Satellite flat ground operation unit and operation control method

Abstract

The invention belongs to the field of agricultural mechanical equipment, and particularly relates to a satellite flat ground operation unit and an operation control method.The satellite flat ground operation unit comprises a frame, first hinge arms are rotationally connected to the two sides of the middle section respectively, a first hinge frame is rotationally connected to each first hinge arm, and a lifting oil cylinder is connected into each first hinge frame; the lifting oil cylinder is connected with a first ball head connecting seat, the bottom of the first ball head connecting seat is connected to a rotating frame, the upper end of the rotating frame is fixedly connected with a connecting frame, the front end of the connecting frame is provided with a connector, the connector is connected to the front section of the frame through a second ball head connecting seat, and a rotating ring is rotationally arranged in the rotating frame; fixing supports are fixedly connected to the two sides of the rotating ring correspondingly, mounting rods are fixedly arranged on the two fixing supports, and a plurality of scraper assemblies are arranged on the mounting rods. The system can cooperate with a satellite sensor and a camera for automatic operation.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery and equipment, and in particular relates to a satellite land leveling operation unit and an operation control method. Background Art

[0002] An agricultural land leveler is a mechanical device that levels the ground by combining a scraper and a carrier. Current land leveling equipment is relatively backward, and the ground leveling process relies more on the operator's own experience, which is inefficient and slow to operate. In addition, in the process of leveling a large area with multiple devices, the progress will be slowed down due to the operator's unskilled operation.

[0003] Moreover, most of the current leveling machines are simple mechanical equipment formed by a simple whole-blade scraper and a carrier. When encountering obstacles during land reclamation and leveling, manual operation is often required to deal with the obstacles.

[0004] The present application aims to propose a satellite leveling operation unit and operation control method, which can automatically perform ground leveling work, can be equipped with operators to perform simple control operations, and can also realize fully automated operations. Summary of the invention

[0005] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose a satellite leveling operation unit and an operation control method that can cooperate with satellite sensors and cameras to perform automated operations.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a satellite leveling operation unit, including a frame, the frame is composed of a front section, a middle section, and a rear section, the two sides of the middle section are rotatably connected with first articulated arms, each of the first articulated arms is rotatably connected with a first articulated frame, each of the first articulated frames is connected with a lifting cylinder, the output end of the lifting cylinder is connected with a first ball head connecting seat, the bottoms of the two first ball head connecting seats are connected to the rotating frame, the upper end of the rotating frame is fixedly connected with a connecting frame, the front end of the connecting frame is provided with a connecting head, the connecting head is connected to the front section of the frame through a second ball head connecting seat, a rotating ring is rotatably arranged inside the rotating frame, fixed brackets are fixedly connected to the two sides of the rotating ring, mounting rods are fixedly arranged on the two fixed brackets, and a plurality of scraper assemblies are arranged on the mounting rods;

[0007] A first high-definition camera, which is fixedly arranged at a position in the middle section close to the front section and can capture the ground situation in the direction of the satellite leveling operation unit;

[0008] A second high-definition camera, which is fixedly arranged on a side of the front section facing the rotating ring and can capture operation information of the scraper assembly;

[0009] The satellite sensor is arranged at the upper end of the middle section and is used to collect the position and altitude information of the satellite leveling operation group.

[0010] As a preferred embodiment of the present invention, each of the first articulated arms is hinged with a second articulated arm, a transverse connecting arm is hinged between the two second articulated arms, the transverse connecting arm is connected to a bias cylinder via a third ball head connecting seat, the output end of the bias cylinder is connected to a fourth ball head connecting seat, and the bottom of the fourth ball head connecting seat is fixedly connected to the rotating frame.

[0011] As a preferred solution of the present invention, a driving motor is fixedly provided on the connecting frame, a driving gear is fixedly provided on the output end of the driving motor, a gear ring is fixedly provided inside the rotating ring, and the driving gear is meshingly connected with the gear ring.

[0012] As a preferred embodiment of the present invention, a rib plate is fixedly provided on the fixed bracket; each of the scraper assemblies includes two connecting ears rotatably provided on the mounting rod, and scraper plates are fixedly connected to the two connecting ears; a scraper drive cylinder is rotatably provided on the rib plate at a position corresponding to the scraper plate, and the output end of the scraper drive rod is rotatably connected to the rear side of the scraper plate, and a scraper head is fixedly connected to the end of the scraper plate.

[0013] As a preferred embodiment of the present invention, a rib plate is fixedly provided on the fixed bracket; each of the scraper assemblies includes two connecting ears rotatably provided on the mounting rod, and the two connecting ears are fixedly connected to a scraper plate, and a scraper driving cylinder is rotatably provided on the rib plate at a position corresponding to the scraper plate, and a hollow push rod is slidably provided in the scraper driving rod, and the hollow push rod is rotatably connected to the rear side of the scraper plate, an oil circuit is provided inside the hollow push rod, and an electromagnetic valve is provided at the end of the oil circuit, and a sliding cavity is provided at the bottom of the scraper plate, and a push plate is slidingly and sealably connected to the sliding cavity, and one end of the push plate extending out of the sliding cavity is fixedly connected to the scraper head, and the oil circuit and the sliding cavity are connected by an oil pipe.

[0014] As a preferred solution of the present invention, a pressure sensor is provided inside the scraper drive cylinder.

[0015] As a preferred solution of the present invention, an information processing terminal is provided on the middle section, and a signal transceiver antenna is provided on the information processing terminal.

[0016] A method for controlling a satellite leveling operation unit to perform an operation, characterized in that it comprises the following steps:

[0017] S1: Load the satellite leveling operation unit onto the vehicle, move it to the ground position that needs to be leveled, and set the reference height that needs to be leveled;

[0018] S2: The vehicle starts the operation, adjusts the height of the scraper assembly by using the lifting cylinder, collects the road conditions on the forward route by using the first high-definition camera, and keeps collecting the working state of the scraper assembly by using the second high-definition camera;

[0019] S3: Based on the data transmitted by road conditions and satellite sensors, the position, angle and height information of the rotating ring are adjusted, and the deployment angle of the scraper assembly is adjusted to adapt to the terrain for operation;

[0020] S4: When the equipment is stuck due to obstacles such as large rocks during the leveling process, the second high-definition camera provides feedback to control the scraper assembly to shovel the obstacle or to retract part of the scraper assembly to continue working.

[0021] Compared with the traditional grader, the present invention has the following advantages:

[0022] 1. High precision, elevation error ≤ 2cm;

[0023] 2. Fully automatic operation, the system is easy to operate and does not require professional knowledge;

[0024] 3. Flexible adjustment. The scraper width can be adjusted at any time according to user needs;

[0025] 4. Support remote operation, the system can be operated and fault diagnosis can be performed via mobile phone;

[0026] 5. Adopt 4G antenna and support the access of multiple differential signals to meet the signal reception requirements of different regions;

[0027] 6. Adapt to a wider range of terrains and land complexity conditions, and automatically handle obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a stereogram of the present invention;

[0029] Figure 2 It is another perspective view of the present invention;

[0030] Figure 3 It is the front view of the present invention;

[0031] Figure 4 A top view of the present invention;

[0032] Figure 5 for Figure 4 Sectional view at AA;

[0033] Figure 6 This is a schematic diagram of the scraper assembly in Example 2. DETAILED DESCRIPTION

[0034] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0035] In the description of the present invention, it should be noted that the terms "inside", "below", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply 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. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0036] Embodiment 1:

[0037] Combined with Figure 1-5 A satellite leveling operation unit includes a frame, which is composed of a front section 1, a middle section 4, and a rear section 5. The middle section 4 is rotatably connected to first articulated arms 7 on both sides, and each first articulated arm 7 is rotatably connected to a first articulated frame 9. A lifting cylinder 10 is connected inside each first articulated frame 9. The output end of the lifting cylinder 10 is connected to a first ball head connection seat 19. The bottoms of the two first ball head connection seats 19 are connected to a rotating frame 12. A connecting frame 20 is fixedly connected to the upper end of the rotating frame 12. A connecting head 22 is provided at the front end of the connecting frame 20. The connecting head 22 is connected to the front section 1 of the frame through a second ball head connection seat 27. A rotating ring 29 is rotatably provided inside the rotating frame 12. Fixed brackets 13 are fixedly connected to the two fixed brackets 13. Mounting rods 15 are fixedly provided on the two fixed brackets 13. A plurality of scraper assemblies are provided on the mounting rods 15.

[0038] Furthermore, a first high-definition camera 6 is fixedly arranged at a position of the middle section 4 close to the front section 1, and can capture the ground situation in the direction of the satellite leveling operation unit;

[0039] Furthermore, a second high-definition camera 21 is fixedly arranged on a side of the front section 1 facing the rotating ring 29, and can capture the operation information of the scraper assembly;

[0040] Furthermore, a satellite sensor 18 is provided at the upper end of the middle section 4 to collect the position and altitude information of the satellite leveling operation unit. The satellite sensor 18 can control the height error of the leveling within 2CM.

[0041] Furthermore, each first articulated arm 7 is hinged with a second articulated arm 8, a transverse connecting arm 11 is hinged between the two second articulated arms 8, the transverse connecting arm 11 is connected to a bias cylinder 25 through a third ball head connecting seat, the output end of the bias cylinder 25 is connected to a fourth ball head connecting seat 26, and the bottom of the fourth ball head connecting seat 26 is fixedly connected to the rotating frame 12.

[0042] Furthermore, a driving motor 23 is fixedly provided on the connecting frame 20 , a driving gear 28 is fixedly provided on the output end of the driving motor 23 , a gear ring is fixedly provided inside the rotating ring 29 , and the driving gear 28 is meshedly connected with the gear ring.

[0043] Furthermore, a rib plate 14 is fixedly provided on the fixed bracket 13; each scraper assembly includes two connecting ears 30 rotatably provided on the mounting rod 15, and a scraper plate 16 is fixedly connected to the two connecting ears 30; a scraper drive cylinder 24 is rotatably provided on the rib plate 14 at a position corresponding to the scraper plate 16; the output end of the scraper drive rod 24 is rotatably connected to the rear side of the scraper plate 16, and a scraper head 17 is fixedly connected to the end of the scraper plate 16.

[0044] Furthermore, a pressure sensor 31 is provided inside the scraper driving cylinder 24 .

[0045] Furthermore, the middle section 4 is provided with an information processing terminal 2, and the information processing terminal 2 is provided with a signal transceiver antenna 3. The antenna 3 is a 4G antenna.

[0046] The hydraulic control in the present invention is controlled by the HDB14 hydraulic control module.

[0047] This system uses dynamic height difference terrain display, and operators can understand the current operation status more intuitively through the map.

[0048] This system can support multiple operation modes such as horizontal and inclined.

[0049] A method for controlling a satellite leveling operation unit to perform an operation, characterized in that it comprises the following steps:

[0050] S1: Load the satellite leveling operation unit onto the vehicle, move it to the ground position that needs to be leveled, and set the reference height that needs to be leveled;

[0051] S2: The vehicle starts the operation, adjusts the height of the scraper assembly through the lifting cylinder 10, collects the road conditions on the forward route through the first high-definition camera 6, and keeps collecting the working status of the scraper assembly through the second high-definition camera 21, receives the information sent by the satellite sensor 18 through the information processing terminal 2, plans the work path, and sends the information to the operator's operation terminal. The operation terminal here can be a screen in the cab, or a mobile phone, computer or other device of the operator.

[0052] S3: The position, angle and height information of the rotating ring 29 are adjusted by data transmitted through the road condition and satellite sensor 18, the height of the rotating frame 12 is adjusted in real time according to the ground conditions through the lifting cylinder 10, the rotation angle of the rotating ring 28 is controlled by the driving motor 23, and the offset angle of the rotating frame 12 is adjusted by the offset cylinder 25, so as to adjust the position and horizontal angle of the scraper assembly. At the same time, the scraper drive cylinder 24 is controlled according to the road condition information ahead, so as to control the contact angle between the scraper plate 16 and the scraper head 17 and the ground;

[0053] S4: When the equipment is stuck due to obstacles such as large rocks during the leveling process, the pressure sensor 31 at the corresponding position transmits information about increased pressure, and the second high-definition camera 21 feedbacks information to control the vehicle to retreat a short distance. At the same time, the scraper drive cylinder 24 changes the angle of the scraper plate 16 at the corresponding position, and after contacting the obstacle, it moves forward again to shovel up and push the obstacle away. This setting avoids the problem that the scraper in traditional equipment needs to adjust its position as a whole, resulting in changes in the leveling height of the road section, which requires subsequent leveling. The angle change work of the scraper assembly is controlled separately, which will not affect the leveling effect of the ground next to it.

[0054] When the scraper blade 16 cannot push the obstacle, the scraper drive cylinder 24 can also be controlled to retract the scraper blade 16 over the obstacle and mark the point for subsequent processing.

[0055] Embodiment 2:

[0056] Combined with Figure 6 On the basis of the first embodiment, a rib plate 14 is fixedly provided on the fixed bracket 13; each scraper assembly includes two connecting ears 30 rotatably provided on the mounting rod 15, and a scraper plate 16 is fixedly connected to the two connecting ears 30, and a scraper drive cylinder 24 is rotatably provided at a position corresponding to the scraper plate 16 on the rib plate 14, and a hollow push rod 32 is slidably provided in the scraper drive rod 24, and the hollow push rod 32 is rotatably connected to the rear side of the scraper plate 16, an oil circuit is provided inside the hollow push rod 32, and a solenoid valve 33 is provided at the end of the oil circuit, and a sliding cavity 34 is provided at the bottom of the scraper plate 16, and a push plate 35 is slidably and sealably connected in the sliding cavity 34, and one end of the push plate 35 extending out of the sliding cavity 34 is fixedly connected to the scraper head 17, and the oil circuit and the sliding cavity 34 are connected by an oil pipe 36.

[0057] In this embodiment, in the case of obstacles such as stones buried in the soil, when the pressure sensor 31 at the corresponding position detects that the pressure is too high and cannot be pushed forward, the solenoid valve 33 is opened, and oil is injected through the scraper drive cylinder 24. The hydraulic oil passes through the hollow push rod 32 and enters the oil pipe 36 from the solenoid valve 33, and then enters the sliding cavity 34 to push out the scraper head 17. The scraper head 17 shovels downward along the obstacle surface. After the scraper head 17 forms a deeper contact with the obstacle, the scraper plate 16 can be controlled to move up to shovel out the obstacle, or the obstacle can be continued to be taken out by moving the carrier. The setting of this embodiment can deal with obstacles such as stones more flexibly, and can directly handle obstacles at work more efficiently.

[0058] The above descriptions are merely embodiments of the present invention, and are not intended to limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A satellite leveling unit, comprising a frame, wherein the frame is composed of a front section (1), a middle section (4), and a rear section (5), characterized in that: The middle section (4) is rotatably connected to first articulated arms (7) on both sides, each of the first articulated arms (7) is rotatably connected to a first articulated frame (9), each of the first articulated frames (9) is connected to a lifting cylinder (10), the output end of the lifting cylinder (10) is connected to a first ball head connection seat (19), the bottoms of the two first ball head connection seats (19) are connected to a rotating frame (12), the upper end of the rotating frame (12) is fixedly connected to a connecting frame (20), the front end of the connecting frame (20) is provided with a connecting head (22), the connecting head (22) is connected to the front section (1) of the frame through a second ball head connection seat (27), a rotating ring (29) is rotatably arranged inside the rotating frame (12), and fixed brackets (13) are fixedly connected to the two fixed brackets (13), and mounting rods (15) are fixedly arranged on the two fixed brackets (13), and a plurality of scraper assemblies are arranged on the mounting rod (15); A first high-definition camera (6), wherein the first high-definition camera (6) is fixedly arranged at a position of the middle section (4) close to the front section (1) and is capable of capturing ground conditions in the direction in which the satellite leveling operation unit is moving; A second high-definition camera (21), the second high-definition camera (21) is fixedly arranged on a side of the front section (1) facing the rotating ring (29), and is capable of capturing operation information of the scraper assembly; A satellite sensor (18) is arranged at the upper end of the middle section (4) and is used to collect the position and altitude information of the satellite leveling operation unit.

2. A satellite leveling operation unit according to claim 1, characterized in that: Each of the first articulated arms (7) is hingedly connected to a second articulated arm (8); a transverse connecting arm (11) is hingedly connected between the two second articulated arms (8); the transverse connecting arm (11) is connected to a biasing oil cylinder (25) via a third ball head connecting seat; the output end of the biasing oil cylinder (25) is connected to a fourth ball head connecting seat (26); the bottom of the fourth ball head connecting seat (26) is fixedly connected to the rotating frame (12).

3. A satellite leveling operation unit according to claim 1, characterized in that: A driving motor (23) is fixedly arranged on the connecting frame (20), a driving gear (28) is fixedly arranged at the output end of the driving motor (23), a gear ring is fixedly arranged inside the rotating ring (29), and the driving gear (28) is meshingly connected with the gear ring.

4. A satellite leveling operation unit according to claim 1, characterized in that: A rib plate (14) is fixedly arranged on the fixed bracket (13); each of the scraper assemblies comprises two connecting ears (30) rotatably arranged on the mounting rod (15), and a scraper plate (16) is fixedly connected to the two connecting ears (30); a scraper drive cylinder (24) is rotatably arranged at a position corresponding to the scraper plate (16) on the rib plate (14), and the output end of the scraper drive rod (24) is rotatably connected to the rear side of the scraper plate (16); and a scraper head (17) is fixedly connected to the end of the scraper plate (16).

5. The satellite leveling operation unit according to claim 1, characterized in that: A rib plate (14) is fixedly arranged on the fixed bracket (13); each of the scraper assemblies comprises two connecting ears (30) rotatably arranged on the mounting rod (15), and the two connecting ears (30) are fixedly connected to the scraper plates (16); a scraper driving cylinder (24) is rotatably arranged at a position corresponding to the scraper plates (16) on the rib plate (14); a hollow push rod (32) is slidably arranged in the scraper driving rod (24), and the hollow push rod (32) is rotatably connected to the rear side of the scraper plate (16); an oil circuit is arranged inside the hollow push rod (32), and a solenoid valve (33) is arranged at the end of the oil circuit; a sliding cavity (34) is arranged at the bottom of the scraper plate (16), and a push plate (35) is slidably and sealably connected in the sliding cavity (34); one end of the push plate (35) extending out of the sliding cavity (34) is fixedly connected to the scraper head (17), and the oil circuit and the sliding cavity (34) are connected by an oil pipe (36).

6. A satellite leveling operation unit according to any one of claims 4 or 5, characterized in that: A pressure sensor (31) is provided inside the scraper drive cylinder (24).

7. A satellite leveling operation unit according to claim 1, characterized in that: An information processing terminal (2) is provided on the middle section (4), and a signal transceiver antenna (3) is provided on the information processing terminal (2).

8. The method for controlling the operation of a satellite leveling operation unit according to claim 1, characterized in that: The following steps are involved: S1: Load the satellite leveling operation unit onto the vehicle, move it to the ground position that needs to be leveled, and set the reference height that needs to be leveled; S2: The vehicle starts the operation, adjusts the height of the scraper assembly through the lifting cylinder (10), collects the road conditions on the forward route through the first high-definition camera (6), and keeps collecting the working state of the scraper assembly through the second high-definition camera (21); S3: adjusting the position, angle and height information of the rotating ring (29) and the deployment angle of the scraper assembly to adapt to the terrain for operation according to the data transmitted by the road condition and satellite sensor (18); S4: When the equipment is stuck due to obstacles such as large rocks during the leveling process, the second high-definition camera (21) is used to feedback information and control the scraper assembly to shovel the obstacle or to retract part of the scraper assembly to continue working.

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