Unmanned speed control system of rice transplanter

Abstract

The unmanned speed control system comprises a satellite antenna, a display screen, an unmanned controller, a speed regulation push rod, a continuously variable transmission and a transmission angle sensor, the satellite antenna is installed at the top end of a vehicle and communicates with a satellite and a base station to generate differential signals, and the current position and speed information of the vehicle are determined. The unmanned controller is used for receiving the position and speed information of the satellite antenna, various path information set by unmanned driving and operating parameters, calculating the preset driving speed of the current vehicle, and displaying various parameters of the vehicle state on the display screen; the unmanned speed control system of the rice transplanter can control the speed of the rice transplanter, so that the rice transplanting effect is more stable and efficient, the rice seedlings are uniformly transplanted, and the economic benefit is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an unmanned driving speed control system for a rice transplanter. Background Art

[0002] At present, rice transplanters are mostly driven manually for field transplanting operations. Since most of the paddy fields in China are small in size, transplanters frequently turn around during operation, with low operating efficiency. In addition, uneven speed control during transplanting causes uneven planting of seedlings, which affects the transplanting effect and reduces economic benefits. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an unmanned vehicle speed control system for a rice transplanter, which can control the speed of the rice transplanter to make the rice transplanting effect more stable and efficient, while ensuring uniform transplanting of seedlings, and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: an unmanned driving speed control system for a rice transplanter, comprising a satellite antenna, a display screen, an unmanned driving controller, a speed regulating push rod, a continuously variable transmission and a transmission angle sensor; The satellite antenna is installed on the top of the vehicle, and generates differential signals by communicating with the satellite and the base station to determine the current position and speed information of the vehicle; The unmanned driving controller is used to receive the position and speed information of the satellite antenna, various path information and operation parameters set by the unmanned driving, calculate the current predetermined driving speed of the vehicle, and display various parameters of the vehicle status on the display screen; The speed regulating push rod is used to receive the speed signal sent by the unmanned driving controller, and to control the continuously variable transmission to adjust the vehicle speed by extending or shortening the speed regulating push rod; The gearbox angle sensor is responsible for collecting the angle change information of the speed regulating push rod acting on the continuously variable transmission, and at the same time feeds back to the unmanned driving controller as a reference signal of the speed.

[0005] As a preferred technical solution of the present invention, the satellite antenna adopts Beidou satellite differential technology to obtain centimeter-level high-precision position information of agricultural machinery, so as to realize accurate navigation of agricultural machinery to automatically operate along the planned route.

[0006] As a preferred technical solution of the present invention, the main interface of the display screen displays the driving path planned by the unmanned driving controller, operation status information, vehicle status and real-time information of its alarm faults.

[0007] As a preferred technical solution of the present invention, the setting parameters of the display screen mainly include system setting information, host setting information, agricultural machinery setting and antenna setting.

[0008] As a preferred technical solution of the present invention, it includes straight-line speed control and U-turn speed control.

[0009] As a preferred technical solution of the present invention, the logic of the linear speed control is: Read the current location information and vehicle speed information fed back by the satellite antenna, and navigate to the starting point and U-turn point of the planned route; When the vehicle speed has not reached the straight-line speed from the starting point, it enters the acceleration phase, and gradually increases the preset speed according to the speed difference and position information until the vehicle speed reaches the straight-line speed, and the acceleration process is completed; After the acceleration process is completed, the vehicle travels at a constant speed according to the preset vehicle straight-line speed, and the vehicle enters the constant speed operation stage; When the vehicle approaches the U-turn point, the vehicle enters the deceleration phase based on the comparison of the current position information with the U-turn point planned by the route. The unmanned driving controller calculates the deceleration rate of the deceleration phase based on the current speed and turning speed. During the deceleration phase, the vehicle gradually reduces its speed and completes the deceleration process at the U-turn point.

[0010] As a preferred technical solution of the present invention, during the uniform speed running stage, the vehicle reads the real-time vehicle speed signal fed back by the satellite antenna: When the difference between the actual vehicle speed and the preset vehicle speed is less than 2%, the system does not make error adjustments; When the actual vehicle speed is lower than 98% of the preset speed, the unmanned driving controller fine-tunes and increases the stroke of the speed control push rod to increase the actual vehicle speed and keep it consistent with the preset speed. When the actual vehicle speed is higher than the preset speed by more than 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed control push rod to reduce the actual vehicle speed and keep it consistent with the preset speed.

[0011] As a preferred technical solution of the present invention, the logic of the U-turn speed control is: according to the gearbox angle sensor reading the vehicle steering angle: When the steering angle is less than 10°, the turning speed is the maximum turning speed of the vehicle; When the steering angle is between 10° and 45°, the steering U-turn speed is the maximum U-turn speed minus the angle difference speed; When the steering angle is between 45° and 65°, the turning speed is the minimum turning speed; Then read the current vehicle speed and compare it with the predetermined turning speed: When the difference between the current vehicle speed and the predetermined turning speed is less than 2%, the vehicle speed will not be adjusted; When the current vehicle speed is lower than 98% of the preset turning speed, the unmanned driving controller fine-tunes and increases the speed control push rod stroke to increase the vehicle speed so that the vehicle speed matches the preset speed. When the current vehicle speed is higher than the preset turning speed by 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed regulating push rod to reduce the vehicle speed so that the vehicle speed matches the preset speed.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: the unmanned vehicle speed control system of the rice transplanter calculates the current predetermined driving speed of the vehicle through the unmanned driving controller according to the vehicle speed position signal provided by the satellite antenna, and various path information and operating parameters set by the unmanned driving, controls the speed of the speed regulating push rod, and the speed regulating push rod adjusts the extension or shortening of the speed regulating push rod according to the speed adjustment command sent by the unmanned driving controller, thereby achieving the purpose of vehicle speed control through the stepless speed change system, which can well meet the control of the vehicle's uniform forward speed and U-turn speed, making the rice transplanting effect more stable and efficient, and at the same time solving the problem of uneven seedling spacing caused by arbitrary changes during manual operation, bringing better economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of each component system of the present invention; Figure 2 This is the principle diagram of vehicle speed control when driving in a straight line; Figure 3 This is the schematic diagram of vehicle speed control when making a U-turn. DETAILED DESCRIPTION

[0014] 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.

[0015] like Figure 1 The present invention provides a technical solution: an unmanned driving speed control system for a rice transplanter, comprising a satellite antenna, a display screen, an unmanned driving controller, a speed regulating push rod, a continuously variable transmission and a transmission angle sensor, wherein the output end of the satellite antenna is electrically connected to the input end of the unmanned driving controller, the unmanned driving controller is bidirectionally connected to the display screen, the output end of the unmanned driving controller is electrically connected to the input end of the speed regulating push rod, the output end of the speed regulating push rod is connected to the control end of the continuously variable transmission, the output end of the continuously variable transmission is electrically connected to the input end of the transmission angle sensor, and the output end of the transmission angle sensor is electrically connected to the input end of the unmanned driving controller.

[0016] The satellite antenna is installed on the top of the vehicle, and generates differential signals with satellite communication and base station communication to determine the current position and speed information of the vehicle. This satellite antenna uses Beidou satellite differential technology to obtain centimeter-level high-precision position information of agricultural machinery, and realizes accurate navigation of agricultural machinery automatically along the planned route; The unmanned driving controller is the core part of the whole system. It is responsible for receiving the position and speed information of the satellite antenna and the parameter setting data on the display screen, calculating the readable data from the data information and transmitting it to the display screen so that the operator can understand the various states and driving information of the vehicle. At the same time, according to the path calculated by the path planning, the speed control push rod is controlled to extend and shorten to control the speed of the vehicle. The display screen is an important human-computer interaction window. Through the display screen, you can clearly and accurately view the vehicle driving information and various parameters of the vehicle status. You can also set the path planning parameters and the basic vehicle parameter information design and travel parameter settings by operating on the display screen. The display window mainly consists of the position and speed of the satellite antenna positioning, as well as the calculated yaw information and communication-related information. The main interface displays the driving path and operation status information planned by the computer, the vehicle status and its alarm fault real-time information. The setting parameters mainly include system setting information, host setting information, agricultural machinery setting, and antenna setting. The speed control push rod is an important bridge connecting the unmanned driving controller and the continuously variable transmission system. It receives the acceleration or deceleration signal from the unmanned driving controller and controls the continuously variable transmission to adjust the vehicle speed by extending or shortening the push rod. The continuously variable transmission is responsible for the speed of the vehicle. The speed regulating push rod acts on the continuously variable transmission. The transmission changes the vehicle speed through its own flow changes to achieve the purpose of speed control. The gearbox angle sensor is responsible for collecting the angle change information of the speed control push rod acting on the continuously variable gearbox, and at the same time feeds back to the unmanned driving controller as a speed reference signal, so that the unmanned driving controller can adjust the vehicle speed in time.

[0017] The vehicle speed control of the present invention includes straight-line speed control and U-turn speed control; like Figure 2 , the logic of linear speed control is: Read the current location information and vehicle speed information fed back by the satellite antenna, and navigate to the starting point and U-turn point of the planned route; When the vehicle speed has not reached the straight-line speed from the starting point, it enters the acceleration phase, and gradually increases the preset speed according to the speed difference and position information until the vehicle speed reaches the straight-line speed, and the acceleration process is completed; After the acceleration process is completed, the vehicle travels at a constant speed according to the preset vehicle straight-line speed, and the vehicle enters the constant speed operation stage; When the vehicle approaches the U-turn point, the vehicle enters the deceleration phase based on the comparison of the current position information with the U-turn point planned by the route. The unmanned driving controller calculates the deceleration rate of the deceleration phase based on the current speed and turning speed. During the deceleration phase, the vehicle gradually reduces its speed and completes the deceleration process at the U-turn point.

[0018] During the uniform speed operation phase, the vehicle reads the real-time vehicle speed signal fed back by the satellite antenna: When the difference between the actual vehicle speed and the preset vehicle speed is less than 2%, the system does not make error adjustments; When the actual vehicle speed is lower than 98% of the preset speed, the unmanned driving controller fine-tunes and increases the stroke of the speed control push rod to increase the actual vehicle speed and keep it consistent with the preset speed. When the actual vehicle speed is higher than the preset speed by more than 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed control push rod to reduce the actual vehicle speed and keep it consistent with the preset speed.

[0019] like Figure 3 , the logic of U-turn speed control is: read the vehicle steering angle according to the gearbox angle sensor: When the steering angle is less than 10°, the turning speed is the maximum turning speed of the vehicle; When the steering angle is between 10° and 45°, the steering U-turn speed is the maximum U-turn speed minus the angle difference speed; When the steering angle is between 45° and 65°, the turning speed is the minimum turning speed; Then read the current vehicle speed and compare it with the predetermined turning speed: When the difference between the current vehicle speed and the predetermined turning speed is less than 2%, the vehicle speed will not be adjusted; When the current vehicle speed is lower than 98% of the preset turning speed, the unmanned driving controller fine-tunes and increases the speed control push rod stroke to increase the vehicle speed so that the vehicle speed matches the preset speed. When the current vehicle speed is higher than the preset turning speed by 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed regulating push rod to reduce the vehicle speed so that the vehicle speed matches the preset speed.

[0020] The present invention controls the speed of the unmanned rice transplanter in a straight line and when turning, so that the unmanned vehicle speed control system can adapt to the efficient and fast operation of plots of land of different sizes when the rice transplanter is operating. Automatically controlling the vehicle speed can well meet the requirement of the vehicle moving forward at a uniform speed, ensure uniform transplanting of seedlings, reduce the investment of labor costs, and improve economic benefits.

[0021] 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 speed control system for a rice transplanter, characterized in that: Includes satellite antenna, display screen, unmanned driving controller, speed control push rod, continuously variable transmission and transmission angle sensor; The satellite antenna is installed on the top of the vehicle, and generates differential signals by communicating with the satellite and the base station to determine the current position and speed information of the vehicle; The unmanned driving controller is used to receive the position and speed information of the satellite antenna, various path information and operation parameters set by the unmanned driving, calculate the current predetermined driving speed of the vehicle, and display various parameters of the vehicle status on the display screen; The speed regulating push rod is used to receive the speed signal sent by the unmanned driving controller, and to control the continuously variable transmission to adjust the vehicle speed by extending or shortening the speed regulating push rod; The gearbox angle sensor is responsible for collecting the angle change information of the speed regulating push rod acting on the continuously variable transmission, and at the same time feeds back to the unmanned driving controller as a reference signal of the speed.

2. The unmanned driving speed control system for a rice transplanter according to claim 1, characterized in that: The satellite antenna adopts Beidou satellite differential technology to obtain centimeter-level high-precision position information of agricultural machinery, so as to realize accurate navigation of agricultural machinery to automatically operate along the planned route.

3. The unmanned driving speed control system of a rice transplanter according to claim 1, characterized in that: The main interface of the display screen displays the driving path planned by the unmanned driving controller, operation status information, vehicle status and real-time information of alarm faults.

4. The unmanned driving speed control system of a rice transplanter according to claim 3, characterized in that: The setting parameters of the display screen mainly include system setting information, host setting information, agricultural machinery setting and antenna setting.

5. The unmanned driving speed control system of a rice transplanter according to claim 1, characterized in that: Includes straight-line speed control and U-turn speed control.

6. The unmanned driving speed control system of a rice transplanter according to claim 5, characterized in that: The logic of the linear speed control is: Read the current location information and vehicle speed information fed back by the satellite antenna, and navigate to the starting point and U-turn point of the planned route; When the vehicle speed has not reached the straight-line speed from the starting point, it enters the acceleration phase, and gradually increases the preset speed according to the speed difference and position information until the vehicle speed reaches the straight-line speed, and the acceleration process is completed; After the acceleration process is completed, the vehicle travels at a constant speed according to the preset vehicle straight-line speed, and the vehicle enters the constant speed operation stage; When the vehicle approaches the U-turn point, the vehicle enters the deceleration phase based on the comparison of the current position information with the U-turn point planned by the route. The unmanned driving controller calculates the deceleration rate of the deceleration phase based on the current speed and turning speed. During the deceleration phase, the vehicle gradually reduces its speed and completes the deceleration process at the U-turn point.

7. The unmanned driving speed control system of a rice transplanter according to claim 6, characterized in that: During the uniform speed operation phase, the vehicle reads the real-time vehicle speed signal fed back by the satellite antenna: When the difference between the actual vehicle speed and the preset vehicle speed is less than 2%, the system does not make error adjustments; When the actual vehicle speed is lower than 98% of the preset speed, the unmanned driving controller fine-tunes and increases the stroke of the speed control push rod to increase the actual vehicle speed and keep it consistent with the preset speed. When the actual vehicle speed is higher than the preset speed by more than 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed control push rod to reduce the actual vehicle speed and keep it consistent with the preset speed.

8. The unmanned driving speed control system of a rice transplanter according to claim 5, characterized in that: The logic of the U-turn speed control is: read the vehicle steering angle according to the gearbox angle sensor: When the steering angle is less than 10°, the turning speed is the maximum turning speed of the vehicle; When the steering angle is between 10° and 45°, the steering U-turn speed is the maximum U-turn speed minus the angle difference speed; When the steering angle is between 45° and 65°, the turning speed is the minimum turning speed; Then read the current vehicle speed and compare it with the predetermined turning speed: When the difference between the current vehicle speed and the predetermined turning speed is less than 2%, the vehicle speed will not be adjusted; When the current vehicle speed is lower than 98% of the preset turning speed, the unmanned driving controller fine-tunes and increases the speed control push rod stroke to increase the vehicle speed so that the vehicle speed matches the preset speed. When the current vehicle speed is higher than the preset turning speed by 102%, the unmanned driving controller will fine-tune and reduce the stroke of the speed regulating push rod to reduce the vehicle speed so that the vehicle speed matches the preset speed.

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