Tobacco field work machine automatic alignment travel device and control method thereof

Abstract

The application discloses a tobacco field operation machine automatic alignment driving device and a control method thereof. The control method sets a vehicle steering differential ratio to complete differential steering, and the steering effect is more stable, and sudden steering does not occur, thereby prolonging the service life of the agricultural machine operation. The application uses a single-chip microcomputer as a main controller, and contains a field management and automatic alignment field operation control system. When a left touch rod sensor and a right touch rod sensor are triggered, an external circuit and the main controller form a passage, an electric signal generated is received by the single-chip microcomputer, and after processing, analysis and conversion into a digital signal, the digital signal is output to a motor driver. The driver controls the corresponding driving motor to slow down, and the driving motor on the other side keeps the same speed, thereby completing differential steering, and realizing automatic alignment driving of the tobacco field management operation machine. Further, the application solves the problems of poor working environment and high labor intensity in the later stage of field management and harvesting, and greatly improves the tobacco management and harvesting efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tobacco field operation production mechanization, in particular to a tobacco field operation machine automatic alignment running device and a control method thereof. BACKGROUND

[0002] Tobacco is an important economic crop and an important component of the national economy. China is one of the major tobacco producing countries in the world, with a wide planting area, and the tobacco industry has become the local economic pillar industry. The late field management and harvesting of tobacco leaves is an important link in tobacco production. At present, the late field management and harvesting of tobacco leaves in China mainly relies on manual labor, which is labor-intensive and inefficient, and is prone to cause economic losses. With the demand for mechanized production, the problem of late field management and harvesting of tobacco leaves is becoming increasingly prominent, and it is inevitable to replace manual operation with mechanized operation.

[0003] At present, in most hilly and mountainous tobacco areas in China, the late field management and harvesting of tobacco leaves is mainly manual. Or there is a high-clearance power platform for field walking and tobacco transportation provided by a tobacco harvesting machine, workers sit on the machine harvesting station to harvest tobacco leaves, and place the harvested tobacco leaves on the tobacco conveying belt, and the workers behind arrange them. The two existing methods of late field management and harvesting of tobacco leaves have high labor intensity, poor working environment and low working efficiency. Therefore, a tobacco field operation machine automatic alignment running device and a control method thereof are needed, which can reduce labor intensity, reduce production cost and realize automatic alignment of the tobacco field management operation machine. SUMMARY

[0004] The purpose of the present application is to provide a tobacco field operation machine automatic alignment running device and a control method thereof, which can reduce labor intensity, reduce production cost and realize automatic alignment of the tobacco field management operation machine, ensure that the tobacco field management operation machine does not need manual driving, automatically aligns and walks in the tobacco field, can increase economic benefits, solve the problems of poor working environment and high labor intensity in the late field management and harvesting process, and greatly improve the efficiency of tobacco management and harvesting.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] The automatic row-to-row traveling device for tobacco field management machine includes a tobacco field management machine, a left guide plate, a right guide plate, a left contact rod sensor, a right contact rod sensor, and a main controller. The tobacco field management machine includes a gantry frame, a first track wheel, and a second track wheel. The gantry frame includes a left support, a connecting frame, and a right support. A harvesting mechanism is integrated between the left and right supports. The harvesting mechanism includes a left harvesting component connected to the left support and a right harvesting component connected to the right support. A harvesting channel for tobacco stalks to pass through is formed between the left and right harvesting components. The first track wheel is located at the bottom of the left support, and the second track wheel is located at the bottom of the right support.

[0007] The left guide plate is located at the lower front of the left harvesting component, and the right guide plate is located at the lower front of the right harvesting component. The left guide plate is installed on the left guide bracket, which is connected to the left bracket. The right guide plate is installed on the right guide bracket, which is connected to the right bracket. A detection channel for tobacco stalks to pass through is formed between the left guide plate and the right guide plate, and a guide channel for tobacco stalks to pass through is formed between the left guide bracket and the right guide bracket.

[0008] The left contact rod sensor is located on the lower surface of the left guide plate, and the right contact rod sensor is located on the lower surface of the right guide plate. The main controller is installed on the rear side of the gantry frame. Both the left and right contact rod sensors are electrically connected to the main controller via external circuits. The power systems of the first and second track wheels are electrically connected to the main controller.

[0009] The left and right touch rod sensors have identical structures and are symmetrically arranged. Each includes a touch rod, a connecting rod, an arc-shaped short rod, a mounting bearing, a limit switch, and a tension spring. The upper end of the touch rod and the upper end of the connecting rod are mounted on the mounting bearing, and the lower end of the connecting rod is connected to the arc-shaped short rod. The limit switch is located below the arc-shaped short rod. The tension spring of the left touch rod sensor is mounted on the left guide plate by a first screw, and the other end of the tension spring is connected to the middle of the connecting rod. The detection channel is between the touch rods of the left and right touch rod sensors. When the tobacco stick is biased to the left, it will squeeze the touch rod of the left touch rod sensor, causing the touch rod to rotate the bearing, which in turn will rotate the arc-shaped short rod of the connecting rod. The arc-shaped short rod triggers the left limit switch. When the tobacco stick is biased to the right, it will squeeze the touch rod of the right touch rod sensor, causing the touch rod to rotate the mounting bearing, which in turn will rotate the arc-shaped short rod of the connecting rod. The arc-shaped short rod triggers the right limit switch.

[0010] The left stroke switch and the right stroke switch are structurally identical, and each comprises an upper shell, a lower shell, a mounting bolt, a spring sheet and a terminal; the upper shell and the lower shell are assembled together through mutual buckling and then through a mounting pin, so that a mounting cavity is formed between the upper shell and the lower shell, the upper shell is internally provided with a mounting channel in communication with the mounting cavity, the terminal is mounted in the mounting channel, the left end of the spring sheet is hinged to the left end of the upper shell, and the spring sheet is arranged in a left-low and right-high manner, with the lower surface of the spring sheet placed on the upper end of the terminal;

[0011] The mounting channel comprises 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 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 reset spring is sleeved on the connecting column, the upper end of the first reset spring is connected to the lower surface of the upper cap portion, the lower end of the first reset spring is arranged on the circular step portion, a quick-action plate is further mounted in the mounting channel, the left end of the quick-action plate is hinged to the left inner wall of the mounting channel, the lower surface of the quick-action plate is provided with a plurality of second reset springs, the second reset springs support the quick-action plate to keep parallel, the quick-action plate is arranged below the lower cap portion, a contact sheet is arranged below the right end of the quick-action plate, the contact sheet is connected to the mounting bolt, and the mounting bolt is connected to an external circuit.

[0012] When the spring sheet is pressed down, the spring sheet presses the terminal downward to extrude the quick-action plate, so that the right end of the quick-action plate contacts the contact sheet, thereby connecting the external circuit and the main controller; when the tobacco stalk contacts and separates from the contact rod to enter the harvesting channel, the terminal returns to the original state under the elastic force of the first reset spring, and the quick-action plate returns to the parallel state under the elastic force of the second reset spring.

[0013] The upper shell and the lower shell are provided with corresponding first mounting fixing holes and second mounting fixing holes in the front-rear direction.

[0014] The front side of the left support and the front side of the right support are each provided with a guide guard plate assembly, the guide guard plate assembly comprises first and second inclined plates which are connected to each other to form a chevron-shaped tapered portion with a front direction, the front ends of the first and second inclined plates are connected to each other, the rear end of the first inclined plate is provided with a first mounting plate, and the rear end of the second inclined plate is provided with a second mounting plate.

[0015] The rear end of the right support is mounted with at least five lithium batteries.

[0016] A control method of an automatic alignment driving device of a tobacco field working machine, which is implemented based on the automatic alignment driving device of the tobacco field working machine, comprises the following steps:

[0017] Comprises the following steps:

[0018] (1) The tobacco field management machine has a stalk-touching mode and a remote control mode. Select the remote control mode and directly control the machine to complete the operation by operating the remote control.

[0019] (2) Select the touch bar mode, initially set the forward speed and differential ratio of the tobacco field management machine. If the tobacco stalk deviates, the left limit switch / right limit switch of the left touch bar sensor / right touch bar sensor will be triggered. The main controller receives the trigger electrical signal of the left limit switch / right limit switch and adjusts the direction.

[0020] (3) When the tobacco stalk separates from the left contact sensor / right contact sensor, the main controller stops adjusting the steering, so that the tobacco field management machine can carry out harvesting operations in the current direction;

[0021] (4) Repeat steps (2) and (3) until the tobacco harvesting operation is completed.

[0022] The specific operation process of step (1) is as follows: initially set the forward speed of the tobacco field management machine to V and the differential ratio to α, and the speed of the drive motors of the first track wheel and the second track wheel to n, n=n 第一 =n 第二 = V / Dπ, where D is the diameter of the driving wheel.

[0023] The specific operation process of step (2) is as follows: If the tobacco stick shifts to the left, the tobacco stick will squeeze the contact rod of the left contact rod sensor, causing the contact rod of the left contact rod sensor to rotate, thereby causing the connecting rod and the arc-shaped short rod of the left contact rod sensor to rotate, causing the arc-shaped short rod of the left contact rod sensor to press down the spring of the left limit switch. When the spring of the left limit switch is pressed down, the spring pressing terminal of the left limit switch further presses down on the quick-acting plate of the left limit switch, causing the right end of the quick-acting plate of the left limit switch to contact the contact piece downwards, thereby connecting the external circuit with the main controller. The main controller receives the trigger electrical signal of the left limit switch, analyzes and processes the electrical signal into a digital signal, thereby causing the motor driver on the left 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, the speed of the motor on the right is n 第二 Without any change, a speed difference appears between the first and second tracked wheels on the left and right sides, causing the tobacco processing vehicle to turn left. The tobacco processing vehicle continues to move, and the tobacco stalk and the contact rod remain in contact, keeping the tracked vehicle in a left-turned state.

[0024] The specific process of step (3) is as follows: when the stalk is separated from the left and right touch rod sensors, the stalk is separated from the touch rod, the terminal is restored to the original state under the elastic force of the first reset spring, the quick-action plate is restored to the parallel state under the elastic force of the second reset spring, the mounting bolt is disconnected with the external circuit, and then the main controller cannot receive the trigger signal, the direction adjustment is stopped, at this time, the stalk smoothly enters the detection channel and the harvesting channel.

[0025] The automatic alignment device of the present application is compact in structure and good in stability, the service life of the left and right touch rod sensors can reach 10 million times, and automatic alignment and automatic driving of the tobacco field working machine are realized.

[0026] The control method of the present application completes differential steering by setting the vehicle steering differential ratio, the steering effect is more stable, sudden steering does not occur, and the service life of the agricultural machine is prolonged. The single-chip microcomputer is used as the main controller, the field management and automatic alignment and other field work control systems are included, the left and right touch rod sensors are triggered, the external circuit forms a path with the main controller, the generated electric signal is received by the single-chip microcomputer, and after processing, analysis and conversion into a digital signal, the digital signal is output to the motor driver, the corresponding drive motor is controlled to slow down, the speed of the drive motor on the other side is unchanged, differential steering is completed, and automatic alignment driving of the tobacco field management working machine is realized.

[0027] In summary, the present application can ensure that the tobacco field management working machine does not need to be manually driven, automatically aligns and walks in the tobacco field, can increase economic benefits, solves the problems of poor working environment and high labor intensity in the later stage of field management and harvesting, and greatly improves the efficiency of tobacco management and harvesting. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic diagram of the automatic alignment driving device of the present application.

[0029] Figure 2 is a structural schematic diagram of the left and right touch rod sensors of the present application.

[0030] Figure 3 is a structural schematic diagram of the left stroke switch of the present application.

[0031] Figure 4 is an internal schematic diagram of the left stroke switch of the present application.

[0032] Figure 5 is a motor control schematic diagram of the control method of the present application.

[0033] Figure 6 is a flowchart of the control method of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0035] Example 1

[0036] like Figures 1-4 As shown, the automatic row-to-row traveling device for tobacco field management machine includes a tobacco field management machine, a left guide plate 1, a right guide plate 2, a left contact rod sensor, a right contact rod sensor, and a main controller 3. The tobacco field management machine includes a gantry frame, a first track wheel 4, and a second track wheel 5. The gantry frame includes a left support 6, a connecting frame 7, and a right support 8. A harvesting mechanism is integrated between the left support 6 and the right support 8. The harvesting mechanism includes a left harvesting component 9 connected to the left support 6 and a right harvesting component 10 connected to the right support 8. A harvesting channel for tobacco stalks 32 to pass through is formed between the left harvesting component 9 and the right harvesting component 10. The first track wheel 4 is located at the bottom of the left support 6, and the second track wheel 5 is located at the bottom of the right support 8.

[0037] The left guide plate 1 is located at the lower front of the left harvesting component 9, and the right guide plate 2 is located at the lower front of the right harvesting component 10. The left guide plate 1 is installed on the left guide bracket 11, which is connected to the left bracket 6. The right guide plate 2 is installed on the right guide bracket 12, which is connected to the right bracket 8. A detection channel for the tobacco stalk 32 to pass through is formed between the left guide plate 1 and the right guide plate 2. A guide channel for the tobacco stalk 32 to pass through is formed between the left guide bracket 11 and the right guide bracket 12.

[0038] The left contact rod sensor is set on the lower surface of the left guide plate 1, and the right contact rod sensor is set on the lower surface of the right guide plate 2. The main controller 3 is installed on the rear side of the gantry frame. The left and right contact rod sensors are both electrically connected to the main controller 3 through an external circuit. 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.

[0039] The left and right touch rod sensors are symmetrical and have the same structure, and each includes a touch rod 13, a connecting rod 14, an arc-shaped short rod 15, 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, and 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 with 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 by a first screw, and the other end of the tension spring 18 is connected with the middle part of the connecting rod 14. The detection channel is formed between the touch rod 13 of the left touch rod sensor and the touch rod 13 of the right touch rod sensor. When the tobacco stem 32 is deviated to the left, the tobacco stem 32 will press the touch rod 13 of the left touch rod sensor, so that the touch rod 13 drives the bearing to rotate and further 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 tobacco stem 32 is deviated to the right, the tobacco stem 32 will press the touch rod 13 of the right touch rod sensor, so that the touch rod 13 drives the mounting bearing 16 to rotate and further 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.

[0040] The left and right travel switches 17 and 31 have the same structure and each includes 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 assembled together after being buckled with each other, so that a mounting cavity 24 is formed between the upper housing 19 and the lower housing 20. The upper housing 19 is internally provided with a mounting channel 25 communicating with the mounting cavity 24. The terminal 23 is mounted in the mounting channel 25. The left end of the spring 22 is hinged to the left end of the upper housing 19. The spring 22 is arranged in a left-low and right-high manner. The lower surface of the spring 22 is placed on the upper end of the terminal 23.

[0041] The mounting 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 part is formed in the upper channel. The terminal 23 includes an upper cap part, a lower cap part and a connecting column. The upper cap part is arranged at the upper end of the connecting column, and the lower cap part is arranged at the lower end of the connecting column. A first reset spring 26 is sleeved on the connecting column. The upper end of the first reset spring 26 is connected with the lower surface of the upper cap part. The lower end of the first reset spring 26 is arranged on the circular step part. A quick-action plate 28 is further mounted in the mounting channel 25. The left end of the quick-action plate 28 is hinged to the left inner wall of the mounting channel 25. The lower surface of the quick-action plate 28 is provided with a plurality of second reset springs 27. The second reset springs 27 support the quick-action plate 28 to keep parallel. The quick-action plate 28 is arranged below the lower cap part. The right end of the quick-action plate 28 is provided with a contact piece 29 below. The contact piece 29 is connected with the mounting bolt 21. The mounting bolt 21 is connected with an external circuit.

[0042] When the sheet 22 is pressed down, the terminal 23 is pressed down to the quick-action plate 28, the right end of the quick-action plate 28 contacts the contact sheet 29, and the external circuit is connected to the main controller 3; when the tobacco stalk 32 is separated from the contact rod 13 and enters the harvesting channel, the terminal 23 is restored to the original state under the elastic force of the first reset spring 26, and the quick-action plate 28 is restored to the parallel state under the elastic force of the second reset spring 27.

[0043] The upper housing 19 and the lower housing 20 are provided with corresponding first mounting fixing holes and second mounting fixing holes in the front-rear direction.

[0044] The front side of the left support 6 and the front side of the right support 8 are provided with a guide guard plate assembly 30, the guide guard plate assembly 30 includes a first inclined plate and a second inclined plate connected to each other to form a person-shaped tapered portion with the direction facing forward, the front ends of the first inclined plate and the second inclined plate are connected to each other, the rear end of the first inclined plate is provided with a first mounting plate, and the rear end of the second inclined plate is provided with a second mounting plate.

[0045] The rear end of the right support 8 is mounted with at least five lithium batteries.

[0046] Example two

[0047] The control method of the automatic alignment driving device of the tobacco field operation machine is implemented based on the automatic alignment driving device of the tobacco field operation machine, and includes the following steps as shown in Figure 5 and Figure 6 The control method of the automatic alignment driving device of the tobacco field operation machine includes the following steps:

[0048] The control method of the automatic alignment driving device of the tobacco field operation machine includes the following steps:

[0049] (1) The tobacco field management operation machine has a stalk contact mode and a remote control mode, and the remote control mode is selected to directly control the operation machine to complete the operation by operating the remote controller;

[0050] (2) The stalk contact mode is selected, the forward speed and the differential ratio of the tobacco field management operation machine are initially set, if the tobacco stalk 32 deviates, the left travel switch 17 / right travel switch 31 of the left contact rod sensor / right contact rod sensor is triggered, the main controller 3 receives the trigger electric signal of the left travel switch 17 / right travel switch 31, and the steering is adjusted;

[0051] (3) When the tobacco stalk 32 is separated from the left contact rod sensor / right contact rod sensor, the main controller 3 stops adjusting the steering, and the tobacco field management operation machine performs the harvesting operation in the current direction;

[0052] (4) The steps (2) and (3) are cycled until the tobacco harvesting operation is completed.

[0053] The specific operation process of step (1) is as follows: the initial forward speed of the tobacco field management machine is set to V and the differential ratio is set to α. The speed of the drive motor of the first track wheel 4 and the second track wheel 5 is set to n, n=n 第一 =n 第二 = V / Dπ, where D is the diameter of the driving wheel.

[0054] The specific operation process of step (2) is as follows: If the tobacco stalk 32 shifts to the left, the tobacco stalk 32 will squeeze the contact rod 13 of the left contact rod sensor, causing the contact rod 13 of the left contact rod sensor to drive the mounting bearing 16 of the left contact rod sensor to rotate, thereby driving the connecting rod 14 and the arc-shaped short rod 15 of the left contact rod sensor to rotate, causing the arc-shaped short rod 15 of the left contact rod sensor to press down the spring 22 of the left limit switch 17. When the spring 22 of the left limit switch 17 is pressed down, the pressing terminal 23 of the spring 22 of the left limit switch 17 further presses down the quick-acting plate 28 of the left limit switch 17, causing the right end of the quick-acting plate 28 of the left limit switch 17 to contact the contact piece 29 downward, thereby connecting the external circuit with the main controller 3. The main controller 3 receives the trigger electrical signal of the left limit switch 17, analyzes and processes the electrical signal into a digital signal, thereby causing the motor driver on the left 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 speed n of the drive motor of the second track wheel 5 on the right. 第二 Without change, a speed difference appears between the first track wheel 4 and the second track wheel 5 on the left and right sides, causing the tobacco processing vehicle to turn left. The tobacco processing vehicle continues to travel, with the tobacco stalk 32 and the contact rod 13 remaining in contact. The tracked vehicle maintains its left-turn state. If the tobacco stalk 32 deviates to the right, it will press the contact rod 13 of the right contact rod sensor, causing the contact rod 13 of the right contact rod sensor to rotate, thereby rotating the connecting rod 14 and the arc-shaped short rod 15 of the right contact rod sensor. This causes the arc-shaped short rod 15 of the right contact rod sensor to press down the spring 22 of the right limit switch 31. When the right... When the spring 22 of the limit switch 31 is pressed down, the pressing terminal 23 of the spring 22 of the right limit switch 31 further presses the quick-acting plate 28 of the right limit switch 31 downward, causing the right end of the quick-acting plate 28 of the right limit switch 31 to contact the contact piece 29 downward, thereby connecting the external circuit to the main controller 3. The main controller 3 receives the trigger electrical signal from the right limit switch 31, analyzes and processes the electrical signal into a digital signal, and then causes the right motor driver to adjust the drive 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 drive motor of the second track wheel 5 is reduced to n. 第二 =αn, the speed n of the drive motor of the first track wheel 4 on the right. 第一No change, and then the first track wheel 4 and the second track wheel 5 on the left and right sides appear speed difference, the tobacco operation vehicle turns right, the tobacco operation vehicle continues to travel, the tobacco stalk 32 and the touch rod 13 continue to contact, and the track vehicle keeps the right turning state.

[0055] The specific process of step (3) is that when the turning is to the tobacco stalk 32 and the left touch rod sensor / right touch rod sensor are separated, the tobacco stalk 32 and the touch rod 13 are separated, the terminal 23 is restored to the original state under the elastic force of the first reset spring 26, the quick-action plate 28 is restored to the parallel state under the elastic force of the second reset spring 27, the mounting bolt 21 is disconnected with the external circuit, and then the main controller 3 cannot receive the trigger electric signal, the adjustment of the direction is stopped, and at this time, the tobacco stalk 32 smoothly enters the detection channel and the harvesting channel.

[0056] In addition, the application can also be connected with the corresponding control handle through the main controller 3, and the corresponding remote control mode is realized through the control handle, and the staff can control the turning of the tobacco field management machine through the control handle according to the needs, and the mode conversion can be realized by using the main controller 3, that is, the remote control mode and the touch rod mode can be realized.

[0057] The automatic alignment device of the application has 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, and the automatic alignment and automatic travel of the tobacco field operation machine are realized.

[0058] The control method of the application completes differential steering by setting the vehicle steering differential ratio, the steering effect is more stable, sudden steering does not occur, and the service life of the agricultural operation is prolonged. The single-chip microcomputer is used as the main controller 3, and the field management and automatic alignment and other field operation control systems are included, the left touch rod sensor and the right touch rod sensor are triggered, the external circuit and the main controller 3 form a path, the generated electric signal is received by the single-chip microcomputer, is converted into a digital signal after processing and analysis, and is output to a motor driver, the corresponding drive motor is controlled to slow down by the driver, the speed of the drive motor on the other side is unchanged, the differential steering is completed, and the automatic alignment travel of the tobacco field management machine with complete stroke is realized.

[0059] In summary, the application can ensure that the tobacco field management machine does not need manual driving, automatically aligns and walks in the tobacco field, can increase economic benefits, solves the problems of poor working environment and high labor intensity in the process of late field management and harvesting, and greatly improves the tobacco management and harvesting efficiency.

[0060] The above examples are only used to illustrate but not to limit the technical solutions of the present application. Although the present application is described in detail with reference to the above examples, those skilled in the art should understand that the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application, and any modification or partial replacement should be covered in the scope of claims of the present application.

Claims

1. A tobacco field machine automatic row following travel device characterized by: The tobacco field management machine comprises a gantry frame, a first crawler wheel and a second crawler wheel, the gantry frame comprises a left support, a connecting frame and a right support, a harvesting mechanism is integrally installed between the left support and the right support, the harvesting mechanism comprises a left harvesting assembly connected with the left support and a right harvesting assembly connected with the right support, a harvesting channel for passing tobacco stalks is formed between the left harvesting assembly and the right harvesting assembly, the first crawler wheel is arranged at the bottom of the left support, and the second crawler wheel is arranged at the bottom of the right support; The left guide plate is arranged below and in front of the left harvesting assembly, the right guide plate is arranged below and in front of the right harvesting assembly, the left guide plate is installed on a left guide support, the left guide support is connected with the left support, the right guide plate is installed on a right guide support, the right guide support is connected with the right support, a detection channel for passing tobacco stalks is formed between the left guide plate and the right guide plate, and a guide channel for passing tobacco stalks is formed between the left guide support and the right guide support; The left touch rod sensor is arranged on the lower surface of the left guide plate, the right touch rod sensor is arranged on the lower surface of the right guide plate, and the main controller is installed on the rear side of the gantry frame; the left touch rod sensor and the right touch rod sensor are both electrically connected with the main controller through an external circuit; The left touch rod sensor and the right touch rod sensor are the same in structure and are arranged symmetrically left and right, and both comprise 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 installed on the mounting bearing, the upper end of the connecting rod is installed on the mounting bearing, the lower end of the connecting rod is connected with the arc-shaped short rod, the travel switch is arranged below the arc-shaped short rod, the tension spring of the left touch rod sensor is installed on the left guide plate through a first screw, and the other end of the tension spring is connected with the middle part of the connecting rod; the touch rod of the left touch rod sensor and the touch rod of the right touch rod sensor form the detection channel, when the tobacco stalks are left-biased, the tobacco stalks will press the touch rod of the left touch rod sensor, 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, and when the tobacco stalks are right-biased, the tobacco stalks will press the touch rod of the right touch rod sensor, 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.

2. The tobacco field machine automatic alignment travel device according to claim 1, characterized in that: The left travel switch and the right travel switch are the same in structure and both comprise an upper housing, a lower housing, a mounting bolt, a spring piece and a terminal; the upper housing and the lower housing are assembled together after being buckled with each other, an installation cavity is formed between the upper housing and the lower housing, an installation channel is arranged in the upper housing and communicates with the installation cavity, the terminal is installed in the installation channel, the left end of the spring piece is hinged to the left end of the upper housing, the spring piece is arranged in a left-low and right-high mode, and the lower surface of the spring piece 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 that of the lower channel, so that a circular step 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, the first reset spring is sleeved on the connecting column, the upper end of the first reset spring is connected to the lower surface of the upper cap portion, and the lower end of the first reset spring is arranged on the circular step, a quick-action plate is further arranged in the installation channel, the left end of the quick-action plate is hinged to the left inner wall of the installation channel, the lower surface of the quick-action plate is provided with a plurality of second reset springs, the second reset springs support the quick-action plate to keep parallel, the quick-action plate is arranged below the lower cap portion, a contact sheet is arranged below the right end of the quick-action plate, the contact sheet is connected to the mounting bolt arranged at the bottom of the lower shell, and the mounting bolt is connected to the external circuit. When the elastic sheet is pressed down, the elastic sheet presses the quick-action plate downward to make the right end of the quick-action plate contact the contact sheet downward, so as to connect the external circuit and the main controller; after the tobacco stem and the touch rod are separated and enter the harvesting channel, the terminal returns to the original state under the elastic force of the first reset spring, and the quick-action plate returns to the parallel state under the elastic force of the second reset spring.

3. The tobacco field machine automatic alignment travel device according to claim 2, characterized in that: The upper shell and the lower shell are provided with corresponding first mounting fixing holes and second mounting fixing holes in the front-rear direction.

4. The tobacco field machine automatic alignment travel device according to claim 3, characterized in that: The front side of the left support and the front side of the right support are both provided with a guide guard plate assembly, the guide guard plate assembly comprises a first inclined plate and a second inclined plate which are connected to each other to form a person-shaped conical portion with the direction facing forward, the front ends of the first inclined plate and the second inclined plate are connected to each other, the rear end of the first inclined plate is provided with a first mounting plate, and the rear end of the second inclined plate is provided with a second mounting plate.

5. The tobacco field machine automatic alignment device according to claim 4, characterized in that: The rear end of the right support is mounted with at least five lithium batteries.

6. A method of controlling the automatic alignment travel device of the tobacco field work machine based on the automatic alignment travel device of the tobacco field work machine according to claim 5, characterized in that: The method comprises the following steps: (1) The tobacco field management machine has a touch stalk mode and a remote control mode, the remote control mode is selected to directly control the machine through the remote controller to complete the work; (2) The touch rod mode is selected, the forward speed and the differential ratio of the tobacco field management machine are initially set, if the tobacco stalk deviates, the left travel switch / right travel switch of the left touch rod sensor / right touch rod sensor is triggered, the main controller receives the trigger electric signal of the left travel switch / right travel switch, and the steering is adjusted; (3) When the tobacco stalk is separated from the left touch rod sensor / right touch rod sensor, the main controller stops adjusting the steering, and the tobacco field management machine performs harvesting work in the current direction; (4) Steps (2) and (3) are repeated until the tobacco harvesting work is completed.

7. The control method of the automatic alignment traveling device of the tobacco field working machine according to claim 6, characterized by: The specific operation process of step (1) is as follows: initially set the advancing speed of the tobacco field management machine as V and the differential ratio α, the drive motor rotating speed of the first and second caterpillar wheels as n, n = n 第一 = V / Dπ, wherein D is the diameter of the driving wheel. 第二 = V / Dπ, wherein D is the diameter of the driving wheel.

8. The control method of the automatic alignment traveling device of the tobacco field working machine according to claim 7, characterized by: The specific operation process of step (2) is as follows: if the tobacco stem deviates to the left, the tobacco stem will press the touch rod of the left touch rod sensor, so that the touch rod of the left touch rod sensor drives the mounting bearing of the left touch rod sensor to rotate, and in turn drives the connecting rod and the arc-shaped short rod of the left touch rod sensor to rotate, so that the arc-shaped short rod of the left touch rod sensor presses down the elastic sheet of the left stroke switch. When the elastic sheet of the left stroke switch is pressed down, the elastic sheet terminal of the left stroke switch further presses down the quick-action plate of the left stroke switch, so that the right end of the quick-action plate of the left stroke switch contacts the contact sheet downward, thereby connecting the external circuit and the main controller. The main controller receives the trigger electric signal of the left stroke switch, analyzes and processes the electric signal into a digital signal, and in turn adjusts the drive motor of the first track wheel on the left side to reduce the speed to n 第一 =αn according to the pre-set differential speed ratio α in the program, while the speed n 第二 of the right side motor remains unchanged, so that the first track wheel and the second track wheel on the left and right sides have a speed difference, the tobacco leaf working vehicle turns to the left, the tobacco leaf working vehicle continues to drive, the tobacco stem and the touch rod continue to contact, and the track vehicle keeps turning to the left.

9. The control method of the automatic alignment traveling device of the tobacco field working machine according to claim 8, characterized by: The specific process of step (3) is: when the tobacco stalk is separated from the left touch rod sensor / right touch rod sensor, the tobacco stalk is separated from the touch rod, the terminal returns to the original state under the elastic force of the first reset spring, the quick-action plate returns to the parallel state under the elastic force of the second reset spring, the mounting bolt is disconnected from the external circuit, the main controller cannot receive the trigger electric signal, the adjustment of the direction is stopped, and at this time, the tobacco stalk smoothly enters the detection channel and the harvesting channel.

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