Transplanting machine with obstacle avoidance function

Abstract

The invention relates to the technical field of transplanters, and provides a transplanter with an obstacle avoidance function, the transplanter comprises a rack, two ends of the rack are respectively provided with a front wheel assembly and a rear wheel assembly, the front wheel assembly is connected with the rack through a steering mechanism, and the rear wheel assembly is connected with the rack through a power driving mechanism. A machine body and a control box are arranged on the surface of the rack, and a laser radar is installed in front of the machine body and used for detecting the surrounding environment and recognizing static obstacles and dynamic obstacles. According to the method, a transplanting global coverage path of the transplanter is constructed by utilizing a decision control system according to field information known in advance. The laser radar is used for identifying dynamic and static obstacles, and when the dynamic obstacles are detected, the heading of the transplanter, different meeting angles of the dynamic obstacles and the speed between the transplanter and the obstacles give a control quantity by the decision control system, so that the transplanter avoids at different speeds; and it is ensured that the transplanter runs on an original globally planned coverage path.

Description

Technical Field

[0001] The invention relates to the technical field of transplanters, in particular to a transplanter with an obstacle avoidance function. Background Art

[0002] Transplanters are planting machines that can plant seedlings according to certain agronomic requirements. Commonly used ones include rice transplanters, corn transplanters, beet transplanters, tobacco transplanters, vegetable transplanters, tree planting machines, and transplanters. Traditional transplanters generally include a frame, a suspension frame, a walking wheel, a rower, a pressing and covering wheel, a seat, a seedling tray, and other structures. The transplanter is moved by manually driving the machine and manually starting it.

[0003] With the continuous improvement of agricultural mechanization level, agricultural machinery navigation and control technology has gradually developed into one of the research hotspots in the field of agricultural machinery. In order to achieve the goal of automatic driving and autonomous navigation of the transplanter, a transplanter with obstacle avoidance function is proposed. Summary of the invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a transplanter with obstacle avoidance function, including a frame, a front wheel assembly and a rear wheel assembly are respectively arranged at both ends of the frame, the front wheel assembly is connected to the frame through a steering mechanism, the rear wheel assembly is connected to the frame through a power drive mechanism, and an organism and a control box are arranged on the surface of the frame.

[0005] A laser radar is installed in the front of the body to detect the surrounding environment and identify static obstacles and dynamic obstacles. Two GNSS antennas are arranged on the central axis of the frame. The two GNSS antennas form a vector for determining navigation information. A Beidou navigation differential system and a decision control system are installed inside the control box. The Beidou navigation differential system is used to provide the position, speed and attitude state information of the motion actuator, and transmit the information obtained by the Beidou positioning system to the decision control system through the receiver by serial port communication. The decision control system can be used to plan a reciprocating global path and guide the steering mechanism to complete the corresponding driving action.

[0006] Preferably, the Beidou navigation differential system includes a Beidou navigation reference station, a Beidou navigation mobile station and a data processing module;

[0007] Preferably, the Beidou navigation base station is used to obtain Beidou navigation positioning data, and the Beidou navigation mobile station is used to obtain real-time positioning data of the transplanter. After differential operation, the three-dimensional coordinates of the transplanter are obtained, and combined with the heading and speed information of the transplanter, the transplanter is controlled by the decision-making control system to realize global path tracking. The Beidou navigation base station is set on a fixed ground. The base station calculates and compares the longitude and latitude data received at each moment with the three-dimensional coordinates when the base station is set, and obtains the differential data at each moment, and sends these data through the base station radio station. The mobile station radio station receives the differential data sent by the base station radio station, and after transmitting the data to the mobile station, the mobile station corrects the data measured by itself after receiving it, thereby completing the entire differential process.

[0008] The data processing module is used to perform data processing according to the coordinate values ​​of the transplanter to obtain autonomous navigation data of the transplanter.

[0009] Preferably, the steering mechanism includes a rotating frame connected to the front wheel assembly, the rotating frame is rotatably connected to the frame, one end of the rotating frame is rotatably connected to a steering rack, a steering drive motor is mounted on the surface of the frame, a gear is fixed to the driving end of the steering drive motor, the steering rack is meshingly connected to the gear, and the traverse of the steering rack drives the rotating frame and the front wheel assembly to rotate to achieve steering.

[0010] Preferably, the power drive mechanism comprises a power drive motor mounted on the surface of the frame, a drive end of the power drive motor is connected to a differential, and a rotating shaft of the differential is connected to the rear wheel assembly.

[0011] Preferably, a cavity is provided inside the frame, a transplanting turntable is electrically rotatably provided inside the cavity, and transplanting drill bit assemblies are provided inside the cavity and on both sides of the transplanting turntable.

[0012] Preferably, the transplanting drill bit assembly includes a lifting structure and an electric opening and closing drill bit, and the lifting structure is installed on the top of the electric opening and closing drill bit to drive the electric opening and closing drill bit to move up and down.

[0013] Preferably, a material discharge plate is installed on the top of the machine body, and a material discharge opening is opened on the surface of the material discharge plate.

[0014] The present invention provides a transplanter with obstacle avoidance function. It has the following beneficial effects:

[0015] The present invention uses a control decision system to construct a global transplanting path for a transplanter. Laser radar is used to identify dynamic and static obstacles. When a dynamic obstacle is detected, the heading of the transplanter and the different encounter angles of the dynamic obstacle and the speed between the transplanter and the obstacle, the decision control system gives a control amount to make the transplanter avoid at different speeds, and ensure that the transplanter travels on the original global planned coverage path. The Beidou navigation differential system is used to provide the position, speed, attitude and other self-state information of the motion actuator, and transmits the information obtained by the Beidou positioning system to the decision control system through the receiver by serial communication. After processing, the decision control system sends a control amount to control the steering mechanism of the front wheel to perform path tracking control according to a given rotation amount. The decision control system in the present invention receives information from the laser radar system and the satellite positioning system, calculates control instructions according to the navigation and obstacle avoidance algorithm, and guides the motion actuator to complete the corresponding driving action. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A first-view stereoscopic diagram of a transplanter with obstacle avoidance function according to the present invention;

[0017] Figure 2 A second perspective stereoscopic diagram of a transplanter with obstacle avoidance function according to the present invention;

[0018] Figure 3 It is a partial top view of a transplanter with obstacle avoidance function of the present invention;

[0019] Figure 4 It is a partial stereoscopic diagram of a transplanter with obstacle avoidance function of the present invention;

[0020] Figure 5 The present invention provides a path diagram of a transplanter with an obstacle avoidance function. Description of the drawings:

[0022] 1. Frame; 2. Rear wheel assembly; 3. Front wheel assembly; 4. Machine body; 5. Control box; 6. Transplanting drill assembly; 7. LiDAR; 8. GNSS antenna; 9. Cavity; 10. Feed plate; 11. Feed opening; 12. Transplanting turntable; 13. Differential; 14. Power drive motor; 15. Rotating frame; 16. Steering rack; 17. Steering drive motor. DETAILED DESCRIPTION

[0023] 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.

[0024] Example:

[0025] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides a transplanter with an obstacle avoidance function, including a frame 1, a front wheel assembly 3 and a rear wheel assembly 2 are respectively provided at both ends of the frame 1, the front wheel assembly 3 is connected to the frame 1 through a steering mechanism, the rear wheel assembly 2 is connected to the frame 1 through a power drive mechanism, and an organism 4 and a control box 5 are provided on the surface of the frame 1.

[0026] A laser radar 7 is installed in front of the body 4 for detecting the surrounding environment and identifying static obstacles and dynamic obstacles. Two GNSS antennas 8 are arranged on the central axis of the frame 1. The two GNSS antennas 8 form a vector for determining navigation information. A Beidou navigation differential system and a decision control system are installed inside the control box 5. The Beidou navigation differential system is used to provide the position, speed and attitude state information of the motion actuator, and transmits the information obtained by the Beidou positioning system to the decision control system through the receiver by serial communication. The decision control system is used to plan the reciprocating global path and control the steering mechanism to complete the corresponding driving action.

[0027] Among them, the Beidou navigation differential system includes a Beidou navigation base station, a Beidou navigation mobile station and a data processing module; the Beidou navigation base station is used to obtain Beidou navigation positioning data, and the Beidou navigation mobile station is used to obtain real-time positioning data of the transplanter. After differential operation, the three-dimensional coordinates of the transplanter are obtained, and combined with the heading and speed information of the transplanter, the transplanter is controlled by the decision-making control system to realize global path tracking. The Beidou navigation base station is set on a fixed ground. The base station calculates and compares the longitude and latitude data received at each moment with the three-dimensional coordinates when the base station is set, and obtains the differential data at each moment, and sends these data through the base station radio station. The mobile station radio station receives the differential data sent by the base station radio station, and after transmitting the data to the mobile station, the mobile station corrects the data measured by itself after receiving it, thereby completing the entire differential process. The data processing module is used to process data according to the coordinate value of the transplanter to obtain autonomous navigation data of the transplanter.

[0028] The steering mechanism includes a rotating frame 15 connected to the front wheel assembly 3, the rotating frame 15 is rotatably connected to the frame 1, one end of the rotating frame 15 is rotatably connected to a steering rack 16, a steering drive motor 17 is installed on the surface of the frame 1, a gear is fixed to the driving end of the steering drive motor 17, the steering rack 16 is meshed with the gear, and the lateral movement of the steering rack 16 drives the rotating frame 15 and the front wheel assembly 3 to rotate to achieve steering. During specific use, the decision control system controls the steering drive motor 17 to rotate according to the information fed back by the navigation data, and the steering drive motor 17 drives the gear to rotate, so that the steering rack 16 moves laterally, and the steering of the front wheel can be achieved. The power drive mechanism includes a power drive motor 14 installed on the surface of the frame 1, the driving end of the power drive motor 14 is connected to a differential 13, and the rotating shaft of the differential 13 is connected to the rear wheel assembly 2, so as to drive the rear wheel forward. When the front wheel is turned, the rear wheel moves forward to achieve the steering of the transplanter.

[0029] A cavity 9 is arranged above the frame 1, and a transplanting turntable 12 is electrically rotated inside the cavity 9. A transplanting drill assembly 6 is arranged inside the cavity 9 and on both sides of the transplanting turntable 12. A discharge plate 10 is installed on the top of the body 4, and a discharge opening 11 is opened on the surface of the discharge plate 10, so that the operator can conveniently place the seedlings to be transplanted in the rotating transplanting turntable 12, wherein a plurality of input ports are arranged on the surface of the transplanting turntable 12, and an electric opening and closing cylinder is arranged at the bottom of the input port, and the transplanting drill assembly 6 is arranged on the bottom of the cavity 9 and on both sides of the transplanting turntable 12. The head assembly 6 includes a lifting structure and an electric opening and closing drill bit. The lifting structure is installed on the top of the electric opening and closing drill bit, and is used to drive the electric opening and closing drill bit to move up and down. When the electric opening and closing cylinder moves to just above the transplanting drill bit assembly 6, it automatically opens to allow the seedlings to fall into the electric opening and closing drill bit of the transplanting drill bit assembly 6. The electric opening and closing drill bit is inserted into the soil and opened by moving the lifting structure downward, thereby realizing transplanting. A discharge plate 10 is installed on the top of the body 4, and a discharge opening 11 is opened on the surface of the discharge plate 10.

[0030] Specifically, the laser radar 7 installed on the transplanter detects the surrounding environment and identifies dynamic and static obstacles. For static obstacles, the size and position information of the field and static obstacles initially obtained from the field are used to avoid them when planning the global coverage path (the global coverage path is reciprocating, and the directions of all paths are consistent), and a decision control system is designed to complete the tracking and control of the global coverage path. For dynamic obstacles, the transplanter's heading and the different encounter angles of the dynamic obstacles and the speed between the transplanter and the obstacles are used to avoid them at different speeds, ensuring that the transplanter travels on the original globally planned coverage path, while improving the work efficiency and stability of the transplanter in avoiding dynamic obstacles.

[0031] 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. A transplanter with obstacle avoidance function, characterized in that: The invention comprises a frame (1), wherein a front wheel assembly (3) and a rear wheel assembly (2) are respectively arranged at two ends of the frame (1), the front wheel assembly (3) and the frame (1) are connected via a steering mechanism, and the rear wheel assembly (2) and the frame (1) are connected via a power drive mechanism, and an organism (4) and a control box (5) are arranged on the surface of the frame (1). A laser radar (7) is installed in front of the body (4) for detecting the surrounding environment and identifying static obstacles and dynamic obstacles. Two GNSS antennas (8) are arranged on the central axis of the frame (1). The two GNSS antennas (8) form a vector for determining navigation information. A Beidou navigation differential system and a decision control system are installed inside the control box (5). The Beidou navigation differential system is used to provide position, speed and attitude state information of the motion actuator, and transmit the information obtained by the Beidou positioning system to the decision control system through the receiver by serial port communication. The decision control system is used to plan a reciprocating global path and guide the steering mechanism to complete the corresponding driving action.

2. The transplanter with obstacle avoidance function according to claim 1, characterized in that: The steering mechanism comprises a rotating frame (15) connected to the front wheel assembly (3); the rotating frame (15) is rotatably connected to the frame (1); one end of the rotating frame (15) is rotatably connected to a steering rack (16); a steering drive motor (17) is mounted on the surface of the frame (1); a gear is fixed to the driving end of the steering drive motor (17); the steering rack (16) is meshed with the gear; and the traverse of the steering rack (16) drives the rotating frame (15) and the front wheel assembly (3) to rotate to achieve steering.

3. The transplanter with obstacle avoidance function according to claim 1, characterized in that: The power drive mechanism comprises a power drive motor (14) mounted on the surface of the frame (1), the drive end of the power drive motor (14) is connected to a differential (13), and the rotating shaft of the differential (13) is connected to the rear wheel assembly (2).

4. The transplanter with obstacle avoidance function according to claim 1, characterized in that: A cavity (9) is arranged above the frame (1), a transplanting turntable (12) is electrically rotatably arranged inside the cavity (9), and transplanting drill bit assemblies (6) are arranged inside the cavity (9) and on both sides of the transplanting turntable (12).

5. The transplanter with obstacle avoidance function according to claim 4, characterized in that: The transplanting drill bit assembly (6) comprises a lifting structure and an electric opening and closing drill bit, wherein the lifting structure is installed on the top of the electric opening and closing drill bit and is used to drive the electric opening and closing drill bit to move up and down.

6. The transplanter with obstacle avoidance function according to claim 1, characterized in that: A material discharge plate (10) is installed on the top of the machine body (4), and a material discharge opening (11) is provided on the surface of the material discharge plate (10).

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