Automatic row-control running device of tobacco field operation machine and control method of automatic row-control running device

Abstract

The invention discloses an automatic row-control running device of a tobacco field operation machine and a control method of the automatic row-control running device. According to the control method, differential steering is completed by setting the vehicle steering differential ratio, the steering effect is more stable, sudden steering is avoided, and the service life of agricultural machinery operation is prolonged. A single-chip microcomputer is used as a main controller, a field operation control system for field management, automatic row control and the like is included, a left feeler lever sensor and a right feeler lever sensor are triggered, an external circuit and the main controller form a path, generated electric signals are received by the single-chip microcomputer, processed, analyzed and converted into digital signals, and then the digital signals are output to a motor driver; the driver controls the corresponding driving motor to decelerate, the rotating speed of the driving motor on the other side is not changed, differential steering is completed, and automatic row control running of the tobacco leaf field management operation machine with the complete stroke is achieved. Furthermore, the problems of poor working environment and high labor intensity in the later field management and harvesting process are solved, and the tobacco leaf management and harvesting efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanized production of tobacco field operations, and in particular relates to an automatic row-direction driving device for a tobacco field operation machine and a control method thereof. Background Art

[0002] Tobacco is an important cash crop and an important part of the national economy. my country is one of the world's major tobacco producers, with a vast planting area. The tobacco industry has become a pillar industry in the local economy. Field management and harvesting of tobacco leaves in the later stage are important links in tobacco production. At present, field management and harvesting of tobacco leaves in the later stage in my country are mainly manual labor, which is labor-intensive and inefficient, and can easily cause economic losses. With the demand for mechanized production, the problems of field management and harvesting of tobacco leaves in the later stage are becoming increasingly prominent. Replacing manual labor with mechanized operations has become an inevitable trend of development and a problem that needs to be solved urgently.

[0003] At present, in most of my country's hilly and mountainous tobacco-growing areas, the late-stage field management and harvesting of tobacco leaves are mainly done manually. Or there is a tobacco harvester that provides a high-ground clearance power platform for field walking and tobacco leaf transportation. Workers sit on the machine harvesting station to harvest tobacco leaves and place the harvested tobacco leaves on the tobacco leaf conveyor belt, which are sorted by the workers behind. The two existing methods of late-stage field management and harvesting of tobacco leaves have high labor intensity and poor working environment and work efficiency. Therefore, there is a need for an automatic row-aligning driving device for tobacco field operation machines that can reduce labor intensity, reduce production costs, and realize automatic row alignment of tobacco field management operation machines, and a control method thereof. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic row-aligning driving device for a tobacco field operation machine and a control method thereof, which can reduce labor intensity, reduce production costs and realize automatic row alignment of the tobacco field management operation machine, ensure that the tobacco field management operation machine does not need manual driving and can automatically move in rows in the tobacco field, which can increase economic benefits, solve the problems of poor working environment and high labor intensity in the later field management and harvesting process, and greatly improve the tobacco management and harvesting efficiency.

[0005] To achieve the above object, the present invention adopts the following technical solution: The automatic row-to-row driving device of a tobacco field operation machine comprises a tobacco field management operation machine, a left guide plate, a right guide plate, a left touch rod sensor, a right touch rod sensor, and a main controller. The tobacco field management operation machine comprises a gantry frame, a first track wheel and a second track wheel. The gantry frame comprises a left bracket, a connecting frame and a right bracket. A harvesting mechanism is integrated and installed between the left bracket and the right bracket. The harvesting mechanism comprises a left harvesting assembly connected to the left bracket and a right harvesting assembly connected to the right bracket. A harvesting channel for tobacco stems to pass through is formed between the left harvesting assembly and the right harvesting assembly. The first track wheel is arranged at the bottom of the left bracket, and the second track wheel is arranged at the bottom of the right bracket. The left guide plate is arranged at the front lower part of the left harvesting assembly, the right guide plate is arranged at the front lower part of the right harvesting assembly, the left guide plate is mounted on the left guide bracket, the left guide bracket is connected to the left bracket, the right guide plate is mounted on the right guide bracket, the right guide bracket is connected to the right bracket, a detection channel for the tobacco stems to pass through is formed between the left guide plate and the right guide plate, and a guide channel for the tobacco stems to pass through is formed between the left guide bracket and the right guide bracket; The left touch rod sensor is arranged on the lower surface of the left guide plate, and the right touch rod sensor is arranged on the lower surface of the right guide plate; the main controller is installed on the rear side of the gantry frame, and the left touch rod sensor and the right touch rod sensor are electrically connected to the main controller through an external circuit, and the power system of the first track wheel and the power system of the second track wheel are electrically connected to the main controller.

[0006] The left touch rod sensor and the right touch rod sensor have the same structure and are symmetrically arranged on the left and right, and both include a touch rod, a connecting rod, an arc-shaped short rod, a mounting bearing, a travel switch and a tension spring. The upper end of the touch rod is mounted on the mounting bearing, the upper end of the connecting rod is mounted on the mounting bearing, the lower end of the connecting rod is connected to the arc-shaped short rod, and the travel switch is arranged below the arc-shaped short rod. The tension spring of the left touch rod sensor is mounted on the left guide plate through a first screw, and the other end of the tension spring is connected to the middle part of the connecting rod; a detection channel is provided between the touch rod of the left touch rod sensor and the touch rod of the right touch rod sensor. When the cigarette stem deviates to the left, the cigarette stem will squeeze the touch rod of the left touch rod sensor, so that the touch rod drives the bearing to rotate and then drives the arc-shaped short rod of the connecting rod to rotate, and the arc-shaped short rod triggers the left travel switch. When the cigarette stem deviates to the right, the cigarette stem will squeeze the touch rod of the right touch rod sensor, so that the touch rod drives the mounting bearing to rotate and then drives the arc-shaped short rod of the connecting rod to rotate, and the arc-shaped short rod triggers the right travel switch.

[0007] The left travel switch and the right travel switch have the same structure, both of which include an upper housing, a lower housing, a mounting bolt, a spring and a terminal; the upper housing and the lower housing are assembled together by mounting pins after being buckled with each other, so that a mounting cavity is formed between the upper housing and the lower housing, a mounting channel connected to the mounting cavity is arranged inside the upper housing, the terminal is installed in the mounting channel, the left end of the spring is hinged to the left end of the upper housing, the spring is arranged to be lower on the left and higher on the right, and the lower surface of the spring is placed on the upper end of the terminal; The installation channel comprises a lower channel and an upper channel, the diameter of the upper channel is larger than the diameter of the lower channel so that a circular step portion is formed in the upper channel, the terminal comprises an upper cap portion, a lower cap portion and a connecting column, the upper cap portion is arranged at the upper end of the connecting column, the lower cap portion is arranged at the lower end of the connecting column, a first return spring is sleeved on the connecting column, the upper end of the first return spring is connected to the lower surface of the upper cap portion, and the lower end of the first return spring is arranged on the circular step portion, a quick-acting plate is also installed in the installation channel, the left end of the quick-acting plate is hinged on the left inner wall of the installation channel, a plurality of second return springs are arranged on the lower surface of the quick-acting plate, the second return springs support the quick-acting plate to keep it parallel, the quick-acting plate is arranged below the lower cap portion, a contact piece is arranged below the right end of the quick-acting plate, the contact piece is connected to the mounting bolt, and the mounting bolt is connected to the external circuit; When the spring sheet is pressed down, the spring sheet presses the terminal downward to squeeze the quick-acting plate, so that the right end of the quick-acting plate contacts the contact sheet downward, thereby connecting the external circuit with the main controller; when the tobacco stem separates from the contact rod and enters the harvesting channel, the terminal returns to its original state under the elastic force of the first return spring, and the quick-acting plate returns to a parallel state under the elastic force of the second return spring.

[0008] The upper shell and the lower shell are provided with corresponding first installation and fixing holes and second installation and fixing holes along the front-to-back direction.

[0009] A guide guard plate assembly is provided on the front side of the left bracket and the front side of the right bracket. The guide guard plate assembly includes a first inclined plate and a second inclined plate connected to each other to form a herringbone tapered portion facing forward. The front ends of the first inclined plate and the second inclined plate are connected to each other, and a first mounting plate is provided on the rear end of the first inclined plate, and a second mounting plate is provided on the rear end of the second inclined plate.

[0010] At least five lithium batteries are installed at the rear end of the right bracket.

[0011] The control method of the automatic row-aligning driving device of the tobacco field operation machine is implemented based on the automatic row-aligning driving device of the tobacco field operation machine, and comprises the following steps: The steps include: (1) The tobacco field management machine has two modes: stalk-touching mode and remote control mode. In the remote control mode, the machine can be directly controlled by operating the remote control to complete the operation. (2) Select the rod-touch mode and initially set the forward speed and differential ratio of the tobacco field management machine. If the tobacco stalk deviates, the left travel switch / right travel switch of the left rod-touch sensor / right rod-touch sensor will be triggered. The main controller receives the triggering electrical signal of the left travel switch / right travel switch and adjusts the steering; (3) When the direction is turned until the tobacco stalk is separated from the left touch rod sensor / right touch rod sensor, the main controller stops adjusting the direction, so that the tobacco field management machine performs harvesting operations in the current direction; (4) Repeat steps (2) and (3) until the tobacco leaf harvesting operation is completed.

[0012] The specific operation process of step (1) is as follows: the forward speed of the tobacco field management machine is initially set to V and the differential ratio is α, and the speed of the driving motor of the first track wheel and the second track wheel is n, n=n 第一 =n 第二 = V / Dπ, where D is the diameter of the drive wheel.

[0013] The specific operation process of step (2) is as follows: if the cigarette stem deviates to the left, the cigarette stem will squeeze the feeler rod of the left feeler rod sensor, so that the feeler rod of the left feeler rod sensor drives the mounting bearing of the left feeler rod sensor to rotate, thereby driving the connecting rod and the arc-shaped short rod of the left feeler rod sensor to rotate, so that the arc-shaped short rod of the left feeler rod sensor presses down the spring piece of the left travel switch. When the spring piece of the left travel switch is pressed down, the spring piece pressing terminal of the left travel switch further presses the quick-acting plate of the left travel switch downward, so that the right end of the quick-acting plate of the left travel switch contacts the contact piece downward, thereby connecting the external circuit with the main controller. The main controller receives the triggering electrical signal of the left travel switch, analyzes and processes the electrical signal into a digital signal, thereby causing the motor driver on the left side to adjust the drive motor of the first track wheel to decelerate according to the differential ratio α preset in the program, so that the speed of the drive motor of the first track wheel is reduced to n. 第一 =αn, right motor speed n 第二 No change occurs, resulting in a speed difference between the first track wheel and the second track wheel on the left and right sides. The tobacco working vehicle turns left, the tobacco working vehicle continues to move, the tobacco stalks and the feeler rod continue to contact, and the tracked vehicle keeps turning left.

[0014] The specific process of step (3) is as follows: when the direction is turned to separate the tobacco stem from the left touch rod sensor / right touch rod sensor, the tobacco stem separates from the touch rod, the terminal returns to its original state under the elastic force of the first return spring, and the quick-acting plate returns to a parallel state under the elastic force of the second return spring, so that the mounting bolt is disconnected from the external circuit, thereby making it impossible for the main controller to receive the trigger electrical signal and stop adjusting the direction. At this time, the tobacco stem successfully enters the detection channel and the harvesting channel.

[0015] The automatic row-aligning device of the present application has a compact structure and good stability. The service life of the left touch rod sensor and the right touch rod sensor can reach 10 million times, realizing automatic row alignment and automatic driving of tobacco field operation machinery.

[0016] The control method of the present application completes differential steering by setting the vehicle steering differential ratio. The steering effect is smoother, sudden steering will not occur, and the service life of agricultural machinery is extended. The present application uses a single-chip microcomputer as the main controller, including field management and automatic row alignment and other field operation control systems. The left touch rod sensor and the right touch rod sensor are triggered, and the external circuit forms a path with the main controller. The generated electrical signal is received by the single-chip microcomputer, processed and analyzed, converted into a digital signal, and then output to the motor driver. The driver controls the corresponding drive motor to decelerate, and the speed of the drive motor on the other side remains unchanged, completing differential steering and realizing automatic row alignment of the tobacco field management machine with a complete stroke.

[0017] In summary, the present invention can ensure that the tobacco field management operation machine does not need manual driving and can automatically move in rows in the tobacco field, which can increase economic benefits, solve the problems of poor working environment and high labor intensity in the later field management and harvesting process, and greatly improve the tobacco management and harvesting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the automatic lane-crossing driving device of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the left touch rod sensor and the right touch rod sensor of the present invention.

[0020] Figure 3 It is a structural schematic diagram of a left-shaped travel switch of the present invention.

[0021] Figure 4 It is an internal schematic diagram of the left travel switch of the present invention.

[0022] Figure 5 It is a schematic diagram of motor control of the control method of the present invention.

[0023] Figure 6 It is a flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0025] Embodiment 1 like Figure 1-4As shown, the automatic row-to-row driving device of the tobacco field operation machine includes a tobacco field management operation machine, a left guide plate 1, a right guide plate 2, a left touch rod sensor, a right touch rod sensor, and a main controller 3. The tobacco field management operation machine includes a gantry frame, a first track wheel 4 and a second track wheel 5. The gantry frame includes a left bracket 6, a connecting frame 7 and a right bracket 8. A harvesting mechanism is integrated and installed between the left bracket 6 and the right bracket 8. The harvesting mechanism includes a left harvesting assembly 9 connected to the left bracket 6 and a right harvesting assembly 10 connected to the right bracket 8. A harvesting channel for the tobacco stems 32 to pass through is formed between the left harvesting assembly 9 and the right harvesting assembly 10. The first track wheel 4 is arranged at the bottom of the left bracket 6, and the second track wheel 5 is arranged at the bottom of the right bracket 8. The left guide plate 1 is arranged at the front lower part of the left harvesting assembly 9, the right guide plate 2 is arranged at the front lower part of the right harvesting assembly 10, the left guide plate 1 is mounted on the left guide bracket 11, the left guide bracket 11 is connected to the left bracket 6, the right guide plate 2 is mounted on the right guide bracket 12, the right guide bracket 12 is connected to the right bracket 8, a detection channel for the tobacco stem 32 to pass through is formed between the left guide plate 1 and the right guide plate 2, and a guide channel for the tobacco stem 32 to pass through is formed between the left guide bracket 11 and the right guide bracket 12; The left touch rod sensor is arranged on the lower surface of the left guide plate 1, and the right touch rod sensor is arranged on the lower surface of the right guide plate 2; the main controller 3 is installed on the rear side of the gantry frame, and the left touch rod sensor and the right touch rod sensor are electrically connected to the main controller 3 through an external circuit, and the power system of the first track wheel 4 and the power system of the second track wheel 5 are both electrically connected to the main controller 3.

[0026] The left touch rod sensor and the right touch rod sensor have the same structure and are symmetrically arranged on the left and right, and both include a touch rod 13, a connecting rod 14, an arc-shaped short rod 15 (the short rod is arc-shaped, so that it can be reset after triggering the travel switch and is not stuck by the travel switch spring), a mounting bearing 16, a travel switch 17 and a tension spring 18. The upper end of the touch rod 13 is mounted on the mounting bearing 16, the upper end of the connecting rod 14 is mounted on the mounting bearing 16, the lower end of the connecting rod 14 is connected to the arc-shaped short rod 15, and the travel switch 17 is arranged below the arc-shaped short rod 15. The tension spring 18 of the left touch rod sensor is mounted on the left guide plate 1 through a first screw. The tension spring The other end of 18 is connected to the middle part of the connecting rod 14; there is a detection channel between the touch rod 13 of the left touch rod sensor and the touch rod 13 of the right touch rod sensor. When the cigarette stem 32 deviates to the left, the cigarette stem 32 will squeeze the touch rod 13 of the left touch rod sensor, so that the touch rod 13 drives the bearing to rotate and then drives the arc-shaped short rod 15 of the connecting rod 14 to rotate, and the arc-shaped short rod 15 triggers the left travel switch 17. When the cigarette stem 32 deviates to the right, the cigarette stem 32 will squeeze the touch rod 13 of the right touch rod sensor, so that the touch rod 13 drives the installation bearing 16 to rotate and then drives the arc-shaped short rod 15 of the connecting rod 14 to rotate, and the arc-shaped short rod 15 triggers the right travel switch 31.

[0027] The left travel switch 17 and the right travel switch 31 have the same structure, and both include an upper housing 19, a lower housing 20, a mounting bolt 21, a spring 22 and a terminal 23; the upper housing 19 and the lower housing 20 are mutually buckled and assembled together through a mounting pin, so that a mounting cavity 24 is formed between the upper housing 19 and the lower housing 20, and a mounting channel 25 communicating with the mounting cavity 24 is provided inside the upper housing 19, and the terminal 23 is installed in the mounting channel 25, and the left end of the spring 22 is hinged to the left end of the upper housing 19, and the spring 22 is arranged to be lower on the left and higher on the right, and the lower surface of the spring 22 is placed on the upper end of the terminal 23; The installation channel 25 includes a lower channel and an upper channel. The diameter of the upper channel is larger than that of the lower channel so that a circular step is formed in the upper channel. The terminal 23 includes an upper cap, a lower cap and a connecting column. The upper cap is arranged at the upper end of the connecting column, and the lower cap is arranged at the lower end of the connecting column. A first return spring 26 is sleeved on the connecting column. The upper end of the first return spring 26 is connected to the lower surface of the upper cap, and the lower end of the first return spring 26 is arranged on the circular step. A quick-acting plate 28 is also installed in the installation channel 25. The left end of the quick-acting plate 28 is hinged on the left inner wall of the installation channel 25. A plurality of second return springs 27 are arranged on the lower surface of the quick-acting plate 28. The second return springs 27 support the quick-acting plate 28 to keep it parallel. The quick-acting plate 28 is arranged below the lower cap. A contact piece 29 is arranged below the right end of the quick-acting plate 28. The contact piece 29 is connected to the installation bolt 21, and the installation bolt 21 is connected to the external circuit. When the spring sheet 22 is pressed down, the spring sheet 22 presses the terminal 23 downward to squeeze the quick-acting plate 28, so that the right end of the quick-acting plate 28 contacts the contact piece 29 downward, thereby connecting the external circuit with the main controller 3; when the tobacco stem 32 contacts and separates from the contact rod 13 and enters the harvesting channel, the terminal 23 returns to its original state under the elastic force of the first return spring 26, and the quick-acting plate 28 returns to a parallel state under the elastic force of the second return spring 27.

[0028] The upper housing 19 and the lower housing 20 are provided with corresponding first mounting and fixing holes and second mounting and fixing holes along the front-to-back direction.

[0029] A guide guard plate assembly 30 is provided on the front side of the left bracket 6 and the front side of the right bracket 8. The guide guard plate assembly 30 includes a first inclined plate and a second inclined plate connected to each other to form a herringbone tapered portion facing forward. The front ends of the first inclined plate and the second inclined plate are connected to each other, a first mounting plate is provided at the rear end of the first inclined plate, and a second mounting plate is provided at the rear end of the second inclined plate.

[0030] At least five lithium batteries are installed at the rear end of the right bracket 8 .

[0031] Embodiment 2 The control method of the automatic row-aligning driving device of the tobacco field operation machine is implemented based on the automatic row-aligning driving device of the tobacco field operation machine, such as Figure 5 and Figure 6 As shown, the following steps are included: The steps include: (1) The tobacco field management machine has two modes: stalk-touching mode and remote control mode. In the remote control mode, the machine can be directly controlled by operating the remote control to complete the operation. (2) Selecting the rod-touching mode, initially setting the forward speed and differential ratio of the tobacco field management machine, and if the tobacco stalk 32 deviates, the left stroke switch 17 / right stroke switch 31 of the left rod-touching sensor / right rod-touching sensor is triggered, and the main controller 3 receives the triggering electrical signal of the left stroke switch 17 / right stroke switch 31 to adjust the steering; (3) When the tobacco stalk 32 is turned to be separated from the left-touch-rod sensor / right-touch-rod sensor, the main controller 3 stops adjusting the steering direction, so that the tobacco field management machine performs harvesting operations in the current direction; (4) Repeat steps (2) and (3) until the tobacco leaf harvesting operation is completed.

[0032] The specific operation process of step (1) is as follows: the forward speed of the tobacco field management machine is initially set to V and the differential ratio is α, and the driving motor speeds of the first crawler wheel 4 and the second crawler wheel 5 are n, n=n 第一 =n 第二 = V / Dπ, where D is the diameter of the drive wheel.

[0033] The specific operation process of step (2) is as follows: if the cigarette stem 32 deviates to the left, the cigarette stem 32 will squeeze the feeler rod 13 of the left feeler rod sensor, so that the feeler rod 13 of the left feeler rod sensor drives the mounting bearing 16 of the left feeler rod sensor to rotate, thereby driving the connecting rod 14 and the arc-shaped short rod 15 of the left feeler rod sensor to rotate, so that the arc-shaped short rod 15 of the left feeler rod sensor presses down the spring piece 22 of the left travel switch 17. When the spring piece 22 of the left travel switch 17 is pressed down, the spring piece 22 of the left travel switch 17 presses down the terminal 23 to further press down the quick-acting plate 28 of the left travel switch 17, so that the right end of the quick-acting plate 28 of the left travel switch 17 contacts the contact piece 29 downward, thereby connecting the external circuit with the main controller 3. The main controller 3 receives the triggering electrical signal of the left travel switch 17, analyzes and processes the electrical signal into a digital signal, thereby causing the motor driver on the left side to adjust the drive motor of the first track wheel 4 to decelerate according to the differential ratio α preset in the program, so that the speed of the drive motor of the first track wheel 4 is reduced to n. 第一 =αn, the driving motor speed n of the second crawler wheel 5 on the right 第二The first track wheel 4 and the second track wheel 5 on the left and right sides do not change, resulting in a speed difference between the first track wheel 4 and the second track wheel 5 on the left and right sides. The tobacco working vehicle turns left and the tobacco working vehicle continues to move. The tobacco stem 32 and the feeler rod 13 are in continuous contact, and the tracked vehicle keeps turning left. If the tobacco stem 32 deviates to the right, the tobacco stem 32 will squeeze the feeler rod 13 of the right feeler rod sensor, so that the feeler rod 13 of the right feeler rod sensor drives the mounting bearing 16 of the right feeler rod sensor to rotate, thereby driving the connecting rod 14 and the arc-shaped short rod 15 of the right feeler rod sensor to rotate, so that the arc-shaped short rod 15 of the right feeler rod sensor presses down the spring piece 22 of the right travel switch 31. When the right When the spring piece 22 of the travel switch 31 is pressed down, the spring piece 22 of the right travel switch 31 presses the terminal 23 downward to further press the quick-acting plate 28 of the right travel switch 31, so that the right end of the quick-acting plate 28 of the right travel switch 31 contacts the contact piece 29 downward, thereby connecting the external circuit with the main controller 3. The main controller 3 receives the triggering electrical signal of the right travel switch 31, analyzes and processes the electrical signal into a digital signal, and then the motor driver on the right adjusts the driving motor of the second track wheel 5 to decelerate according to the differential ratio α preset in the program, so that the speed of the driving motor of the second track wheel 5 is reduced to n. 第二 =αn, the driving motor speed n of the first crawler wheel 4 on the right 第一 No change occurs, resulting in a speed difference between the first track wheel 4 and the second track wheel 5 on the left and right sides, the tobacco working vehicle turns right, the tobacco working vehicle continues to move, the tobacco stems 32 and the feeler rod 13 continue to contact, and the tracked vehicle maintains a right turn state.

[0034] The specific process of step (3) is as follows: when the direction is turned to the point where the tobacco stem 32 is separated from the left touch rod sensor / right touch rod sensor, the tobacco stem 32 is separated from the touch rod 13, the terminal 23 is restored to its original state under the elastic force of the first return spring 26, and the quick-acting plate 28 is restored to a parallel state under the elastic force of the second return spring 27, so that the mounting bolt 21 is disconnected from the external circuit, thereby making it impossible for the main controller 3 to receive the trigger electrical signal and stop adjusting the direction. At this time, the tobacco stem 32 smoothly enters the detection channel and the harvesting channel.

[0035] In addition, the present application can also connect the corresponding control handle through the main controller 3, and realize the corresponding remote control mode through the control handle. The staff can control the steering of the tobacco field management machine through the control handle as needed, and the main controller 3 can be used to realize the mode conversion, which can be either the remote control mode or the touch rod mode.

[0036] The automatic row-aligning device of the present application has a compact structure and good stability. The service life of the left touch rod sensor and the right touch rod sensor can reach 10 million times, realizing automatic row alignment and automatic driving of tobacco field operation machinery.

[0037] The control method of the present application completes differential steering by setting the vehicle steering differential ratio, and the steering effect is smoother, and sudden steering will not occur, thereby extending the service life of agricultural machinery. The present application uses a single-chip microcomputer as the main controller 3, including field management and automatic row alignment and other field operation control systems. The left touch rod sensor and the right touch rod sensor are triggered, and the external circuit forms a path with the main controller 3. The generated electrical signal is received by the single-chip microcomputer, processed and analyzed, and converted into a digital signal and then output to the motor driver. The driver controls the corresponding drive motor to decelerate, and the speed of the drive motor on the other side remains unchanged, completing differential steering and realizing automatic row alignment of the tobacco field management machine with a complete stroke.

[0038] In summary, the present invention can ensure that the tobacco field management operation machine does not need manual driving and can automatically move in rows in the tobacco field, which can increase economic benefits, solve the problems of poor working environment and high labor intensity in the later field management and harvesting process, and greatly improve the tobacco management and harvesting efficiency.

[0039] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. Automatic row-to-row driving device for tobacco field operation machine, characterized by: The tobacco field management operation machine comprises a tobacco field management operation machine, a left guide plate, a right guide plate, a left touch rod sensor, a right touch rod sensor, and a main controller. The tobacco field management operation machine comprises a gantry frame, a first track wheel and a second track wheel. The gantry frame comprises a left bracket, a connecting frame and a right bracket. A harvesting mechanism is integrated and installed between the left bracket and the right bracket. The harvesting mechanism comprises a left harvesting assembly connected to the left bracket and a right harvesting assembly connected to the right bracket. A harvesting channel for tobacco stems to pass through is formed between the left harvesting assembly and the right harvesting assembly. The first track wheel is arranged at the bottom of the left bracket, and the second track wheel is arranged at the bottom of the right bracket. The left guide plate is arranged at the front lower part of the left harvesting assembly, the right guide plate is arranged at the front lower part of the right harvesting assembly, the left guide plate is mounted on the left guide bracket, the left guide bracket is connected to the left bracket, the right guide plate is mounted on the right guide bracket, the right guide bracket is connected to the right bracket, a detection channel for the tobacco stems to pass through is formed between the left guide plate and the right guide plate, and a guide channel for the tobacco stems to pass through is formed between the left guide bracket and the right guide bracket; The left touch rod sensor is arranged on the lower surface of the left guide plate, and the right touch rod sensor is arranged on the lower surface of the right guide plate; the main controller is installed on the rear side of the gantry frame, and the left touch rod sensor and the right touch rod sensor are electrically connected to the main controller through an external circuit, and the power system of the first track wheel and the power system of the second track wheel are electrically connected to the main controller.

2. The automatic row-to-row driving device for tobacco field working machines according to claim 1 is characterized in that: The left touch rod sensor and the right touch rod sensor have the same structure and are symmetrically arranged on the left and right, and both include a touch rod, a connecting rod, an arc-shaped short rod, a mounting bearing, a travel switch and a tension spring. The upper end of the touch rod is mounted on the mounting bearing, the upper end of the connecting rod is mounted on the mounting bearing, the lower end of the connecting rod is connected to the arc-shaped short rod, and the travel switch is arranged below the arc-shaped short rod. The tension spring of the left touch rod sensor is mounted on the left guide plate through a first screw, and the other end of the tension spring is connected to the middle part of the connecting rod; a detection channel is provided between the touch rod of the left touch rod sensor and the touch rod of the right touch rod sensor. When the cigarette stem deviates to the left, the cigarette stem will squeeze the touch rod of the left touch rod sensor, so that the touch rod drives the bearing to rotate and then drives the arc-shaped short rod of the connecting rod to rotate, and the arc-shaped short rod triggers the left travel switch. When the cigarette stem deviates to the right, the cigarette stem will squeeze the touch rod of the right touch rod sensor, so that the touch rod drives the mounting bearing to rotate and then drives the arc-shaped short rod of the connecting rod to rotate, and the arc-shaped short rod triggers the right travel switch.

3. The automatic row-to-row driving device for tobacco field working machines according to claim 2 is characterized in that: The left travel switch and the right travel switch have the same structure, both of which include an upper housing, a lower housing, a mounting bolt, a spring and a terminal; the upper housing and the lower housing are buckled together and assembled together through a mounting pin, so that a mounting cavity is formed between the upper housing and the lower housing, a mounting channel connected to the mounting cavity is provided inside the upper housing, the terminal is installed in the mounting channel, the left end of the spring is hinged to the left end of the upper housing, the spring is arranged to be lower on the left and higher on the right, and the lower surface of the spring is placed on the upper end of the terminal; The installation channel comprises a lower channel and an upper channel, the diameter of the upper channel is larger than the diameter of the lower channel so that a circular step portion is formed in the upper channel, the terminal comprises an upper cap portion, a lower cap portion and a connecting column, the upper cap portion is arranged at the upper end of the connecting column, the lower cap portion is arranged at the lower end of the connecting column, a first return spring is sleeved on the connecting column, the upper end of the first return spring is connected to the lower surface of the upper cap portion, and the lower end of the first return spring is arranged on the circular step portion, a quick-acting plate is also installed in the installation channel, the left end of the quick-acting plate is hinged on the left inner wall of the installation channel, a plurality of second return springs are arranged on the lower surface of the quick-acting plate, the second return springs support the quick-acting plate to keep it parallel, the quick-acting plate is arranged below the lower cap portion, a contact piece is arranged below the right end of the quick-acting plate, the contact piece is connected to the mounting bolts arranged at the bottom of the lower housing, and the mounting bolts are connected to the external circuit; When the spring sheet is pressed down, the spring sheet presses the terminal downward to squeeze the quick-acting plate, so that the right end of the quick-acting plate contacts the contact sheet downward, thereby connecting the external circuit with the main controller; when the tobacco stem separates from the contact rod and enters the harvesting channel, the terminal returns to its original state under the elastic force of the first return spring, and the quick-acting plate returns to a parallel state under the elastic force of the second return spring.

4. The automatic row-to-row driving device for tobacco field working machines according to claim 3 is characterized by: The upper shell and the lower shell are provided with corresponding first installation and fixing holes and second installation and fixing holes along the front-to-back direction.

5. The automatic row-to-row driving device for tobacco field working machines according to claim 4 is characterized in that: A guide guard plate assembly is provided on the front side of the left bracket and the front side of the right bracket. The guide guard plate assembly includes a first inclined plate and a second inclined plate connected to each other to form a herringbone tapered portion facing forward. The front ends of the first inclined plate and the second inclined plate are connected to each other, and a first mounting plate is provided on the rear end of the first inclined plate, and a second mounting plate is provided on the rear end of the second inclined plate.

6. The automatic row-to-row driving device for tobacco field working machines according to claim 5 is characterized in that: At least five lithium batteries are installed at the rear end of the right bracket.

7. A control method for an automatic row-aligning driving device of a tobacco field working machine, implemented based on the automatic row-aligning driving device of a tobacco field working machine as claimed in any one of claims 1 to 6, characterized in that: The steps include: (1) The tobacco field management machine has two modes: stalk-touching mode and remote control mode. In the remote control mode, the machine can be directly controlled by operating the remote control to complete the operation. (2) Select the rod-touch mode and initially set the forward speed and differential ratio of the tobacco field management machine. If the tobacco stalk deviates, the left travel switch / right travel switch of the left rod-touch sensor / right rod-touch sensor will be triggered. The main controller receives the triggering electrical signal of the left travel switch / right travel switch and adjusts the steering; (3) When the direction is turned until the tobacco stalk is separated from the left touch rod sensor / right touch rod sensor, the main controller stops adjusting the direction, so that the tobacco field management machine performs harvesting operations in the current direction; (4) Repeat steps (2) and (3) until the tobacco leaf harvesting operation is completed.

8. The control method of the automatic row-travel device of the tobacco field operation machine according to claim 7 is characterized by: The specific operation process of step (1) is as follows: the forward speed of the tobacco field management machine is initially set to V and the differential ratio is α, and the speed of the driving motor of the first track wheel and the second track wheel is n, n=n 第一 =n 第二 = V / Dπ, where D is the diameter of the drive wheel.

9. The control method of the automatic row-travel device of the tobacco field working machine according to claim 8 is characterized by: The specific operation process of step (2) is as follows: if the cigarette stem deviates to the left, the cigarette stem will squeeze the feeler rod of the left feeler rod sensor, so that the feeler rod of the left feeler rod sensor drives the mounting bearing of the left feeler rod sensor to rotate, thereby driving the connecting rod and the arc-shaped short rod of the left feeler rod sensor to rotate, so that the arc-shaped short rod of the left feeler rod sensor presses down the spring piece of the left travel switch. When the spring piece of the left travel switch is pressed down, the spring piece pressing terminal of the left travel switch further presses the quick-acting plate of the left travel switch downward, so that the right end of the quick-acting plate of the left travel switch contacts the contact piece downward, thereby connecting the external circuit with the main controller. The main controller receives the triggering electrical signal of the left travel switch, analyzes and processes the electrical signal into a digital signal, thereby causing the motor driver on the left side to adjust the drive motor of the first track wheel to decelerate according to the differential ratio α preset in the program, so that the speed of the drive motor of the first track wheel is reduced to n. 第一 =αn, right motor speed n 第二 No change occurs, resulting in a speed difference between the first track wheel and the second track wheel on the left and right sides. The tobacco working vehicle turns left, the tobacco working vehicle continues to move, the tobacco stalks and the feeler rod continue to contact, and the tracked vehicle keeps turning left.

10. The control method of the automatic row-travel device of the tobacco field working machine according to claim 9, characterized in that: The specific process of step (3) is as follows: when the direction is turned to separate the tobacco stem from the left touch rod sensor / right touch rod sensor, the tobacco stem separates from the touch rod, the terminal returns to its original state under the elastic force of the first return spring, and the quick-acting plate returns to a parallel state under the elastic force of the second return spring, so that the mounting bolt is disconnected from the external circuit, thereby making it impossible for the main controller to receive the trigger electrical signal and stop adjusting the direction. At this time, the tobacco stem successfully enters the detection channel and the harvesting channel.

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