the driving mechanism, and the driving mechanism is used to drive the device body (100) to walk; The carrier plate (110) is provided with a base (310) at each of the four corners, and the ends of the corresponding walking legs are installed at the base (310). The ends of the walking legs are provided with a first gear (411), and the first gear (411) rotates at the base (310). The base (310) is also provided with a first motor (420), and the output shaft of the first motor (420) is provided with a second gear (421) for meshing with the first gear (411); The buffer mechanism comprises a movable rod (410), a first gear (411) arranged at one end of the movable rod (410), a travel frame (440) arranged at the telescopic mechanism, a movable hole (610) arranged at the travel frame (440), the movable hole (610) for the other end of the movable rod (410) to penetrate, a first baffle (510) arranged at the end of the movable rod (410) penetrating the movable hole (610), a second baffle (520) arranged at the movable rod (410), a damping spring (430) arranged between the second baffle (520) and the travel frame (440), and the walking leg keeps matching with the ground under the action of the compression spring; the movable hole (610) is a spline hole, and the outer wall of the movable rod (410) is provided with a spline (530) matching the spline hole.

2. The agricultural row-aligning and contouring agricultural operation device according to claim 1, characterized in that: The telescopic mechanism comprises a telescopic sleeve (450), a travel frame (440) is installed at the corresponding end of the telescopic sleeve (450), a second motor (710) is fixed in the telescopic sleeve (450), an output shaft of the second motor (710) is provided with an external thread column (720), an internal thread column (730) for threadedly matching with the external thread column (720) is provided in the telescopic sleeve (450), a steering mechanism is arranged at the end of the internal thread column (730) extending out of the telescopic sleeve (450), a limiting groove (810) is provided on the inner wall of the telescopic sleeve (450) along the axial direction, and a limiting track (910) is provided on the outer wall of the internal thread column (730) and moves in the limiting groove (810).

3. The agricultural row-aligning and contouring agricultural operation device according to claim 2, characterized in that: The steering mechanism comprises a rotating housing (460), the rotating housing (460) is mounted at the end of the internal threaded column (730), a third motor (740) is arranged in the rotating housing (460), and the driving mechanism is mounted at the output shaft of the third motor (740).

4. The agricultural row-aligning and contouring agricultural operation device according to claim 3, characterized in that: The driving mechanism comprises a driving housing (470), a bridge shaft (750) is arranged in the driving housing (470), a driving wheel (481) and a driven wheel (482) are arranged on both sides of the bridge shaft (750), and a fourth motor (760) is arranged in the bridge shaft (750), and the fourth motor (760) is used to drive the driving wheel (481) to rotate.

5. A method for controlling row and contour agricultural operations for agricultural use, characterized in that: Based on the device body (100) according to any one of claims 1 to 4, the control method includes a line control method and a profile control method; The row control method comprises: Placing the wheels at the bottom of the device body (100) against the side of the ridge; During the traveling process, the swing angle is detected by using an angle sensor installed at the wheel to obtain the offset of the device body (100) relative to the ridge surface in real time; According to the offset, the wheels are controlled to remain close to the side of the ridge, so as to achieve automatic alignment of the ridge; and / or: Use multi-point distance sensors to obtain height data and distance data of crops to be operated; Acquire position information between the crop row itself and adjacent crop rows according to the height data and the distance data; Calculating the offset of the device body (100) relative to crop rows according to the position information; Controlling the wheels according to the offset to achieve automatic alignment between rows; The profiling control method comprises: S1, using a multi-point distance sensor to obtain a crop height H1 and a horizontal distance L between the device body (100) and the crop, and a distance H2 between the device body (100) and the ground, wherein the horizontal distance L includes a left horizontal distance L1 and a right horizontal distance L2; S2, based on S1, obtaining a difference a between a distance H2 between the device body (100) and the ground and a height H1 of the crop; S3, based on S2, adjusting the distance H2 between the device body (100) and the ground through the profiling module; The row control method and the contour control method share the same set of multi-point distance sensors.

6. The method for controlling row alignment and contouring agricultural operations according to claim 5, characterized in that: The crop height H1, the horizontal distance L between the device body (100) and the crop, and the distance H2 between the device body (100) and the ground are acquired through a multi-point distance sensor; The actuator of the profiling module is used to adjust the height of the working components on the device body (100) from the top of the crop to be worked on according to the crop height H1, so as to improve the working effect; The actuator of the profiling module is used to adjust the height of the working parts on the device body (100) from the ground according to the distance H2, so as to improve the working effect.

7. The method for controlling row alignment and contouring agricultural operations according to claim 5, characterized in that: The execution actions of the alignment module and the profiling module are both realized through a walking mechanism arranged at the device body (100).

8. The method for controlling row alignment and contouring agricultural operations according to claim 5, characterized in that: The multi-point distance sensor is a depth camera or a laser radar.

9. The method for controlling row alignment and contouring agricultural operations according to claim 5, characterized in that: The actuator of the profiling module includes a clutch motor and a driving steering hydraulic valve; the operating component is a harvester header or a sprayer nozzle.

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