Small-sized remote control self-adaptive control new energy harvester

Abstract

The invention discloses a small-sized remote control self-adaptive control new energy harvester, which is characterized by comprising a path correction module, a three-dimensional laser radar, a visual sensor, an attitude sensor and a satellite positioning and orientation terminal, the path correction module carries out joint calibration on the farmland through a three-dimensional laser radar and a visual sensor by means of laser and visible light imaging. Compared with the prior art, the method has the following beneficial effects that grid processing is carried out on the farmland, under the planned route preset by an operator, the running deviation route of the harvester is continuously corrected, self-adaptive adjustment is carried out on the planned route, the deviation route does not need to be corrected manually, the operation difficulty of the operator is reduced, and use is convenient.

Description

Technical Field

[0001] The invention relates to a small harvester, and more particularly to a small remote-controlled adaptively controlled new energy harvester. Background Art

[0002] The harvester needs to travel in the complex environment of the field and harvest crops while traveling. In addition, in order to adapt to the operating characteristics and environment of electric agricultural machinery, the route needs to be constantly corrected during driving. The current correction method basically relies on manual correction of the offset route, which requires operators to monitor at all times and is inconvenient to use. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a small remote-controlled adaptively controlled new energy harvester that can automatically correct its route.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a small remote-controlled adaptively controlled new energy harvester, comprising a body, on which are mounted a drive motor, a left pulley group, a right pulley group, a drive battery, a remote control center and an adaptive control system, the drive motor is electrically connected to the drive battery, the remote control center is electrically connected to the drive motor and the adaptive control system, the drive motor is connected to an electronic differential, the electronic differential is provided with a first output shaft for connecting to the left pulley group and a second output shaft for connecting to the right pulley group, the adaptive control system comprises a path correction module, a three-dimensional laser radar, a visual sensor, an attitude sensor and a satellite positioning and orientation terminal, the path correction module jointly calibrates the farmland through the three-dimensional laser radar and the visual sensor by relying on laser and visible light imaging.

[0005] In summary, the present invention has the following beneficial effects: when the harvester is driving in a complex field environment, the adaptive control system jointly calibrates the farmland through laser and visible light imaging, and performs grid processing on the farmland. Under the planned route pre-set by the operator, the deviated route of the harvester is continuously corrected, and the planned route is adaptively adjusted. There is no need to manually correct the deviated route, which reduces the difficulty of operator control and is easy to use. The attitude sensor can pre-judge the offset direction when the harvester is driving on the undulating ground in the field, control the speed difference between the left and right pulley groups through the electronic differential, and continuously adjust the driving attitude of the harvester in the forward direction, and cooperate with the three-dimensional laser radar, visual sensor and satellite positioning and orientation terminal to ensure that the harvester is driving on the route in the correct direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a schematic diagram of the connection structure of a small remote-controlled adaptive control new energy harvester;

[0007] Figure 2 It is a schematic diagram of the connection structure of the visual camera;

[0008] Figure 3 It is a schematic diagram of the connection structure of the chassis of the fuselage;

[0009] Figure 4 is a schematic diagram of the connection structure of the electronic differential;

[0010] Figure 5 This is a schematic diagram of the connection structure of the calibration machine;

[0011] Figure 6 Schematic diagram of the connection structure of the remote control center. DETAILED DESCRIPTION

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0013] Reference Figure 1-6 As shown, a small remote-controlled adaptively controlled new energy harvester includes a body 1, on which a drive motor 11, a left pulley group 12, a right pulley group 13, a drive battery 14, a remote control center 2 and an adaptive control system 3 are installed. The drive motor 11 is electrically connected to the drive battery 14, and the remote control center 2 is electrically connected to the drive motor 11 and the adaptive control system 3. The drive motor 11 is connected to an electronic differential 4, and the electronic differential 4 is provided with a first output shaft 41 for connecting to the left pulley group 12 and a second output shaft 42 for connecting to the right pulley group 13. The adaptive control system 3 includes a path correction module, a three-dimensional laser radar 31, a visual sensor 32, a posture sensor and a satellite positioning and orientation terminal 33. The path correction module uses the three-dimensional laser radar 31 and the visual sensor 32 to jointly calibrate the farmland by laser and visible light imaging.

[0014] Through the above scheme, when the harvester is driving in a complex field environment, the adaptive control system 3 uses laser and visible light imaging to jointly calibrate the farmland, grid the farmland, and continuously correct the deviated route of the harvester under the planned route pre-set by the operator, and adaptively adjust the planned route, without the need to manually correct the deviated route, reducing the difficulty of operator control and making it easy to use. The attitude sensor can pre-judge the offset direction when the harvester is driving on the undulating ground in the field, control the speed difference between the left pulley group 12 and the right pulley group 13 through the electronic differential 4, and continuously adjust the driving attitude of the harvester to be forward, and cooperate with the three-dimensional laser radar 31, the visual sensor 32 and the satellite positioning and orientation terminal 33 to ensure that the harvester is driving on the route in the correct direction.

[0015] As an improved specific implementation, the visual sensor 32 is a visual camera 321 , and the visual camera 321 is connected to a gimbal bracket 5 , and the gimbal bracket 5 is installed at the front end of the fuselage 1 so that the visual camera 321 is assumed to be above the front end of the fuselage 1 .

[0016] Through the above solution, the visual camera 321 is assumed to be above the front end of the fuselage 1 to obtain a better field of view. The pan / tilt bracket 5 can reduce the impact of severe shaking on visual imaging.

[0017] As a specific implementation of the improvement, the pan / tilt bracket 5 includes an electric steering base 51, an electric lifting rod 52 is installed on the electric steering base 51, a suspension stabilization frame 53 is installed at the lifting end of the electric lifting rod 52, the visual camera 321 is installed on the suspension stabilization frame 53, and the electric steering base 51 and the electric lifting rod 52 are both electrically connected to the remote control center 2.

[0018] Through the above solution, the electric steering base 51 can rotate and change direction, expand the field of vision, and help the harvester turn or turn around. The electric lifting rod 52 can adjust the height, and a more accurate visual imaging effect can be obtained through height adjustment.

[0019] As a specific implementation of the improvement, the three-dimensional laser radar 31 is installed on the visual camera 321, the attitude sensor is installed on the chassis of the fuselage 1, and the satellite positioning and orientation terminal 33 is installed on the top of the fuselage 1.

[0020] Through the above scheme, the three-dimensional laser radar 31 is installed on the visual camera 321 for synchronous monitoring and improved accuracy. The attitude sensor is installed on the chassis of the fuselage 1 to obtain the attitude information of the harvester more directly and accurately. The satellite positioning and orientation terminal 33 is installed on the top of the fuselage 1 to facilitate the transmission and reception of signals.

[0021] As a specific implementation of the improvement, a harvesting device 15, a conveying device 16 and an output device 17 are installed on the fuselage 1. A harvesting amount calculator is installed in the harvesting device 15, a transport amount calculator is installed in the conveying device 16, and an output amount calculator is installed in the output device 17. The harvesting amount calculator, the transport amount calculator and the output amount calculator are all electrically connected to the remote control center 2.

[0022] Through the above scheme, the dynamic harvest amount can be obtained by relying on the measured data, so that the field harvest can be accurately measured, and the moving speed and working accuracy can be dynamically adjusted according to the harvest amount to avoid overload.

[0023] As a specific implementation method of the improvement, the remote control center 2 is installed with an offline automated working system, which includes multimodal information acquisition software, path planning software, autonomous action control software and an information module for storing environmental images, radar feedback, driving trajectories and other information.

[0024] Through the above scheme, after the path planning software completes the route planning, even if the remote control center 2 cannot receive the signal, it can still work according to the preset plan and the preset route, and cooperate with the adaptive control system 3 to work well offline and automatically.

[0025] As a specific implementation of the improvement, the drive motor 11 is equipped with an electric reducer 111, the electric reducer 111 is connected to the transmission shaft 112, the electronic differential 4 is equipped with an electronic control component 43, a transmission mechanism 44, a first reducer 45 and a second reducer 46, the transmission mechanism 44 is connected to the drive shaft, the first reducer 45 and the second reducer 46, the first reducer 45 is connected to the first output shaft 41, and the second reducer 46 is connected to the second output shaft 42.

[0026] Through the above scheme, a greater driving force can be obtained through multi-stage deceleration to ensure stable movement. Different speed reducers form a deceleration difference, thereby forming a speed difference, so that the direction of steering or adjustment of stability can be achieved.

[0027] As a specific implementation of the improvement, a rear-end auxiliary sensor 6 is also installed at the rear end of the fuselage 1. A calibration machine 7 for setting beacons in the field is installed at the rear end of the fuselage 1. The calibration machine 7 is provided with an electric telescopic rod 71. A digging shovel 72 is installed at the lower end of the electric telescopic rod 71. When working, after moving a certain distance, the electric telescopic rod 71 extends downward, and a pit beacon for identification by the rear-end auxiliary sensor 6 is dug in the field through the digging shovel 72.

[0028] Through the above scheme, the rear-view auxiliary sensor 6 determines the movement trajectory of the harvester by identifying the pothole beacon, ensuring that it travels on the planned movement path.

[0029] As an improved specific implementation, side vision auxiliary sensors 61 are also installed on both sides of the fuselage 1.

[0030] Through the above scheme, a full-view monitoring range can be formed by the side vision auxiliary sensor 61, thereby obtaining a better positioning and orientation effect.

[0031] As a specific implementation of the improvement, the visual camera 321 is a binocular camera, and the satellite positioning and orientation terminal 33 is a Beidou differential positioning and orientation terminal.

[0032] Through the above solution, the binocular camera can ensure visual imaging, reduce damage errors, and ensure accurate positioning and orientation.

[0033] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A small remote-controlled adaptively controlled new energy harvester, comprising a body (1), characterized in that: The fuselage (1) is equipped with a driving motor (11), a left pulley group (12), a right pulley group (13), a driving battery (14), a remote control center (2) and an adaptive control system (3); the driving motor (11) is electrically connected to the driving battery (14); the remote control center (2) is electrically connected to the driving motor (11) and the adaptive control system (3); the driving motor (11) is connected to an electronic differential (4); the electronic differential (4) is provided with a first output shaft (41) for connecting to the left pulley group (12) and a second output shaft (42) for connecting to the right pulley group (13); the adaptive control system (3) comprises a path correction module, a three-dimensional laser radar (31), a visual sensor (32), a posture sensor and a satellite positioning and orientation terminal (33); the path correction module uses the three-dimensional laser radar (31) and the visual sensor (32) to jointly calibrate the farmland by laser and visible light imaging.

2. The small remote-controlled adaptively controlled new energy harvester according to claim 1 is characterized in that: The visual sensor (32) is a visual camera (321), and the visual camera (321) is connected to a pan / tilt bracket (5), and the pan / tilt bracket (5) is installed at the front end of the fuselage (1) so that the visual camera (321) is assumed to be above the front end of the fuselage (1).

3. The small remote-controlled adaptively controlled new energy harvester according to claim 2 is characterized in that: The pan / tilt bracket (5) includes an electric steering base (51), an electric lifting rod (52) is installed on the electric steering base (51), a suspension stabilization frame (53) is installed at the lifting end of the electric lifting rod (52), the visual camera (321) is installed on the suspension stabilization frame (53), and the electric steering base (51) and the electric lifting rod (52) are both electrically connected to the remote control center (2).

4. The small remote-controlled adaptively controlled new energy harvester according to claim 3 is characterized by: The three-dimensional laser radar (31) is installed on the visual camera (321), the attitude sensor is installed on the chassis of the fuselage (1), and the satellite positioning and orientation terminal (33) is installed on the top of the fuselage (1).

5. The small remote-controlled adaptively controlled new energy harvester according to claim 1 is characterized by: The machine body (1) is equipped with a harvesting device (15), a conveying device (16) and an output device (17); the harvesting device (15) is equipped with a harvesting amount calculator, the conveying device (16) is equipped with a transport amount calculator, and the output device (17) is equipped with an output amount calculator; the harvesting amount calculator, the transport amount calculator and the output amount calculator are all electrically connected to the remote control center (2).

6. The small remote-controlled adaptively controlled new energy harvester according to claim 5 is characterized by: The remote control center (2) is installed with an offline automated working system, which includes multimodal information acquisition software, path planning software, autonomous action control software and an information module for storing environmental images, radar feedback, driving trajectory and other information.

7. The small remote-controlled adaptively controlled new energy harvester according to claim 1 is characterized by: The drive motor (11) is equipped with an electric reducer (111), and the electric reducer (111) is connected to a transmission shaft (112). The electronic differential (4) is equipped with an electronic control component (43), a transmission mechanism (44), a first reducer (45) and a second reducer (46). The transmission mechanism (44) is connected to the drive shaft, the first reducer (45) and the second reducer (46). The first reducer (45) is connected to the first output shaft (41), and the second reducer (46) is connected to the second output shaft (42).

8. The small remote-controlled adaptively controlled new energy harvester according to claim 1 is characterized by: The rear end of the fuselage (1) is also equipped with a rear-view auxiliary sensor (6), and the rear end of the fuselage (1) is equipped with a calibration machine (7) for setting beacons in the field. The calibration machine (7) is provided with an electric telescopic rod (71), and a digging shovel (72) is installed at the lower end of the electric telescopic rod (71). When working, after moving a certain distance, the electric telescopic rod (71) extends downward, and a pit beacon for identification by the rear-view auxiliary sensor (6) is dug in the field through the digging shovel (72).

9. The small remote-controlled adaptively controlled new energy harvester according to claim 8 is characterized by: Side vision auxiliary sensors (61) are also installed on both sides of the fuselage (1).

10. The small remote-controlled adaptively controlled new energy harvester according to claim 1 is characterized by: The visual camera (321) is a binocular camera, and the satellite positioning and orientation terminal (33) is a Beidou differential positioning and orientation terminal.

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