An automatic row alignment device and control method for a crawler-type tobacco harvester

Abstract

The present invention relates to the technical field of agricultural intelligent equipment, and discloses an automatic row alignment device and a control method for a tobacco harvester. The automatic row alignment device for the tobacco harvester includes a vehicle controller arranged on a crawler-type tobacco harvester and a motor driver for controlling a crawler motor. The motor driver is electrically connected to the vehicle controller. The device further includes an angle measurement mechanism, which includes an absolute encoder and a tobacco stalk touch rod. The absolute encoder is electrically connected to the vehicle controller. The tobacco stalk touch rod is horizontally arranged, and one end thereof is connected to the output shaft of the absolute encoder. When the tobacco harvester deviates from the tobacco plant growth row, the absolute encoder feeds back the angle information of the deflection of the tobacco stalk touch rod after touching the tobacco stalk to the vehicle controller in real time. After processing the received deflection angle information, the vehicle controller controls the vehicle body to turn through the motor driver, realizing the automatic row alignment walking process along the tobacco plant growth row during field operation and reducing the damage to tobacco leaves.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and specifically to an automatic row alignment device and control method for a crawler-type tobacco harvester. Background Art

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

[0003] Existing tobacco leaf harvesters mostly adopt cross-row tobacco leaf harvesting operations. There are tobacco racks for placing tobacco leaves on the two end frames, and a seat is provided behind the tobacco racks. The walking drive methods generally have two forms: wheel type and crawler type. Wheel type harvesters have poor climbing and obstacle-crossing abilities, and a large turning radius, which are not suitable for tobacco planting areas with small plots, many undulations, and large slopes in hilly and mountainous areas of our country. Therefore, crawler-type walking is usually adopted for harvesting in the above areas.

[0004] To reduce the damage to tobacco leaves caused by collisions during the forward movement of the equipment, it is necessary to ensure that the whole machine walks along the crop row during the operation process. Since the plants are tall and the leaves block severely during the tobacco harvesting period, the driver cannot adjust the forward operation direction in time, which easily leads to damage to tobacco leaves and low efficiency of tobacco leaf harvesting operations. To solve the above problems, there are also some technical solutions in the prior art to assist the tobacco harvester in row alignment, such as row alignment devices based on image processing technology and row alignment devices based on GPS navigation technology, etc. However, the row alignment device based on image processing technology has low detection and recognition accuracy and a high false judgment rate, and it is difficult to play a role; GPS navigation technology requires setting the target path in advance, has high requirements for professional technology, 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 adjusting the offset angle of the vehicle body during the adjustment process, and frequent adjustment is required during the driving process to achieve the row alignment effect. There are still problems of low row alignment adjustment efficiency and accuracy, which in turn lead to problems of easy mechanical damage to tobacco leaves and low efficiency of tobacco leaf harvesting operations. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic row alignment device and control method for a crawler-type tobacco harvester to solve the problem that current mechanical harvesters are difficult to adjust the forward direction of the vehicle body in real time according to the tobacco plant growth row, and there are problems of low row alignment adjustment efficiency and accuracy.

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

[0007] An automatic row alignment device for a crawler-type tobacco harvester, including a vehicle controller arranged on the crawler-type tobacco harvester and a motor driver for controlling the crawler motor. The motor driver is electrically connected to the vehicle controller. It also includes an angle measuring mechanism. The angle measuring mechanism includes an absolute encoder and a tobacco stalk touch rod. The absolute encoder is electrically connected to the vehicle controller. The tobacco stalk touch rod is horizontally arranged, and one end is connected to the output shaft of the absolute encoder. The deviation position of the crawler-type tobacco harvester is detected by the tobacco stalk touch rod touching the tobacco stalk. The absolute encoder real-time feeds back the deflection angle information of the tobacco stalk touch rod after colliding with the tobacco stalk to the vehicle controller. The vehicle controller processes the received deflection angle information and issues a control instruction to the motor driver. The crawler motor is driven by the motor driver to realize the steering adjustment of the crawler-type tobacco harvester, so that the crawler-type tobacco harvester travels along the tobacco plant growth row.

[0008] Preferably, as a further improvement of the present invention, the angle measuring mechanism further includes a mounting seat, a bracket and a rotating shaft. The mounting seat is fixed on the front crawler cover plate of the crawler-type 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 provided on the mounting seat. The lower end of the rotating shaft passes through the through hole and extends below the mounting seat. One end of the tobacco stalk touch rod is connected to the lower end of the rotating shaft.

[0009] Preferably, as a further improvement of the present invention, it further includes a reset mechanism for resetting the tobacco stalk touch rod after it touches the tobacco stalk. The reset mechanism includes an outer seat body, an inner seat body and a torsion spring. The outer seat body is a barrel structure with the barrel mouth vertically downward. The top of the outer seat body is fixed to the bottom of the mounting seat. An installation hole and a first groove are provided on the top of the outer seat body, and the installation hole is located below the through hole. The inner seat body includes a hollow shaft, a bearing, a turntable and a fixing sleeve. The lower end of the rotating shaft passes through the installation 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 installation hole through the 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 fixing sleeve is fixed to the bottom of the turntable. One end of the tobacco stalk touch rod is fixed to the fixing sleeve. The torsion spring is sleeved on the hollow shaft, and both 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 end face of the outer seat body. The limiting column is used to limit the tobacco stalk touch rod when the reset mechanism drives it to reset, so that the tobacco stalk touch rod returns to the zero point.

[0011] Preferably, as a further improvement of the present invention, the tobacco stalk touch rod includes a first straight section, a bent section, and a second straight section. The bent section is fixed between the first straight section and the second straight section, and one end of the first straight section away from the bent section is fixed to the fixed 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 fold the tobacco stalk touch rod upward. The folding mechanism includes two connecting sleeves, a pressing plate, and a buckle; the two connecting sleeves are respectively sleeved and fixed to the ends of the two sections of the first straight section. The tops of the two connecting sleeves are hinged by a hinge. A card slot is opened at the bottom of the end face of one of the connecting sleeves, and a wedge-shaped tongue is fixed in the card slot. The middle side wall of the pressing plate is hinged to the installation slot opened at the bottom of the end face of the other connecting sleeve through a pin shaft, and a spring is sleeved on the pin shaft. The two ends of the spring are respectively connected to the wall of the installation slot 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 card slot. When the tobacco stalk touch rod is horizontally unfolded, the wedge-shaped block is inserted into the card slot and clamped with the wedge-shaped tongue; the buckle is fixed on the mounting seat, directly above the tobacco stalk touch rod. The buckle has a U-shaped opening, and the tobacco stalk touch rod is clamped 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 the shape of a conical cylinder, and there is 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 the angle measuring mechanism and the reset mechanism, and they are symmetrically arranged inside the two sides of the front end of the chassis of the tracked tobacco harvester.

[0015] The present invention also discloses an automatic row alignment control method for a tobacco harvester, which is realized by using the above-mentioned automatic row alignment device of the tracked tobacco harvester, and includes the following steps:

[0016] When the traveling direction of the tracked tobacco harvester deviates from the tobacco plant growth row, the tobacco plant stalk touches and pushes the tobacco stalk touch rod to rotate. The vehicle controller obtains the deflection angle of the tobacco stalk touch rod and the information of the change rate of the deflection angle of the tobacco stalk touch rod through the absolute encoder, and obtains the actual speeds of the two tracked motors through the motor driver.

[0017] The vehicle controller calculates the vehicle offset angle of the tracked tobacco harvester according to the obtained deflection angle of the tobacco stalk touch rod and the change rate of the deflection angle of the tobacco stalk touch rod, and then calculates the expected speeds and steering times of the two tracked motors according to the vehicle offset angle and the obtained actual speeds of the two tracked motors, and transmits them to the motor driver.

[0018] The motor driver controls the track motors to drive the track-type tobacco harvester to turn according to the obtained desired rotational speeds of the track motors on both sides and the steering time signal instruction, so that it travels along the tobacco plant growth row for operation.

[0019] Preferably, as a further improvement of the present invention, the process of calculating the desired rotational speeds of the track motors on both sides and the steering time according to the vehicle offset angle and the actual rotational speeds of the track motors on both sides obtained includes the following steps:

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

[0021]

[0022] In the formula, 𝜑 is the vehicle offset angle, E is the distance from the touched side track to the tobacco plant growth row after steering. When the tobacco plant growth row coincides with the center line of the harvester after steering, D is the distance between the two tracks, L 3 is the distance from the rotation center of the tobacco stalk touching rod to the center of the installed side track;

[0023] To achieve steering control by reducing the rotational speed of the touched side track motor, the desired rotational speed n 1 of the touched side track motor is calculated through the following formula;

[0024]

[0025] In the formula, n 2 is the actual rotational speed of the other track motor;

[0026] Calculate the desired steering time through the following formula t ;

[0027]

[0028] In the formula, r is the radius of the track drive wheel, k is the reduction ratio.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. When the tobacco harvesting machine deviates from the tobacco plant growth row due to ground undulation or slippage during travel, the set tobacco stalk touch rod will collide with the tobacco plant stalk 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. After filtering the voltage signal, the vehicle controller calculates the body offset angle and the desired turning radius, sends a speed signal to the motor driver, and controls the body to turn. Thus, the travel direction of the body can be adjusted 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. Therefore, it can walk along the tobacco plant growth row during field operations, and the adjustment of the entire body is more accurate, effectively reducing the mechanical damage caused by colliding with the tobacco leaves.

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

[0032] 3. This device can better adapt to the complex tobacco leaf harvesting environment with a lot of rain and splashing mud. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional structural schematic diagram of an automatic alignment device for a crawler-type tobacco harvester according to an embodiment of the present invention.

[0034] Figure 2 It is an exploded structural schematic diagram of an automatic alignment device for a crawler-type tobacco harvester according to an embodiment of the present invention.

[0035] Figure 3 It is a structural schematic diagram of the tobacco stalk touch rod in an upright and folded state in an automatic alignment device for a crawler-type tobacco harvester according to an embodiment of the present invention.

[0036] Figure 4 For the present invention Figure 3 Partial enlarged schematic diagram at A.

[0037] Figure 5 It is an exploded structural schematic diagram of the folding mechanism in an automatic alignment device for a crawler-type tobacco harvester according to an embodiment of the present invention.

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

[0039] Figure 7 It is a state schematic diagram of an automatic alignment device for a crawler-type tobacco harvester according to an embodiment of the present invention in different offset situations during operation.

[0040] Figure 8 It is a flowchart of the automatic alignment program of the present invention.

[0041] Figure 9 This is a schematic diagram of the system of the present invention.

[0042] Figure 10 This is a schematic diagram of the steering principle of the present invention. Specific embodiments

[0043] The following will combine with the attached Figure 1 to the attached Figure 10 drawings to describe in detail the specific embodiments of the present invention. In the description of the invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus cannot be understood as a limitation to the present invention.

[0044] The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features; in the description of the invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0045] Embodiment 1

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

[0047] In this embodiment, the deviation position of the crawler-type tobacco harvester is detected by the tobacco stalk touch rod 2 touching the tobacco stalks. When the crawler-type tobacco harvester deviates from the tobacco plant growth row due to ground undulation or slippage, the tobacco stalk touch rod 2 rotates after touching the tobacco stalks. 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. After filtering the voltage signal, the vehicle controller calculates the vehicle body offset angle and the desired turning radius, sends a speed signal and a steering time command to the motor driver, and controls the steering of the crawler-type tobacco harvester body to ensure that the tobacco plant growth row is located in the center of the gantry vehicle body and coincides with the forward direction. Thus, when operating in the field, the crawler-type tobacco harvester walks along the tobacco plant growth row, and the adjustment of the entire vehicle body is more accurate, effectively reducing the mechanical damage caused by the collision with the tobacco leaves.

[0048] Furthermore, for the convenience of installation, the angle measuring mechanism further 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-type 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 provided on the mounting seat 3, and the lower end of the rotating shaft 5 extends below the mounting seat 3 after passing through the through hole. One end of the tobacco stalk touch rod 2 is connected to the lower end of the rotating shaft 5. With such a setting, it is convenient to install the tobacco stalk touch rod 2 at a low position. When the tobacco stalk touch rod 2 touches the tobacco stalks, the tobacco stalk 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 stalk touch rod 2.

[0049] Among them, the bracket 4 is in the shape of a conical cylinder, and an opening is provided on the 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. The conical cylinder-shaped bracket 4 can protect the rotating shaft 5.

[0050] In another embodiment of the present invention, considering that after the body of the crawler-type tobacco harvester is adjusted by using the tobacco stalk touch rod 2 to collide with the tobacco stalks, as the vehicle continues to move, there is still a problem of body offset. It is necessary to reset the tobacco stalk touch rod 2 in order to perform subsequent multiple adjustment processes. Therefore, a reset mechanism is further included, which is used to reset the tobacco stalk touch rod 2 after it touches the tobacco stalks. Specifically, as an optional implementation manner 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 of a barrel structure, and the barrel opening is arranged vertically downward. The top of the outer seat body 61 is fixed to the bottom of the mounting seat 3. An installation hole 62 and a first groove 63 are opened at the top of the outer seat body 61, and the installation 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 installation hole 62 and then inserts 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 installation hole 62 through the bearing 65. The turntable 66 is fixed to the lower end of the hollow shaft 64. A second groove 68 is opened 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. One end of the tobacco stalk touch rod 2 is fixed to the fixing sleeve 67; the torsion spring 69 is sleeved on the hollow shaft 64, and both ends of the torsion spring 69 are respectively connected to the first groove 63 and the second groove 68.

[0051] In this embodiment, the set torsion spring 69 can realize the reset function after the tobacco stalk touch rod 2 rotates. When the tobacco stalk touch rod 2 touches the tobacco stalks, it drives the fixing sleeve 67 to rotate synchronously. Since the fixing 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, it will synchronously drive the turntable 66, the hollow shaft 64, and the rotating shaft 5 to rotate, so that the hollow shaft 64 and the turntable 66 rotate relative to the outer seat body 61. Both ends of the torsion spring 69 are respectively connected to the first groove 63 and the second groove 68. Therefore, when the 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. When the body is adjusted so that the tobacco stalk touch rod 2 no longer contacts the tobacco stalks, the elastic force of the torsion spring is used to drive the turntable 66 and the tobacco stalk touch rod 2 to rotate in the reverse direction to return to the original position. And the set outer seat body 61 and inner seat body can form a protection for the rotating shaft 5, the hollow shaft 64, the turntable 66, and the torsion spring 69, which can effectively prevent the problem that the tobacco stalk touch rod 2 cannot return to its position and the change of the touch torque caused by splashing soil.

[0052] Furthermore, in order to ensure that the tobacco stalk touch rod 2 can accurately return to the initial zero position during reset, a limiting post 7 is vertically fixed on the end face of the barrel opening of the outer seat body 61. The limiting post 7 is used to limit the tobacco stalk touch rod 2 when the reset mechanism drives it to reset, so that the tobacco stalk touch rod 2 can quickly return to the zero point.

[0053] Furthermore, to enable the tobacco stalk touch rod 2 to better contact the tobacco stalks, the tobacco stalk touch rod 2 includes a first straight section 21, a bent section 22, and a second straight section 23. The bent section 22 is fixed between the first straight section 21 and the second straight section 23. One end of the first straight section 21 away from the bent section 22 is fixed to the fixed sleeve 67. By setting the middle part of the tobacco stalk touch rod 2 as the bent section 22, it can better contact the tobacco stalks.

[0054] Further, to avoid scraping the tobacco plants during reverse operation 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 fold the tobacco stalk touch rod 2 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 sleeved and fixed to the ends of the two sections of the first straight section 21. The tops of the two connecting sleeves 81 are hinged by a hinge 82. The hinge 82 can be implemented by structures such as hinges. A slot 83 is opened at the bottom end face of one of the connecting sleeves 81, and a wedge-shaped tongue 84 is fixed in the slot 83. The middle side wall of the pressing plate 85 is hinged to the installation groove opened at the bottom end face of the other connecting sleeve 81 through a pin 86, and a spring 87 is sleeved on the pin 86. The two ends of the spring 87 are respectively connected to the groove wall of the installation groove and the side wall of the pressing plate 85. A wedge-shaped block 88 is fixed to the top of one end of the pressing plate 85 close to the slot 83. When the tobacco stalk touch rod 2 is horizontally unfolded, the wedge-shaped block 88 is inserted into the slot 83 and is clamped with the wedge-shaped tongue 84. The buckle 89 is fixed on the mounting seat 3 and is located directly above the tobacco stalk touch rod 2. The buckle 89 has a U-shaped opening. When the tobacco stalk touch rod 2 is vertically folded, it is clamped into the U-shaped opening of the buckle 89.

[0055] Through the above-mentioned folding mechanism 8 provided, the tobacco stalk touch rod 2 can be folded into an upright state during reverse driving, avoiding scraping the tobacco plants during reverse operation and reducing mechanical damage to the tobacco leaves. During normal walking, it remains horizontal for detection. The working principle of the folding mechanism 8 is as follows:

[0056] When folding is required, press the side of the pressing plate 85 away from the wedge-shaped tongue 84, so that the pressing plate 85 rotates around the pin 86, causing the wedge-shaped block 88 to disengage from the wedge-shaped tongue 84, and then turn the tobacco stalk touch rod 2 upward. Refer to Figure 3 As shown, the upper half of the tobacco stalk touch rod 2 is clamped into the buckle 89, so as to maintain an upright state and avoid scraping the tobacco plants during reverse operation;

[0057] When folding is not required, take out the upper half of the tobacco stalk touch rod 2 from the inside of the U-shaped opening of the buckle 89 by touching the tobacco stalk, and at the same time press the side of the pressing plate 85 away from the wedge tongue 84, so that the pressing plate 85 rotates around the pin shaft 86, and turn the upper half of the tobacco stalk touch rod 2 back to the horizontal again, and make the wedge-shaped block 88 snap into the wedge tongue 84, and use the elastic force of the spring 87 for locking, so as to keep the whole tobacco stalk touch rod 2 in a horizontal state for measurement adjustment during travel.

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

[0059] The offset form of the tobacco harvester of the present invention can be classified into three forms as Figure 7 shown. The circles in the figure represent tobacco plants, and the line connecting two tobacco plants represents the tobacco plant growth row at the front of the harvester; among them Figure 7 (a) indicates that the crawler-type tobacco harvester deviates to the right from the tobacco plant growth row, and the left touch rod touches the tobacco plant, and the traveling direction needs to be adjusted to the left; Figure 7 (b) indicates that the center line of the crawler-type tobacco harvester body coincides with the tobacco plant growth row, and there is no need to adjust the traveling direction, which is the target state after row alignment adjustment; Figure 7 (c) indicates that the crawler-type tobacco harvester deviates to the left from the growth row, and the traveling direction of the harvester needs to be adjusted to the right.

[0060] Embodiment 2

[0061] On the basis of Embodiment 1, as Figures 8 to 10 shown, a method for automatically aligning a tobacco harvester is also disclosed, which is realized by using the above-mentioned automatic row alignment device of the crawler-type tobacco harvester, and includes the following steps:

[0062] During the process of the tobacco harvester traveling along the tobacco plant growth row, when the traveling direction of the tobacco harvester deviates from the tobacco plant growth row, the tobacco plant stalk pushes the tobacco stalk touch rod 2, and the tobacco stalk 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 speed of the motor from the CAN bus, and uses fuzzy inference to calculate the offset angle 𝜑 of the whole vehicle of the harvester with the deflection angle θ of the touch rod and the change rate ∆θ of the deflection angle of the touch rod as inputs, and calculates the expected speeds of the two motors n and the expected steering time t , and sends them to the CAN bus.

[0064] Among them, the calculation steps of the offset angle 𝜑 of the whole vehicle include:

[0065] Using the fuzzy subsets {LB, LM, LS, ZO, PS, PM, PB}, the universe of discourse range of the desired steering angle 𝜑 is [-1, 1]. The input signals are the deflection angle θ of the touch rod and the change rate of the deflection angle of the touch rod ∆θ. Map θ and ∆θ to the interval [-1, 1]. Adopt the triangular membership function, and the center points are 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 centroid method to defuzzify to obtain the vehicle offset angle 𝜑.

[0068] Specifically, calculate the desired rotational speeds of the two motors n and the desired steering time t including the following steps:

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

[0070]

[0071] In the formula, as Figure 10 shown, 𝜑 is the vehicle offset angle, E is the distance from the touched-side crawler to the tobacco plant growth row after steering. When the tobacco plant growth row coincides with the center line of the harvester after steering, D is the distance between the two crawlers, L 3 is the distance from the rotation center of the tobacco stalk touch rod to the center of the installed-side crawler;

[0072] To achieve steering control by reducing the rotational speed of the touched-side crawler motor, the desired rotational speed n 1 of the touched-side crawler motor is calculated through the following formula;

[0073]

[0074] In the formula, n 2 is the actual rotational speed of the other crawler motor;

[0075] Calculate the desired steering time through the following formula t ;

[0076]

[0077] In the formula, r is the radius of the crawler drive wheel, k is the reduction ratio.

[0078] The motor driver reads the desired rotational speeds of the track motors on both sides of the CAN bus n , sends the corresponding voltage to the motors, performs counter-steering, and continues to move forward after the differential steering time.

[0079] The above-disclosed are only several preferred specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and 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 alignment device for a crawler-type tobacco harvester, comprising a vehicle controller arranged on the 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 vehicle also comprises an angle measuring mechanism, the angle measuring mechanism comprising an absolute value encoder (1) and a tobacco stem contact rod (2), the absolute value encoder (1) being electrically connected to the vehicle controller, the tobacco stem contact rod (2) being arranged horizontally and having one end connected to the output shaft of the absolute value encoder (1), the tobacco stem contact rod (2) touching the tobacco stem to detect the deviation position of the crawler-type tobacco harvester, the absolute value encoder (1) feeding back deflection angle information after the tobacco stem contact rod (2) collides with the tobacco stem to the vehicle controller in real time, the vehicle controller processes the received deflection angle information and then issues a control instruction to the motor driver, the motor driver drives the crawler motor to realize steering adjustment of the crawler-type tobacco harvester, and the crawler-type tobacco harvester moves along the growth line of the tobacco plants, the angle measuring mechanism also comprises a mounting seat (3), a bracket (4) and a rotating shaft (5), the mounting seat (3) being provided with a through hole; 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 formed 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 cigarette 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).

2. The automatic row alignment device for crawler-type tobacco harvester according to claim 1, characterized in that: The mounting seat (3) is fixed on the front crawler cover plate of the crawler-type tobacco harvester; the absolute encoder (1) is fixed to the top of the mounting seat (3) via a 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); the lower end of the rotating shaft (5) passes through the through hole and extends to the bottom of the mounting seat (3); and one end of the tobacco stem touch rod (2) is connected to the lower end of the rotating shaft (5).

3. The automatic row alignment device for crawler-type tobacco harvester according to claim 1, 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.

4. The automatic row alignment device for crawler-type tobacco harvester according to claim 1, 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).

5. The automatic row alignment device for crawler-type tobacco harvester according to claim 4, characterized in that: 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 fold the cigarette stem upwards when touching the rod (2), and the folding mechanism (8) comprises: Two connecting sleeves (81) are respectively sleeved and fixed to the ends of the two first straight sections (21); 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 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); The 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, and the cigarette stem contact rod (2) is inserted into the U-shaped opening of the buckle (89) when folded vertically.

6. The automatic row alignment device for crawler-type 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).

7. The automatic row alignment device for a crawler-type tobacco harvester according to any one of claims 1 to 6, 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.

8. A method for automatically controlling row alignment of a crawler-type tobacco harvester, implemented by using the automatic row alignment device of the crawler-type tobacco harvester according to claim 7, 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 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.

9. The automatic row control method for a crawler-type tobacco harvester according to claim 8, 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 using the following formula: R ; ； In the formula, is the vehicle offset angle, E The distance from the side track to the tobacco plant growth line after turning. After turning, the tobacco plant growth line coincides with the center line of the harvester. D is the distance between the tracks on both sides, L 3 is the distance from the rotation center of the tobacco stem touch rod to the center of the track on the installation side; Steering control is achieved by reducing the speed of the track motor on the touching side. The expected speed of the track motor on the touching side is n 1 is calculated by the following formula; ； In the formula, n 2 is the actual speed of the crawler motor on the other side; The expected turn time is calculated by the following formula t ; ； In the formula, r is the radius of the track driving wheel, k is the reduction ratio.

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