Automatic row control device of tobacco harvesting machine and control method

Abstract

The invention relates to the technical field of agricultural intelligent equipment, and discloses an automatic row control device of a tobacco harvesting machine and a control method.The automatic row control device of the tobacco harvesting machine comprises a whole vehicle controller arranged on a crawler-type tobacco harvesting machine and a motor driver used for controlling a crawler motor, and the motor driver is electrically connected with the whole vehicle controller; the angle measuring mechanism comprises an absolute value type encoder and a tobacco stem touch rod, the absolute value type encoder is electrically connected with the vehicle control unit, the tobacco stem touch rod is horizontally arranged, and one end of the tobacco stem touch rod is connected with an output shaft of the absolute value type encoder; when the tobacco harvesting machine deviates from the tobacco plant growth line, the absolute value type encoder feeds back the deflection angle information of the tobacco stem touch rod after the tobacco stem touch rod touches the tobacco stem to the whole vehicle controller in real time, and the whole vehicle controller processes the received deflection angle information and then controls the vehicle body to steer through the motor driver. The automatic row-aligning walking process along tobacco plant growth rows during field operation is achieved, and damage to tobacco leaves is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural intelligent equipment, and in particular to an automatic row alignment device for a tobacco harvester and a control method thereof. Background Art

[0002] Currently, tobacco leaf harvesting mainly relies on manual work such as picking, transporting, and packaging. The tobacco harvesting window is short, the environment is harsh, and the labor intensity is high. Mechanized tobacco harvesting is an inevitable development trend, and automatic row alignment is an important part of realizing intelligent tobacco harvesting.

[0003] Existing tobacco harvesters mostly adopt cross-row tobacco harvesting operations. Tobacco racks are placed on both ends of the frame, and seats are provided behind the racks. The travel drive modes generally include wheeled and crawler types. Wheeled harvesters have poor climbing and obstacle crossing capabilities and a large turning radius. They are not suitable for tobacco planting areas with small plots, many undulations, and large slopes in my country's hilly and mountainous areas. Therefore, crawler travel is usually used for harvesting in the above-mentioned areas.

[0004] In order to reduce the damage to tobacco leaves caused by collision when the equipment moves forward, the whole machine must be ensured to move along the crop row during the operation. Due to the tall plants and serious leaf shading during the tobacco harvesting period, the driver cannot adjust the forward direction of the operation in time, which easily causes damage to the tobacco leaves and makes the tobacco leaf harvesting operation inefficient. To solve the above problems, there are also some technical solutions in the prior art to assist tobacco harvesters in row alignment, such as row alignment devices based on image processing technology and row alignment devices based on GPS navigation technology. However, the row alignment device based on image processing technology has low detection and recognition accuracy and high misjudgment rate, and is difficult to play a role; GPS navigation technology requires setting the target path in advance, which has high professional and technical requirements, complex operation, and poor acceptance by tobacco farmers; at the same time, some current row alignment devices do not consider the lateral deviation between the driving direction and the tobacco plant growth row after the adjustment of the body offset angle during the adjustment process, and frequent adjustments are required during driving to achieve the row alignment effect. There is still a problem of low row adjustment efficiency and accuracy, which leads to mechanical damage to tobacco leaves and low efficiency of tobacco leaf harvesting. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic row alignment device and control method for a tobacco harvester, so as to solve the problem that the current mechanical harvester is difficult to adjust the direction of movement of the machine body in real time according to the growth rows of tobacco plants, and has low row adjustment efficiency and accuracy.

[0006] The technical solution of the present invention is:

[0007] A tobacco harvester automatic row alignment device comprises a vehicle controller arranged on a crawler tobacco harvester and a motor driver for controlling a crawler motor, the motor driver being electrically connected to the vehicle controller, and also comprising an angle measuring mechanism, the angle measuring mechanism comprising an absolute encoder and a tobacco stalk touch rod, the absolute encoder being electrically connected to the vehicle controller, the tobacco stalk touch rod being horizontally arranged, and one end being connected to the output shaft of the absolute encoder, the tobacco stalk touch rod touching the tobacco stalk to detect the deviation position of the crawler tobacco harvester, the absolute encoder feeding back the deflection angle information of the tobacco stalk touch rod after colliding with the tobacco stalk to the vehicle controller in real time, the vehicle controller processing the received deflection angle information and issuing a control instruction to the motor driver, the motor driver driving the crawler motor to realize the steering adjustment of the crawler tobacco harvester, so that the crawler tobacco harvester walks along the growth row of tobacco plants.

[0008] Preferably, as a further improvement of the present invention, the angle measuring mechanism also includes a mounting seat, a bracket and a rotating shaft, the mounting seat is fixed on the front track cover plate of the crawler tobacco harvester, the absolute encoder is fixed to the top of the mounting seat through the bracket, the rotating shaft is vertically arranged, and the upper end of the rotating shaft is connected to the output shaft of the absolute encoder, a through hole is opened on the mounting seat, the lower end of the rotating shaft passes through the through hole and extends to the bottom of the mounting seat, and one end of the tobacco stem touch rod is connected to the lower end of the rotating shaft.

[0009] Preferably, as a further improvement of the present invention, it also includes a reset mechanism for resetting the cigarette stem touch rod after the cigarette stem touch rod touches the cigarette rod, the reset mechanism comprising an outer seat body, an inner seat body and a torsion spring; the outer seat body is a barrel structure, and the barrel mouth is arranged vertically downward, the top of the outer seat body is fixed to the bottom of the mounting seat, the top of the outer seat body is provided with a mounting hole and a first groove, and the mounting hole is located below the through hole; the inner seat body comprises a hollow shaft, a bearing, a turntable and a fixed sleeve, the lower end of the rotating shaft passes through the mounting hole and is inserted into the hollow shaft and fixed to the hollow shaft, the upper end of the hollow shaft is rotatably connected to the mounting hole through a bearing, the turntable is fixed to the lower end of the hollow shaft, a second groove is provided on the surface of the turntable facing the first groove, the fixed sleeve is fixed to the bottom of the turntable, and one end of the cigarette stem touch rod is fixed to the fixed sleeve; the torsion spring sleeve is arranged on the hollow shaft, and the two ends of the torsion spring are respectively connected to the first groove and the second groove.

[0010] Preferably, as a further improvement of the present invention, a limiting column is vertically fixed on the barrel mouth end face of the outer base body, and the limiting column is used to limit the cigarette stem touch rod when the reset mechanism drives it to reset, so that the cigarette stem touch rod returns to the zero point.

[0011] Preferably, as a further improvement of the present invention, the cigarette stem touching rod comprises a first straight section, a curved section and a second straight section, the curved section is fixed between the first straight section and the second straight section, and one end of the first straight section away from the curved section is fixed to the fixing sleeve.

[0012] Preferably, as a further improvement of the present invention, the first straight section is divided into two sections, and the two sections are connected by a folding mechanism, the folding mechanism is used to make the cigarette stem touch the rod fold upward, and the folding mechanism includes two connecting sleeves, a pressing plate and a buckle; the two connecting sleeves are respectively fixed to the end portions of the two first straight sections, and the tops of the two connecting sleeves are hinged by a hinge, a groove is provided at the bottom of the end surface of one of the connecting sleeves, and a wedge-shaped tongue is fixed in the groove, and the middle side wall of the pressing plate is connected to the other through a pin shaft. The mounting groove at the bottom of the end face of the outer connecting sleeve is hinged, and a spring is sleeved on the pin shaft, and the two ends of the spring are respectively connected to the groove wall of the mounting groove and the side wall of the pressing plate; a wedge-shaped block is fixed to the top of one end of the pressing plate close to the slot, and when the cigarette stem touch rod is in horizontal expansion, the wedge-shaped block is inserted into the slot and engages with the wedge-shaped tongue; the buckle is fixed on the mounting seat and is located directly above the cigarette stem touch rod, and the buckle has a U-shaped opening, and the cigarette stem touch rod is inserted into the U-shaped opening of the buckle when it is vertically folded.

[0013] Preferably, as a further improvement of the present invention, the bracket is in a conical cylindrical shape and has an opening on the side wall, the top of the bracket is fixed to the housing of the absolute encoder, and the bottom of the bracket is fixed to the top of the mounting seat.

[0014] Preferably, as a further improvement of the present invention, there are two pairs of angle measuring mechanisms and resetting mechanisms, which are symmetrically arranged inside the two sides of the front end of the chassis of the crawler tobacco harvester.

[0015] The present invention also discloses a method for controlling automatic row alignment of a tobacco harvester, which is implemented by using the automatic row alignment device of the tobacco harvester, and comprises the following steps:

[0016] When the moving direction of the crawler tobacco harvester deviates from the tobacco plant growth row, the tobacco plant stems touch and push the tobacco stem touch rod to rotate. The vehicle controller obtains the deflection angle and the rate of change of the deflection angle of the tobacco stem touch rod through the absolute encoder, and obtains the actual speed of the crawler motors on both sides through the motor driver.

[0017] The vehicle controller calculates the vehicle offset angle of the crawler tobacco harvester according to the obtained deflection angle of the tobacco stalk contact rod and the change rate of the deflection angle of the tobacco stalk contact rod, and then calculates the expected speed and turning time of the crawler motors on both sides according to the vehicle offset angle and the actual speed of the crawler motors on both sides, and transmits them to the motor driver;

[0018] The motor driver controls the crawler motors to turn according to the desired speed and steering time signal instructions of the crawler motors on both sides, so that the crawler tobacco harvester can move along the growth line of the tobacco plants.

[0019] Preferably, as a further improvement of the present invention, the process of calculating the expected speed and turning time of the crawler motors on both sides according to the vehicle offset angle and the actual speed of the crawler motors on both sides obtained includes the following steps:

[0020] Calculate the desired turning radius R by the following formula;

[0021]

[0022] In the formula, is the vehicle offset angle, E is the distance from the side track to the tobacco plant growth line after turning, After turning, the tobacco plant growth row coincides with the center line of the harvester, D is the distance between the crawlers on both sides, L 3 The distance from the rotation center of the tobacco stem touch rod to the center of the installation side track;

[0023] Steering control is achieved by reducing the speed of the track motor on the contact side. The expected speed of the track motor on the contact side is n 1 Calculated by the following formula;

[0024]

[0025] Where n 2 is the actual speed of the crawler motor on the other side;

[0026] The expected turning time t is calculated by the following formula;

[0027]

[0028] Where r is the radius of the track driving wheel and k is the reduction ratio.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. When the tobacco harvester's traveling direction deviates from the tobacco plant growth row due to ground undulations or slippage, the tobacco stalk touch rod will collide with the tobacco plant stems and rotate. The absolute encoder converts the rotation angle of the tobacco stalk touch rod into a voltage signal and outputs it to the vehicle controller in real time. The vehicle controller calculates the vehicle body offset angle and the expected turning radius after filtering the voltage signal, sends a speed signal to the motor driver and controls the vehicle body steering, so that the vehicle body can adjust the traveling direction in real time according to the tobacco plant growth row, ensuring that the tobacco plant growth row is located in the center of the gantry body and coincides with the forward direction, thereby achieving walking along the tobacco plant growth row during field operations. The entire vehicle body can be adjusted more accurately, effectively reducing the mechanical damage caused by the collision of tobacco leaves.

[0031] 2. The automatic row control method disclosed in the present invention can realize the real-time automatic adjustment process of the travel deviation, ensure that the tobacco harvester does not deviate from the tobacco crop row, and realize automatic row travel, so as to achieve the purpose of improving the harvesting efficiency.

[0032] 3. The device can better adapt to the complex tobacco harvesting environment with heavy rain and splashing soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of an automatic row alignment device for a tobacco harvester according to an embodiment of the present invention.

[0034] Figure 2 The figure is a schematic diagram of the exploded structure of an automatic row alignment device for a tobacco harvester according to an embodiment of the present invention.

[0035] Figure 3 The present invention is a schematic structural diagram of a tobacco stem contact rod in an automatic row alignment device of a tobacco harvester when the rod is in an upright folded state.

[0036] Figure 4 For the present invention Figure 3 A local enlarged schematic diagram of point A in the figure.

[0037] Figure 5 The diagram is a schematic diagram of the exploded structure of a folding mechanism in an automatic row alignment device of a tobacco harvester according to an embodiment of the present invention.

[0038] Figure 6 The present invention is a schematic diagram of the installation of an automatic row alignment device for a tobacco harvester according to an embodiment of the present invention.

[0039] Figure 7 The present invention is a schematic diagram of an automatic row alignment device of a tobacco harvester in different offset conditions when in operation.

[0040] Figure 8 This is a flow chart of the automatic alignment program of the present invention.

[0041] Fig. 9 It is a system schematic diagram of the present invention.

[0042] Fig.10 It is a schematic diagram of the steering principle of the present invention. DETAILED DESCRIPTION

[0043] The following is combined with Figure 1 To the attached Fig.10 , the specific implementation methods of the present invention are described in detail. In the description of the invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0044] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the invention, unless otherwise specified, "plurality" means two or more.

[0045] Example 1

[0046] like Figures 1 to 4 As shown, an embodiment of the present invention provides an automatic row alignment device for a tobacco harvester, including a vehicle controller arranged on a crawler tobacco harvester and a motor driver for controlling a crawler motor, the motor driver being electrically connected to the vehicle controller, and also including an angle measuring mechanism, the angle measuring mechanism including an absolute encoder 1 and a tobacco stalk touch rod 2, the absolute encoder 1 being electrically connected to the vehicle controller, the tobacco stalk touch rod 2 being horizontally arranged, and one end of which is connected to the output shaft of the absolute encoder 1.

[0047] In this embodiment, the deviation position of the crawler tobacco harvester is detected by the tobacco stalk touch rod 2 touching the tobacco stalk. When the crawler tobacco harvester deviates from the direction of travel and the tobacco plant growth row due to ground undulations or slippage, the tobacco stalk touch rod 2 touches the tobacco stalk and then rotates, and the absolute encoder 1 converts the deflection angle information of the tobacco stalk touch rod 2 into a voltage signal and outputs it to the vehicle controller in real time. The vehicle controller calculates the body offset angle and the expected turning radius after filtering the voltage signal, sends a speed signal and a steering time instruction to the motor driver, and controls the steering of the crawler tobacco harvester body to ensure that the tobacco plant growth row is located in the center of the gantry body and coincides with the forward direction, thereby enabling the crawler tobacco harvester to move along the tobacco plant growth row during field operations, and the entire body adjustment is more precise, effectively reducing the mechanical damage caused by the collision of tobacco leaves.

[0048] Furthermore, for the convenience of installation, the angle measuring mechanism also includes a mounting seat 3, a bracket 4 and a rotating shaft 5. The mounting seat 3 is fixed on the front track cover plate of the crawler tobacco harvester. The absolute encoder 1 is fixed to the top of the mounting seat 3 through the bracket 4. The rotating shaft 5 is vertically arranged, and the upper end of the rotating shaft 5 is connected to the output shaft of the absolute encoder 1. A through hole is opened on the mounting seat 3. The lower end of the rotating shaft 5 extends to the bottom of the mounting seat 3 after passing through the through hole. One end of the tobacco stem touch rod 2 is connected to the lower end of the rotating shaft 5. Such an arrangement makes it easy to install the tobacco stem touch rod 2 at a low place. When the tobacco stem touch rod 2 touches the tobacco stem, the tobacco stem touch rod 2 will drive the rotating shaft 5 to rotate, and the rotating shaft 5 drives the output shaft of the absolute encoder 1 to rotate, thereby transmitting the deflection angle information of the tobacco stem touch rod 2.

[0049] Among them, the bracket 4 is conical cylindrical and has an opening on the side wall. The top of the bracket 4 is fixed to the shell of the absolute encoder 1, and the bottom of the bracket 4 is fixed to the top of the mounting base 3. The conical cylindrical bracket 4 can protect the rotating shaft 5.

[0050] In another embodiment of the present invention, considering that after the body of the crawler tobacco harvester is adjusted by using the tobacco stem touching rod 2 to collide with the tobacco stem, there is still a problem of body deviation as the vehicle continues to travel, and the tobacco stem touching rod 2 needs to be reset for subsequent multiple adjustment processes. Therefore, a reset mechanism is also included, which is used to reset the tobacco stem touching rod 2 after the tobacco stem touching rod 2 touches the tobacco stem. Specifically, as an optional implementation of the reset mechanism, the reset mechanism in this embodiment includes an outer seat body 61, an inner seat body and a torsion spring 69; the outer seat body 61 is a barrel body structure, and the barrel mouth is arranged vertically downward, the top of the outer seat body 61 is fixed to the bottom of the mounting seat 3, and a mounting hole is opened at the top of the outer seat body 61 62 and a first groove 63, and the mounting hole 62 is located below the through hole; the inner seat body includes a hollow shaft 64, a bearing 65, a turntable 66 and a fixing sleeve 67, the lower end of the rotating shaft 5 passes through the mounting hole 62 and is inserted into the hollow shaft 64, and is fixed to the hollow shaft 64, the upper end of the hollow shaft 64 is rotatably connected to the mounting hole 62 through the bearing 65, the turntable 66 is fixed to the lower end of the hollow shaft 64, and a second groove 68 is provided on the surface of the turntable 66 facing the first groove 63, the fixing sleeve 67 is fixed to the bottom of the turntable 66, and one end of the cigarette stem touching rod 2 is fixed to the fixing sleeve 67; the torsion spring 69 is sleeved on the hollow shaft 64, and the two ends of the torsion spring 69 are respectively connected to the first groove 63 and the second groove 68.

[0051] In this embodiment, the torsion spring 69 is provided to realize the reset function after the cigarette stem touch rod 2 rotates. When the cigarette stem touch rod 2 touches the cigarette stem, it drives the fixed sleeve 67 to rotate synchronously. Since the fixed sleeve 67 is fixed to the turntable 66, and the turntable 66 is fixed to the lower end of the rotating shaft 5 through the hollow shaft 64, the turntable 66, the hollow shaft 64 and the rotating shaft 5 will be driven to rotate synchronously, so that the hollow shaft 64 and the turntable 66 rotate relative to the outer base body 61, and the two ends of the torsion spring 69 are respectively connected to the first groove 63 and the second groove 68. When this turntable 66 rotates, it will drive one end of the torsion spring 69 to twist, while the other end of the torsion spring 69 is fixed. After the body is adjusted so that the cigarette stem touch rod 2 no longer contacts the cigarette stem, the elastic force of the torsion spring is used to drive the turntable 66 and the cigarette stem touch rod 2 to rotate in the opposite direction and return to their original positions. In addition, the outer seat body 61 and the inner seat body are provided to form protection for the rotating shaft 5, the hollow shaft 64, the turntable 66 and the torsion spring 69, which can effectively prevent the cigarette stem touch rod 2 from being unable to return to its original position and the change in the touch torsion torque caused by splashing soil.

[0052] Furthermore, in order to ensure that the cigarette stem touch rod 2 can accurately return to the initial zero position when resetting, a limiting column 7 is vertically fixed on the barrel mouth end face of the outer base body 61. The limiting column 7 is used to limit the cigarette stem touch rod 2 when the resetting mechanism drives it to reset, so that the cigarette stem touch rod 2 can quickly return to the zero point.

[0053] Furthermore, in order to enable the cigarette stem touching rod 2 to better contact with the cigarette stem, the cigarette stem touching rod 2 includes a first straight section 21, a curved section 22 and a second straight section 23. The curved section 22 is fixed between the first straight section 21 and the second straight section 23. The end of the first straight section 21 away from the curved section 22 is fixed to the fixing sleeve 67. By setting the middle part of the cigarette stem touching rod 2 as the curved section 22, it can better contact with the cigarette stem.

[0054] Furthermore, in order to avoid scratching the tobacco plants during reversing operations and reduce mechanical damage to the tobacco leaves, the first straight section 21 is divided into two sections, and the two sections are connected by a folding mechanism 8. The folding mechanism 8 is used to make the tobacco stem touch the rod 2 and fold upward. The folding mechanism 8 includes two connecting sleeves 81, a pressing plate 85 and a buckle 89; the two connecting sleeves 81 are respectively fixed to the end portions of the two first straight sections 21, and the tops of the two connecting sleeves 81 are hinged by a hinge 82. The hinge 82 can be realized by a hinge or other structure. A slot 83 is provided at the bottom of the end surface of one of the connecting sleeves 81, and a wedge-shaped tongue 8 is fixed in the slot 83. 4. The middle side wall of the pressing plate 85 is hinged to the mounting groove provided at the bottom of the end face of another connecting sleeve 81 through a pin shaft 86, and a spring 87 is sleeved on the pin shaft 86. The two ends of the spring 87 are respectively connected to the groove wall of the mounting groove and the side wall of the pressing plate 85. A wedge-shaped clamping block 88 is fixed to the top of one end of the pressing plate 85 close to the clamping groove 83. When the cigarette stem touching rod 2 is in horizontal expansion, the wedge-shaped clamping block 88 is inserted into the clamping groove 83 and clamped with the wedge-shaped clamping tongue 84. The buckle 89 is fixed on the mounting seat 3 and is located just above the cigarette stem touching rod 2. The buckle 89 has a U-shaped opening. When the cigarette stem touching rod 2 is vertically folded, it is clamped into the U-shaped opening of the buckle 89.

[0055] By means of the folding mechanism 8 provided above, the tobacco stem contact rod 2 can be folded into an upright state when reversing, so as to avoid scratching the tobacco stems during reversing operation and reduce mechanical damage to the tobacco leaves. When walking normally, the tobacco stem contact rod 2 can be kept horizontal for detection. The operating principle of the folding mechanism 8 is as follows:

[0056] When folding is required, the pressing plate 85 is pressed on the side away from the wedge-shaped tongue 84, so that the pressing plate 85 rotates around the pin 86, so that the wedge-shaped block 88 is separated from the wedge-shaped tongue 84, and then the cigarette stem is turned upward to touch the rod 2. Figure 3 As shown, the upper half of the tobacco stem touching rod 2 is clipped into the buckle 89, thereby keeping the tobacco stem in an upright state to avoid scratching the tobacco stem during the reverse operation;

[0057] When folding is not needed, the upper half of the cigarette stem touch rod 2 is taken out from the U-shaped opening of the buckle 89, and the pressing plate 85 is pressed on the side away from the wedge-shaped tongue 84, so that the pressing plate 85 rotates around the pin 86, and the upper half of the cigarette stem touch rod 2 is pulled back to the horizontal state, and the wedge-shaped block 88 is inserted into the wedge-shaped tongue 84, and locked by the elastic force of the spring 87, so as to keep the cigarette stem touch rod 2 as a whole in the horizontal state, so as to facilitate measurement and adjustment during travel.

[0058] Among them, Figure 6 As shown, there are two pairs of angle measuring mechanisms and resetting mechanisms, which are symmetrically arranged inside the two sides of the front end of the chassis of the crawler tobacco harvester.

[0059] The tobacco harvester offset forms of the present invention can be classified as follows: Figure 7 There are three forms shown in the figure. The circles represent tobacco plants, and the line connecting two tobacco plants represents the growth row of tobacco plants at the head of the harvester. Figure 7 (a) indicates that the crawler tobacco harvester deviates to the right from the tobacco plant growth row, and the left touch bar touches the tobacco plant, and the moving direction needs to be adjusted to the left; Figure 7 (b) indicates that the center line of the crawler tobacco harvester body and the tobacco plant growth line do not need to be adjusted, which is the target state after the adjustment of the line; Figure 7 (c) indicates that the crawler tobacco harvester has deviated to the left from the growing row and needs to adjust the direction of travel of the harvester to the right.

[0060] Example 2

[0061] This embodiment is based on the embodiment 1. Figures 8 to 10 As shown, a method for controlling automatic row alignment of a tobacco harvester is also disclosed, which is implemented by using the automatic row alignment device of the tobacco harvester, and includes the following steps:

[0062] When the tobacco harvester moves along the tobacco plant growth row, when the direction of the tobacco harvester deviates from the tobacco plant growth row, the tobacco plant stems push the tobacco stem touch rod 2, and the tobacco stem touch rod 2 transmits the rotation angle to the absolute encoder and then converts it into a voltage signal and outputs it to the vehicle controller in real time.

[0063] The vehicle controller reads the encoder voltage signal to calculate the deflection angle θ of the touch rod, reads the actual motor speed from the CAN bus, and uses fuzzy reasoning to calculate the offset angle of the harvester vehicle with the deflection angle θ and the deflection angle change rate Δθ of the touch rod as input. Calculate the expected speed n and expected steering time t of the motors on both sides and send them to the CAN bus.

[0064] Among them, the vehicle offset angle The calculation steps include:

[0065] Using the fuzzy subset {LB, LM, LS, ZO, PS, PM, PB}, the expected steering angle The domain range is [-1, 1], the input signal is the touch rod deflection angle θ and the touch rod deflection angle change rate Δθ, θ and Δθ are mapped to the interval [-1, 1], and the triangular membership function is used. The center point is selected as {-1, -0.67, -0.33, 0, 1, 0.33, 0.67, 1}, LB represents negative large, LM represents negative medium, LS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large, as shown in the following table:

[0066]

[0067] Then use the center of gravity method to defuzzify and get the vehicle offset angle

[0068] Specifically, calculating the expected rotation speed n and the expected turning time t of the motors on both sides includes the following steps:

[0069] Calculate the desired turning radius R by the following formula;

[0070]

[0071] In the formula, Fig.10 As shown, is the vehicle offset angle, E is the distance from the side track to the tobacco plant growth line after turning, After turning, the tobacco plant growth row coincides with the center line of the harvester, D is the distance between the crawlers on both sides, L 3 The distance from the rotation center of the tobacco stem touch rod to the center of the installation side track;

[0072] Steering control is achieved by reducing the speed of the track motor on the contact side. The expected speed of the track motor on the contact side is n 1 Calculated by the following formula;

[0073]

[0074] Where n 2 is the actual speed of the crawler motor on the other side;

[0075] The expected turning time t is calculated by the following formula;

[0076]

[0077] Where r is the radius of the track driving wheel and k is the reduction ratio.

[0078] The motor driver reads the expected speed n of the crawler motors on both sides on the CAN bus, sends the corresponding voltage to the motor, performs the opposite direction steering, and continues to move forward after the differential steering time.

[0079] The above disclosures are only several preferred specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An automatic line-aligning device for a tobacco harvester, comprising a vehicle controller arranged on a crawler-type tobacco harvester and a motor driver for controlling a crawler motor, wherein the motor driver is electrically connected to the vehicle controller, and characterized in that: The invention also comprises an angle measuring mechanism, wherein the angle measuring mechanism comprises an absolute value encoder (1) and a tobacco stem contact rod (2), wherein the absolute value encoder (1) is electrically connected to the vehicle controller, wherein the tobacco stem contact rod (2) is arranged horizontally and one end of the tobacco stem contact rod (2) is connected to the output shaft of the absolute value encoder (1), and the deviation position of the crawler-type tobacco harvester is detected by the tobacco stem contact rod (2) touching the tobacco stem, wherein the absolute value encoder (1) feeds back the deflection angle information after the tobacco stem contact rod (2) collides with the tobacco stem to the vehicle controller in real time, and the vehicle controller processes the received deflection angle information and issues a control instruction to the motor driver, and the motor driver drives the crawler motor to realize the steering adjustment of the crawler-type tobacco harvester, so that the crawler-type tobacco harvester moves along the growth line of the tobacco plants.

2. The automatic row alignment device for tobacco harvester according to claim 1, characterized in that: The angle measuring mechanism further comprises a mounting seat (3), a bracket (4) and a rotating shaft (5); the mounting seat (3) is fixed on the front crawler cover plate of the crawler-type tobacco harvester; the absolute value encoder (1) is fixed to the top of the mounting seat (3) through the bracket (4); the rotating shaft (5) is vertically arranged, and the upper end of the rotating shaft (5) is connected to the output shaft of the absolute value encoder (1); a through hole is formed on the mounting seat (3); the lower end of the rotating shaft (5) passes through the through hole and extends to the bottom of the mounting seat (3); one end of the tobacco stem touching rod (2) is connected to the lower end of the rotating shaft (5).

3. The automatic row alignment device for tobacco harvester according to claim 2, characterized in that: It also includes a reset mechanism, which is used to reset the cigarette stem touching rod (2) after the cigarette stem touching rod (2) touches the cigarette stem, and the reset mechanism includes: The outer base body (61) is a barrel structure, and the barrel mouth is arranged vertically downward. The top of the outer base body (61) is fixed to the bottom of the mounting seat (3). The top of the outer base body (61) is provided with a mounting hole (62) and a first groove (63), and the mounting hole (62) is located below the through hole. The inner seat body comprises a hollow shaft (64), a bearing (65), a rotating disk (66) and a fixing sleeve (67); the lower end of the rotating shaft (5) passes through the mounting hole (62) and is inserted into the hollow shaft (64) and fixed to the hollow shaft (64); the upper end of the hollow shaft (64) is rotatably connected to the mounting hole (62) via the bearing (65); the rotating disk (66) is fixed to the lower end of the hollow shaft (64); a second groove (68) is provided on the surface of the rotating disk (66) facing the first groove (63); the fixing sleeve (67) is fixed to the bottom of the rotating disk (66); and one end of the tobacco stem touching rod (2) is fixed to the fixing sleeve (67); The torsion spring (69) is sleeved on the hollow shaft (64), and two ends of the torsion spring (69) are respectively connected to the first groove (63) and the second groove (68).

4. The automatic row alignment device for tobacco harvester according to claim 3, characterized in that: A limiting column (7) is vertically fixed on the barrel mouth end surface of the outer seat body (61), and the limiting column (7) is used to limit the cigarette stem contact rod (2) when the reset mechanism drives it to reset, so that the cigarette stem contact rod (2) returns to the zero point.

5. The automatic row alignment device for tobacco harvester according to claim 3, characterized in that: The cigarette stem contact rod (2) comprises a first straight section (21), a curved section (22) and a second straight section (23); the curved section (22) is fixed between the first straight section (21) and the second straight section (23); and one end of the first straight section (21) away from the curved section (22) is fixed to the fixing sleeve (67).

6. The automatic row alignment device for tobacco harvester according to claim 5, characterized in that: The first straight section (21) is divided into two sections, and the two sections are connected by a folding mechanism (8), and the folding mechanism (8) is used to fold the cigarette stem upwards by touching the rod (2), and the folding mechanism (8) comprises: Two connecting sleeves (81) are respectively fitted and fixed to the ends of the two first straight sections (21), and the tops of the two connecting sleeves (81) are hingedly connected via a hinge (82). A groove (83) is provided at the bottom of the end surface of one of the connecting sleeves (81), and a wedge-shaped tongue (84) is fixed in the groove (83); The pressing plate (85) has a middle side wall which is hingedly connected to a mounting groove provided at the bottom of the end surface of another connecting sleeve (81) through a pin shaft (86), and a spring (87) is sleeved on the pin shaft (86), and the two ends of the spring (87) are respectively connected to the groove wall of the mounting groove and the side wall of the pressing plate (85), and a wedge-shaped clamping block (88) is fixed to the top of one end of the pressing plate (85) close to the clamping groove (83), and when the cigarette stem touch rod (2) is in a horizontally unfolded state, the wedge-shaped clamping block (88) is inserted into the clamping groove (83) and clamped with the wedge-shaped clamping tongue (84); A buckle (89) is fixed on the mounting seat (3) and is located directly above the cigarette stem contact rod (2). The buckle (89) has a U-shaped opening. When the cigarette stem contact rod (2) is folded vertically, it is inserted into the U-shaped opening of the buckle (89).

7. The automatic row alignment device for tobacco harvester according to claim 2, characterized in that: The bracket (4) is in the shape of a cone and has an opening on its side wall. The top of the bracket (4) is fixed to the housing of the absolute encoder (1), and the bottom of the bracket (4) is fixed to the top of the mounting seat (3).

8. The automatic row alignment device for tobacco harvester according to any one of claims 3 to 7, characterized in that: There are two pairs of angle measuring mechanisms and resetting mechanisms, which are symmetrically arranged inside the two sides of the front end of the chassis of the crawler type tobacco harvester.

9. A method for controlling automatic row alignment of a tobacco harvester, implemented by using the automatic row alignment device of a tobacco harvester according to claim 8, characterized in that: The following steps are involved: When the moving direction of the crawler-type tobacco harvester deviates from the tobacco plant growth row, the tobacco plant stems touch and push the tobacco stem touch rod (2) to rotate, and the vehicle controller obtains the deflection angle of the tobacco stem touch rod (2) and the rate of change of the deflection angle of the tobacco stem touch rod (2) through the absolute value encoder (1), and obtains the actual rotation speed of the crawler motors on both sides through the motor driver; The vehicle controller calculates the vehicle offset angle of the crawler-type tobacco harvester according to the obtained deflection angle of the tobacco stem contact rod (2) and the rate of change of the deflection angle of the tobacco stem contact rod (2), and then calculates the expected rotation speed and steering time of the crawler motors on both sides according to the vehicle offset angle and the obtained actual rotation speed of the crawler motors on both sides, and transmits the calculations to the motor driver; The motor driver controls the crawler motors to turn according to the desired speed and steering time signal instructions of the crawler motors on both sides, so that the crawler tobacco harvester can move along the growth line of the tobacco plants.

10. The automatic row alignment device for tobacco harvester according to claim 9, characterized in that: The process of calculating the expected speed and turning time of the crawler motors on both sides according to the vehicle offset angle and the actual speed of the crawler motors on both sides includes the following steps: Calculate the desired turning radius R by the following formula; In the formula, is the vehicle offset angle, E is the distance from the side track to the tobacco plant growth line after turning, After turning, the tobacco plant growth row coincides with the center line of the harvester, D is the distance between the crawlers on both sides, and L3 is the distance from the rotation center of the tobacco stalk touch rod to the center of the crawler on the installation side; The steering control is achieved by reducing the speed of the track motor on the contact side. Then the expected speed n1 of the track motor on the contact side is calculated by the following formula: Where n2 is the actual speed of the crawler motor on the other side; The expected turning time t is calculated by the following formula; Where r is the radius of the track driving wheel and k is the reduction ratio.

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