Small remote control adaptive control new energy harvester

Abstract

The application discloses a small remote control adaptive control new energy harvester, and has the following beneficial effects: the farmland is subjected to grid processing, the deviated route of the harvester is continuously corrected under the preset planning route of the operator, the planning route is adaptively adjusted, the deviated route does not need to be corrected by manual operation, the operation difficulty of the operator is reduced, and the harvester is convenient to use.

Description

TECHNICAL FIELD

[0001] The present application relates to a small harvester, more particularly, it relates to a small remote control adaptive control new energy harvester. BACKGROUND

[0002] The harvester needs to drive in the complex environment of the field, and needs to harvest crops while driving, and needs to continuously correct the route during driving in order to adapt to the characteristics and environment of electric agricultural machinery. The current correction method is basically to manually correct the deviated route, which needs the operator to monitor at all times, and is not convenient to use. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a small remote control adaptive control new energy harvester, which can automatically correct the route.

[0004] To achieve the above purpose, the present application provides the following technical scheme: a small remote control adaptive control new energy harvester, comprising a machine body, a driving motor, a left pulley set, a right pulley set, a driving battery, a remote control center and an adaptive control system are installed on the machine body, the driving motor is electrically connected with the driving battery, the remote control center is electrically connected with the driving motor and the adaptive control system, the driving motor is connected with an electronic differential, the electronic differential is provided with a first output shaft for connecting with the left pulley set and a second output shaft for connecting with the right pulley set, the adaptive control system comprises a path correction module, a three-dimensional laser radar, a vision sensor, an attitude sensor and a satellite positioning and orientation terminal, the path correction module performs joint calibration on the farmland by means of laser and visible light imaging through the three-dimensional laser radar and the vision sensor.

[0005] In summary, the present application has the following beneficial effects: during the driving process of the harvester in the complex environment of the field, the adaptive control system performs joint calibration on the farmland by means of laser and visible light imaging, performs grid processing on the farmland, continuously corrects the deviated route of the harvester under the preset planning route of the operator, and adaptively adjusts the planning route, without relying on manual correction of the deviated route, reducing the operation difficulty of the operator, and being convenient to use. The attitude sensor can pre-judge the deviation direction when the harvester drives on the uneven ground in the field, control the speed difference of the left pulley set and the right pulley set through the electronic differential, and continuously adjust the attitude of the harvester driving in the positive direction, which cooperates with the three-dimensional laser radar, the vision sensor and the satellite positioning and orientation terminal to ensure that the harvester drives on the correct route. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 It is a connection structure diagram of the small remote control adaptive control new energy harvester.

[0007] Figure 2 This is a schematic diagram of the connection structure of a visual camera.

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

[0009] Figure 4 This is a schematic diagram of the connection structure of an electronic differential.

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

[0011] Figure 6 This is a schematic diagram of the connection structure for a remote control center. Detailed Implementation

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

[0013] Reference Figures 1-6 As shown, a small, remotely controlled, adaptive new energy harvester includes a body 1. The body 1 is equipped with a drive motor 11, a left pulley assembly 12, a right pulley assembly 13, a drive battery 14, a remote control center 2, and an adaptive control system 3. 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. The electronic differential 4 has a first output shaft 41 for connecting to the left pulley assembly 12 and a second output shaft 42 for connecting to the right pulley assembly 13. The adaptive control system 3 includes a path correction module, a three-dimensional lidar 31, a vision sensor 32, an attitude sensor, and a satellite positioning and orientation terminal 33. The path correction module uses the three-dimensional lidar 31 and the vision sensor 32 to jointly calibrate the farmland using laser and visible light imaging.

[0014] Through the above scheme, in the process of the harvester driving in the complex environment of the field, the self-adaptive control system 3 jointly calibrates the farmland through laser and visible light imaging, performs grid processing on the farmland, continuously corrects the deviated route of the harvester under the preset planning route of the operator, and adaptively adjusts the planning route, without the need for manual correction of the deviated route, reducing the operation difficulty of the operator and being convenient to use. The attitude sensor can predict the deviation direction when the harvester drives on the uneven ground in the field, control the speed difference between the left pulley set 12 and the right pulley set 13 through the electronic differential 4, and continuously adjust the attitude of the harvester driving in the correct direction. The three-dimensional laser radar 31, the visual sensor 32 and the satellite positioning and orientation terminal 33 ensure that the harvester drives on the correct route.

[0015] As an improved specific embodiment, the visual sensor 32 is a visual camera 321, and the visual camera 321 is connected with a holder 5, which is installed at the front end of the machine body 1 to assume the visual camera 321 above the front end of the machine body 1.

[0016] Through the above scheme, assuming the visual camera 321 above the front end of the machine body 1 can obtain a better field of view. The holder 5 can reduce the influence of severe shaking on visual imaging

[0017] As an improved specific embodiment, the holder 5 includes an electric steering base 51, an electric lifting rod 52 is installed on the electric steering base 51, a suspension stabilizer 53 is installed on the lifting end of the electric lifting rod 52, the visual camera 321 is installed on the suspension stabilizer 53, and the electric steering base 51 and the electric lifting rod 52 are electrically connected with the remote control center 2.

[0018] Through the above scheme, the electric steering base 51 can rotate and change direction to expand the field of view, which is helpful for the turning or U-turn movement of the harvester. The electric lifting rod 52 can adjust the height, and through height adjustment, more accurate visual imaging effect can be obtained.

[0019] As an improved specific embodiment, the three-dimensional laser radar 31 is installed on the visual camera 321, the attitude sensor is installed on the chassis of the machine body 1, and the satellite positioning and orientation terminal 33 is installed on the top of the machine body 1.

[0020] Through the above scheme, the three-dimensional laser radar 31 is installed on the visual camera 321, which synchronously monitors and improves the accuracy. The attitude sensor is installed on the chassis of the machine body 1, which can more directly and accurately obtain the attitude information of the harvester. The satellite positioning and orientation terminal 33 is installed on the top of the machine body 1, which is conducive to signal transmission and reception.

[0021] As a specific embodiment of the improvement, the body 1 is provided with a harvesting device 15, a conveying device 16 and an output device 17, the harvesting device 15 is provided with a harvesting amount measuring calculator, the conveying device 16 is provided with a conveying amount measuring calculator, and the output device 17 is provided with an output amount measuring calculator, and the harvesting amount measuring calculator, the conveying amount measuring calculator and the output amount measuring calculator are electrically connected with the remote control center 2.

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

[0023] As a specific embodiment of the improvement, the remote control center 2 is provided with an offline automatic working system, which includes a multi-modal information acquisition software, a path planning software, an autonomous action control software and an information module for storing environmental images, radar feedback, driving trajectories and the like.

[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 drive according to the preset route according to the preset scheme, and cooperate with the adaptive control system 3 to work offline automatically.

[0025] As a specific embodiment of the improvement, the driving motor 11 is provided with an electric reducer 111, the electric reducer 111 is connected with a transmission shaft 112, the electronic differential 4 is provided 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 with the driving shaft, the first reducer 45 and the second reducer 46, the first reducer 45 is connected with the first output shaft 41, and the second reducer 46 is connected with the second output shaft 42.

[0026] Through the above scheme, more driving force can be obtained through multi-stage reduction to ensure stable movement. Different reducers form a speed difference to form a speed difference to enable steering or stable direction adjustment.

[0027] As a specific embodiment of the improvement, the rear end of the body 1 is also provided with a rear view auxiliary sensor 6, and the rear end of the body 1 is provided with a beacon setting machine 7 for setting beacons in the field, the beacon setting machine 7 is provided with an electric telescopic rod 71, the lower end of the electric telescopic rod 71 is provided with a digging shovel 72, and during work, the electric telescopic rod 71 extends downward after moving a certain distance, and a pit beacon for the rear view auxiliary sensor 6 to identify is dug in the field by the digging shovel 72.

[0028] Through the above scheme, the rear view auxiliary sensor 6 judges the moving track of the harvester by identifying the dug pit beacon to ensure driving on the planned moving path.

[0029] As an improved specific embodiment, the two sides of the fuselage 1 are also provided with side vision auxiliary sensors 61.

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

[0031] As an improved specific embodiment, the vision 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 scheme, the binocular camera can guarantee visual imaging, reduce damage and errors, and ensure accurate positioning and orientation.

[0033] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. A small remote control adaptive control new energy harvester, comprising a body (1), characterized in that: The fuselage (1) is provided with a driving motor (11), a left pulley set (12), a right pulley set (13), a driving battery (14), a remote control center (2) and an adaptive control system (3), the driving motor (11) is electrically connected with the driving battery (14), the remote control center (2) is electrically connected with the driving motor (11) and the adaptive control system (3), the driving motor (11) is connected with an electronic differential (4), the electronic differential (4) is provided with a first output shaft (41) for connecting with the left pulley set (12) and a second output shaft (42) for connecting with the right pulley set (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 jointly calibrates the farmland by means of laser and visible light imaging through the three-dimensional laser radar (31) and the visual sensor (32); The rear end of the fuselage (1) is also provided with a rear-view auxiliary sensor (6), the rear end of the fuselage (1) is provided with a calibration machine (7) for setting beacons in the field, the calibration machine (7) is provided with an electric telescopic rod (71), the lower end of the electric telescopic rod (71) is provided with a digging shovel (72), during work, after moving a certain distance, the electric telescopic rod (71) is extended downward, and a pit beacon for the rear-view auxiliary sensor (6) to identify is dug in the field through the digging shovel (72); the two sides of the fuselage (1) are also provided with a side-view visual auxiliary sensor (61).

2. The small-sized tele-manipulation adaptive control new energy harvester according to claim 1, characterized in that: The visual sensor (32) is a visual camera (321), the visual camera (321) is connected with a gimbal support (5), and the gimbal support (5) is installed at the front end of the fuselage (1) to erect the visual camera (321) above the front end of the fuselage (1).

3. The small tele-manipulation adaptive control new energy harvester according to claim 2, characterized in that: The gimbal support (5) comprises an electric steering base (51), the electric steering base (51) is provided with an electric lifting rod (52), the lifting end of the electric lifting rod (52) is provided with a suspension stabilizing frame (53), the visual camera (321) is installed on the suspension stabilizing frame (53), and the electric steering base (51) and the electric lifting rod (52) are electrically connected with the remote control center (2).

4. The small-sized tele-manipulation adaptive control new energy harvester according to claim 3, characterized in that: The three-dimensional laser radar (31) is installed on the visual camera (321), the posture 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-sized tele-manipulation adaptive control new energy harvester according to claim 1, characterized in that: The fuselage (1) is provided with a harvesting device (15), a conveying device (16) and an output device (17), the harvesting device (15) is provided with a harvesting measurement calculator, the conveying device (16) is provided with a transportation measurement calculator, and the output device (17) is provided with an output measurement calculator, and the harvesting measurement calculator, the transportation measurement calculator and the output measurement calculator are electrically connected with the remote control center (2).

6. The small-sized tele-manipulation adaptive control new energy harvester according to claim 5, characterized in that: The remote control center (2) is provided with an offline automation working system, which comprises a multi-modal information acquisition software, a path planning software, an autonomous action control software and an information module for storing environment images, radar feedback and driving track information.

7. The small-sized tele-manipulation adaptive control new energy harvester according to claim 1, characterized in that: The driving motor (11) is provided with an electric reducer (111), the electric reducer (111) is connected with a transmission shaft (112), the electronic differential (4) is provided 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 with the transmission shaft (112), the first reducer (45) and the second reducer (46), the first reducer (45) is connected with the first output shaft (41), and the second reducer (46) is connected with the second output shaft (42).

8. The small-sized tele-manipulation adaptive control new energy harvester according to claim 2, characterized in that: 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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