Attitude sensing and automatic hooking new energy power chassis and use method thereof

Abstract

The invention relates to the technical field of agricultural machinery, and provides a new energy power chassis with attitude sensing and automatic hooking functions. Comprising a basic chassis, a loading frame is arranged in the basic chassis, and the bottom of a lifting mechanism in the hooking device is installed in the middle of the loading frame; three lock catches with self-locking functions of the hooking device are mounted at the top of the lifting mechanism, and each lock catch corresponds to one machine tool end hooking pin; an electric push rod is further installed at the top of the lifting mechanism, the output end of the electric push rod is connected with three connecting rods, and each connecting rod is connected with a lock catch. And a photoelectric switch is arranged on one side of each lock catch. The method has the beneficial effects that the weighing sensor is adopted to perceive the load distribution of the machine tool, the current sensor is adopted to perceive the load of the walking driving motor, the rollover early warning index-transverse load transfer rate can be directly calculated, the gyroscope is matched to perceive angle data, multi-source data fusion is performed, and the attitude of the machine set can be perceived through an artificial intelligence algorithm; and a foundation is laid for stable operation regulation and control.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a posture sensing and automatic hooking new energy power chassis and a use method thereof. Background Art

[0002] Power chassis + implements are the conventional configuration mode of agricultural mechanization operation. With the development of smart agriculture, new energy power chassis for autonomous operation are gradually being used. Posture perception is the basis for the smooth operation and anti-rollover control of the autonomous power chassis. At present, gyroscopes are often used to sense the posture and compare it with the pre-set rollover angle to issue a rollover warning; or the rollover warning indicator - lateral load transfer rate - is estimated by building a unit dynamics model. The diversity of implements and operating conditions leads to the diversity and variability of the unit's center of gravity position and rollover angle, which is difficult to meet with existing technologies. The power chassis usually needs to be connected to different implements for operation, and manual connection is still required, which greatly limits the realization of fully autonomous operation.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a new energy power chassis with posture perception and automatic attachment and a method of using the same, so as to solve the technical problems existing in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a new energy power chassis with posture perception and automatic attachment, comprising: a basic chassis, a load frame is arranged in the basic chassis, and the bottom of the lifting mechanism in the attachment device is installed in the middle of the load frame;

[0006] The three locks with self-locking function of the hooking device are installed on the top of the lifting mechanism, and each lock corresponds to a hook pin at the end of the machine; a pair of symmetrically arranged guide plates are installed on the top of each lock;

[0007] An electric push rod is also installed on the top of the lifting mechanism, and the output end of the electric push rod is connected to three groups of connecting rods, and each group of connecting rods is respectively connected to one of the lock buckles; a photoelectric switch is also arranged on one side of each of the lock buckles.

[0008] In an optional embodiment, each group of connecting rods includes a first pull rod and a second pull rod, one end of the first pull rod is hinged to the output end of the electric push rod, the other end of the first pull rod is hinged to one end of the second pull rod, and the other end of the second pull rod is connected to the corresponding lock.

[0009] In an optional embodiment, a weighing sensor is respectively provided on the four corners of the connecting frame of the basic chassis, and the four weighing sensors are fixed to the four bottom corners of the load frame.

[0010] In an optional embodiment, a gyroscope is provided in the middle position of the front portion of the load carrier, a current sensor is provided on the left side of the front portion of the load carrier, and a travel switch is provided on both sides of the front portion of the load carrier.

[0011] In an optional embodiment, a power communication output interface is provided on the top of the lifting mechanism, and the power communication output interface corresponds to the power communication input interface of the machine.

[0012] In an optional embodiment, a control assembly, track wheels, a travel drive motor, and a power battery are also provided on the basic chassis.

[0013] In an optional embodiment, the implement is further provided with an implement support leg retractable motor and an implement support leg.

[0014] On the other hand, the present invention also provides a method for using the above-mentioned posture sensing and automatic attachment new energy power chassis, including:

[0015] S1: After receiving the operation command, the new energy power chassis moves to the bottom of the machine to be attached based on the autonomous navigation and positioning technology, and performs the attachment action after the travel switch senses the machine;

[0016] S2: The hooking device is started, and the lifting mechanism causes the lock with a self-locking function to move upward. Under the action of gravity and the guide plate, the hooking pin at the tool end slides into the corresponding lock and is locked, and at the same time, the power communication output interface is connected to the power communication input interface;

[0017] S3: After the photoelectric switch determines that the tool end hook pin is in place and locked, the tool support leg retraction motor is activated to retract the tool support leg, and the lifting mechanism drives the tool to move downward until it contacts the load frame, thereby completing the tool hooking;

[0018] S4: During the operation, the control assembly collects the load data of the weighing sensor and the current sensor, calculates the lateral load transfer rate, and collects the angle data of the gyroscope. Based on the artificial intelligence algorithm, it senses the attitude of the unit and performs rollover warning and attitude control.

[0019] S5: After the operation is completed, the unit returns, the lifting mechanism drives the tool to move upward, the tool support legs are retracted and the electric motor is actuated, the tool support legs are lowered, the lifting mechanism moves downward, and the electric push rod is actuated to push the three groups of connecting rods at the same time, unlocking the lock, and the tool end hook pin 20 is disengaged from the lock, the tool falls to the ground, and the tool is unloaded.

[0020] The beneficial effects of the present invention are:

[0021] (1) The present invention uses a weighing sensor to sense the load distribution of the machine, and uses a current sensor to sense the load of the travel drive motor, and can directly calculate the rollover warning indicator - the lateral load transfer rate. It is not affected by the working conditions and the center of gravity of the machine, has strong robustness, and can effectively improve the limitations of warning based on the rollover angle. With the gyroscope sensing angle data, multi-source data fusion, and artificial intelligence algorithms, it can sense the unit posture and lay the foundation for stable operation control.

[0022] (2) Based on the autonomous navigation and positioning technology, the present invention uses a travel switch to sense whether the power chassis has moved to a position suitable for attaching the machine. A hooking device with a lifting mechanism is used, so that the lock with a self-locking function can move upward, lock the hook pin at the machine end, and connect the power communication output interface and the power communication input interface at the same time to complete the automatic hooking of the machine; it is particularly important to point out that the lifting structure can also make the lock drop, and at the same time, an electric push rod is used in conjunction with three sets of pull rods. Through the synchronous movement of the pull rods, the lock can be unlocked at the same time, the hook pin at the machine end is released, and the machine end is automatically unloaded. In addition, the guide plate installed on the top of the lock can ensure that the hook pin at the machine end is smoothly docked with the lock, and the photoelectric switch installed on the side can determine whether the hooking is successful. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the overall structure of a new energy power chassis with posture perception and automatic attachment provided by an embodiment of the present invention.

[0025] Figure 2 A schematic diagram of the basic chassis structure of a new energy power chassis with posture perception and automatic attachment provided by an embodiment of the present invention.

[0026] Figure 3 It is a schematic diagram of the structure of a hooking device for a new energy power chassis with state perception and automatic hooking provided in one embodiment of the present invention.

[0027] Figure 4 It is a schematic diagram of the connection between a new energy power chassis with state perception and automatic connection and an implement provided in one embodiment of the present invention.

[0028] Among them, the figure markings are: 1-basic chassis; 2-weighing sensor; 3-load frame; 4-current sensor; 5-gyroscope; 6-hook device; 7-travel switch; 8-control assembly; 9-track wheel; 10-connecting frame; 11-travel drive motor; 12-power battery; 13-lifting mechanism; 14-power communication output interface; 15-lock; 16-guide plate; 17-photoelectric switch; 18-electric push rod; 19-first pull rod; 20-machine end hook pin; 21-power communication input interface; 22-machine support leg receivable and discharge motor; 23-machine support leg; 24-second pull rod. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, and "several" means any number including one, unless otherwise clearly and specifically defined.

[0031] Please see attached Figure 1-4The purpose of this embodiment is to provide a new energy power chassis with posture perception and automatic attachment, including: a basic chassis 1, a load frame 3 is arranged in the basic chassis 1, and the bottom of the lifting mechanism 13 in the attachment device 6 is installed in the middle of the load frame 3; three lock buckles 15 with self-locking function of the attachment device 6 are installed on the top of the lifting mechanism 13, and each lock buckle 15 corresponds to a machine end attachment pin 20; a pair of symmetrically arranged guide plates 16 are installed on the top of each lock buckle 15; a power communication output interface 14 is arranged on the top of the lifting mechanism 13, and the power communication output interface 14 corresponds to the power communication input interface 21 of the machine; and a photoelectric switch 17 is also arranged on one side of each lock buckle 15. The attachment device 6 with the lifting mechanism 13 is adopted, so that the lock buckle 15 with self-locking function can move upward, lock the machine end attachment pin 20, and connect the power communication output interface 21 and the power communication input interface 14 at the same time, so as to complete the automatic attachment of the machine. The guide plate 16 installed on the top of the lock buckle 15 can ensure that the tool end hook pin 20 can be smoothly docked with the lock buckle, and the photoelectric switch 17 installed on the side can determine whether the hooking is successful.

[0032] Furthermore, an electric push rod 18 is installed on the top of the lifting mechanism 13, and the output end of the electric push rod 18 is connected to three groups of connecting rods, and each group of connecting rods is respectively connected to a lock 15. Each group of connecting rods includes a first pull rod 19 and a second pull rod 24, one end of the first pull rod 19 is hinged to the output end of the electric push rod 18, the other end of the first pull rod 19 is hinged to one end of the second pull rod 24, and the other end of the second pull rod 24 is connected to the corresponding lock 15. As one of the main invention points of the present invention, the chassis can not only complete the automatic attachment of the machine, but it is particularly important to point out that the lifting structure 13 can also make the lock drop, and at the same time, the electric push rod 18 is used in conjunction with the three groups of pull rods. Through the synchronous movement of the pull rods, the three locks 15 can be unlocked at the same time, and the machine end attachment pin 20 is released, which improves the unlocking efficiency and can efficiently complete the automatic unloading of the machine. It is worth mentioning that due to the high reliability requirements of the lock 15, in an optional embodiment, after the lock 15 self-locks, the electric push rod 18 is retracted, and the second pull rod 24 in the pull rod structure is used to lock the tool end hanging pin 20 for the second time. When the electric push rod 18 is extended, the limiting relationship between the second pull rod 24 and the tool end hanging pin 20 can be unlocked, and the locking relationship between the lock 15 and the tool end hanging pin 20 can also be released.

[0033] Specifically, a weighing sensor 2 is respectively arranged on the four corners of the connecting frame 10 of the basic chassis 1, and the four weighing sensors 2 are fixed to the four corners of the bottom of the load frame 3. A gyroscope 5 is arranged in the middle position of the front of the load frame 3, a current sensor 4 is arranged on the left side of the front of the load frame 3, and a travel switch 7 is respectively arranged on both sides of the front of the load frame 3. The present invention adopts a weighing sensor 2 to sense the load distribution of the machine, and senses the load of the walking drive motor through the current sensor 4, and can directly calculate the rollover warning indicator-lateral load transfer rate, which is not affected by the working conditions and the center of gravity position of the machine, has strong robustness, and can effectively improve the limitations of warning based on the rollover angle. Cooperating with the gyroscope 5 to sense the angle data, multi-source data fusion, and artificial intelligence algorithm, it can sense the posture of the unit, laying the foundation for smooth operation control.

[0034] In addition, the basic chassis 1 is also provided with a control assembly 8, track wheels 9, a travel drive motor 11, and a power battery 12. The implement is also provided with an implement support leg retractable motor 22 and an implement support leg 23.

[0035] The method of using the new energy power chassis is as follows:

[0036] S1: After receiving the operation command, the new energy power chassis moves to the bottom of the machine to be attached based on the autonomous navigation and positioning technology, and performs the attachment action after the travel switch 7 senses the machine;

[0037] S2: The hooking device 6 is started, and the lifting mechanism 13 causes the lock 15 with a self-locking function to move upward. Under the action of gravity and the guide plate 16, the tool end hooking pin 20 slides into the corresponding lock 15 and is locked. At the same time, the power supply communication output interface 14 is connected to the power supply communication input interface 21;

[0038] S3: After the photoelectric switch 17 determines that the tool end hook pin 20 is in place and locked, the tool support leg retraction motor 22 is activated to retract the tool support leg 23, and the lifting mechanism 13 drives the tool to move downward until it contacts the load frame 3, completing the tool hooking;

[0039] S4: During the operation, the control assembly 8 collects the load data of the weighing sensor 2 and the current sensor 4, calculates the lateral load transfer rate, and collects the angle data of the gyroscope 5, and senses the attitude of the unit based on the artificial intelligence algorithm to perform rollover warning and attitude control;

[0040] S5: After the operation is completed, the unit returns, the lifting mechanism 13 drives the tool to move upward, the tool support legs are retracted to cause the electric motor 22 to move, the tool support legs 23 are lowered, the lifting mechanism 13 moves downward, and the electric push rod 18 moves at the same time, pushing the three groups of connecting rods at the same time, unlocking the lock 15, and the tool end hook pin 20 is disengaged from the lock 15, the tool falls to the ground, and the tool is unloaded.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A new energy power chassis with posture perception and automatic attachment, characterized in that: include: A basic chassis (1), wherein a load frame (3) is arranged in the basic chassis (1), and the bottom of the lifting mechanism (13) in the hooking device (6) is installed in the middle of the load frame (3); The three lock buckles (15) of the hooking device (6) with a self-locking function are installed on the top of the lifting mechanism (13), and each lock buckle (15) corresponds to a tool end hook pin (20); a pair of symmetrically arranged guide plates (16) are installed on the top of each lock buckle (15); An electric push rod (18) is also installed on the top of the lifting mechanism (13), and the output end of the electric push rod (18) is connected to three groups of connecting rods, and each group of connecting rods is respectively connected to one of the lock buckles (15); a photoelectric switch (17) is also arranged on one side of each of the lock buckles (15).

2. The new energy power chassis with posture perception and automatic attachment as claimed in claim 1, characterized in that: Each group of connecting rods includes a first pull rod (19) and a second pull rod (24), one end of the first pull rod (19) is hinged to the output end of the electric push rod (18), the other end of the first pull rod (19) is hinged to one end of the second pull rod (24), and the other end of the second pull rod (24) is connected to the corresponding lock (15).

3. The new energy power chassis with posture perception and automatic attachment as claimed in claim 1, characterized in that: A weighing sensor (2) is respectively arranged on the four corners of the connecting frame (10) of the base chassis (1), and the four weighing sensors (2) are fixed to the four bottom corners of the load frame (3).

4. The new energy power chassis with posture perception and automatic attachment as claimed in claim 1, characterized in that: A gyroscope (5) is arranged at the middle position of the front of the load carrier (3), a current sensor (4) is arranged on the left side of the front of the load carrier (3), and a travel switch (7) is arranged on both sides of the front of the load carrier (3).

5. The new energy power chassis with posture perception and automatic attachment as claimed in claim 1, characterized in that: A power communication output interface (14) is provided on the top of the lifting mechanism (13), and the power communication output interface (14) corresponds to the power communication input interface (21) of the machine.

6. The new energy power chassis with posture perception and automatic attachment as claimed in claim 1, characterized in that: The basic chassis (1) is also provided with a control assembly (8), track wheels (9), a travel drive motor (11), and a power battery (12).

7. The new energy power chassis with posture perception and automatic attachment as claimed in claim 5, characterized in that: The machine is also provided with a machine support leg retracting and discharging motor (22) and a machine support leg (23).

8. The method for using the posture sensing and automatic hooking new energy power chassis according to any one of claims 1 to 7, characterized in that: include: S1: After receiving the operation command, the new energy power chassis moves to the bottom of the machine to be attached based on the autonomous navigation and positioning technology, and after the travel switch (7) senses the machine, the attachment action is performed; S2: The hooking device (6) is started, and the lifting mechanism (13) causes the lock (15) with a self-locking function to move upward. Under the action of gravity and the guide plate (16), the tool end hooking pin (20) slides into the corresponding lock (15) and is locked, and at the same time, the power communication output interface (14) is connected to the power communication input interface (21); S3: After the photoelectric switch (17) determines that the tool end hook pin (20) is in place and locked, the tool support leg retraction motor (22) is activated to retract the tool support leg (23), and the lifting mechanism (13) drives the tool to move downward until it contacts the load frame (3), thereby completing the hooking of the tool; S4: During the operation, the control assembly (8) collects the load data of the weighing sensor (2) and the current sensor (4), calculates the lateral load transfer rate, and collects the angle data of the gyroscope (5), and based on the artificial intelligence algorithm, senses the attitude of the unit, performs rollover warning and attitude control; S5: After the operation is completed, the unit returns, the lifting mechanism (13) drives the tool to move upward, the tool support leg retracts the electric motor (22) to move, the tool support leg (23) is lowered, the lifting mechanism (13) moves downward, and the electric push rod (18) moves to push the three groups of connecting rods to unlock the lock (15), the tool end hook pin 20 is disengaged from the lock (15), the tool falls to the ground, and the tool is unloaded.

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