Automatic lifting height-adjustable vehicle drive axle

Abstract

The invention provides an automatic lifting height-adjustable vehicle drive axle. The automatic lifting height-adjustable vehicle drive axle comprises the steps that a specified area is scanned through the environment perception technology, vegetation growth characteristics in the specified area are constructed, and the height lifting range of a working vehicle in the specified area is determined; adjusting a lifting adaptation parameter of the working vehicle based on the height lifting range, drawing vegetation fluctuation information of the specified area according to the vegetation growth characteristics, and calling the corresponding lifting adaptation parameter according to the advancing position of the working vehicle to determine the adaptation height of the working vehicle, and controlling the speed of the working vehicle based on the height adjustment duration, adjusting the working vehicle to an adaptive height, obtaining vegetation height information through an environment perception technology, judging a height difference needing to be adjusted through algorithm calculation, and adjusting the height of the drive axle through mechanical control.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle driving, in particular to an automatically lifting and height-adjustable vehicle driving axle. Background Art

[0002] As we all know, plant cultivation is the agricultural production sector that cultivates various crops and obtains plant products. Planting industry is one of the main components of agriculture. It is a social production sector that utilizes the life functions of plants to obtain food, non-staple food, feed and industrial raw materials through artificial cultivation. It includes the cultivation of various crops, trees, fruit trees, medicinal and ornamental plants, and there are horticultural crops such as food crops, cash crops, vegetable crops, green manure crops, feed crops, forage, flowers, etc. In China, it usually refers to the production of crops such as grain, cotton, oil, sugar, hemp, silk, tobacco, tea, fruit, medicine, and miscellaneous crops. It also refers to agriculture in a narrow sense, also known as crop cultivation industry, usually refers to the agricultural production sector that cultivates crops to obtain plant products. In China, planting industry is combined with forestry, animal husbandry, sideline industries and fisheries in a broad sense of agriculture. In foreign countries, planting industry is generally combined with animal husbandry and collectively referred to as agriculture. A series of practical tools have been developed for the development of the crop industry, among which mechanical spraying has become an efficient and practical means. General agricultural spraying vehicles are vehicles specially designed for applying pesticides and spraying liquid fertilizers on farmland. They usually have some specific functions and features to improve the protection and growth efficiency of crops. Agricultural vehicles play an important role in modern agriculture and improve operating efficiency and productivity.

[0003] However, the height of agricultural sprayers currently on the market cannot be adjusted, and they can only spray crops that are shorter or have not yet grown tall. Although they can achieve the purpose of spraying pesticides, they have too many limitations when used and their scope of use is too small, which is not conducive to long-term use.

[0004] Therefore, the present invention provides a vehicle drive axle with automatic lifting and adjustable height. Summary of the invention

[0005] The invention discloses an automatically lifting and height-adjustable vehicle drive axle, which obtains vegetation height information through environmental perception technology, determines the height difference that needs to be adjusted through algorithm calculation, and adjusts the height of the drive axle through mechanical control.

[0006] The present invention provides a vehicle drive axle with automatic lifting and adjustable height, comprising:

[0007] A vegetation perception module is used to scan a specified area using environmental perception technology to construct vegetation growth characteristics in the specified area;

[0008] A vehicle adaptation module, used to determine a height lifting range of the working vehicle within the specified area according to the vegetation growth characteristics, and adjust a lifting adaptation parameter of the working vehicle based on the height lifting range;

[0009] A synchronous lifting module, used for drawing the vegetation undulation information of the specified area according to the vegetation growth characteristics, and calling the corresponding lifting adaptation parameters according to the forward position of the working vehicle to determine the adaptation height of the working vehicle;

[0010] A driving execution module is used to determine the height adjustment time corresponding to the forward position according to the height difference between the current height of the working vehicle and the adaptation height, and to control the speed of the working vehicle based on the height adjustment time and adjust the working vehicle to the adaptation height.

[0011] In one practicable manner,

[0012] The vegetation perception module comprises:

[0013] A scanning execution unit, configured to scan an environmental image of the specified area, identify vegetation color information of the specified area in the environmental image, feed back the same type of vegetation color information to the environmental image, and obtain vegetation contour information of the specified area;

[0014] A depth recognition unit is used to extract features from the vegetation contour information using a multi-signal classification algorithm to obtain a plurality of vegetation density information and vegetation height information of the specified area, perform a first integration of first local contours containing the same vegetation density information to obtain a first characteristic area of ​​the specified area, and perform a second integration of second local contours containing the same vegetation height information to obtain a second characteristic area of ​​the specified area;

[0015] A regional fusion unit, used for obtaining the working parameters of the working vehicle, determining the unit working area of ​​the working vehicle, dividing the environmental image into a plurality of sub-areas to be analyzed based on the unit working area, marking the first feature area and the second feature area in the environmental image, and generating regional attribute information corresponding to each sub-area to be analyzed;

[0016] A feature construction unit is used to establish an attribute matrix based on the regional attribute features corresponding to each sub-region to be analyzed, visualize the attribute matrix according to the change rate between adjacent elements in the attribute matrix, obtain a vegetation growth visualization diagram of the specified area, and generate vegetation growth features in the specified area.

[0017] In one practicable manner,

[0018] Also includes:

[0019] estimating the number of vegetation types in the specified area according to the amount of vegetation color information in the specified area;

[0020] The number of vegetation species is transmitted to the control platform for quantity verification, and a passing score is given to the scanning work according to the verification result;

[0021] When the qualified score is lower than the standard score, the scan execution unit is controlled to perform a compensation scan.

[0022] In one practicable manner,

[0023] The vehicle adaptation module comprises:

[0024] A feature perception unit is used to draw the vegetation concept information of the specified area according to the vegetation growth characteristics, perform contour tracking on the vegetation concept information to obtain a plurality of closed contours in the specified area, and perform height stratification on each of the closed contours to obtain vegetation height distribution information corresponding to each of the closed contours;

[0025] A height setting unit is used to obtain basic parameters of the working vehicle, determine a height threshold for lifting and a height threshold for lowering of the working vehicle, respectively match each vegetation height distribution information with the height threshold for lifting and the height threshold for lowering, and obtain the working vehicle adaptation height information corresponding to each closed contour;

[0026] A threshold analysis unit is used to spatially arrange the working vehicle adaptation height information according to the contour position of each closed contour in the specified area, obtain the spatial working vehicle adaptation height information of the working vehicle in the specified area, and obtain the rising height difference threshold and the lowering height difference threshold of the working vehicle in the specified area;

[0027] A parameter adjustment unit is used to determine the height lifting range of the working vehicle within the specified area based on the rising drop threshold and the lowering drop threshold, construct the height lifting trajectory of the working vehicle within the specified area in combination with the spatial working vehicle adaptation height information, and determine the lifting adaptation parameters of the working vehicle when executing the height lifting trajectory in combination with the basic parameters.

[0028] In one practicable manner,

[0029] Also includes:

[0030] A path planning module, used for selecting a plurality of regional paths in the specified area according to the adaptation height information of the space working vehicle;

[0031] The working path of the working vehicle in the specified area is drawn and displayed according to the wheelbase specification of the working vehicle and the area path.

[0032] In one practicable manner,

[0033] The synchronous lifting module comprises:

[0034] A three-dimensional analysis unit is used to obtain a ground image of the specified area and draw a rough ground contour of the specified area, construct a three-dimensional coordinate of the specified area according to the rough ground contour, and map the vegetation growth characteristics into the three-dimensional coordinates to generate a three-dimensional regional space of the specified area;

[0035] A depth analysis unit is used to perform virtual slicing processing on the three-dimensional area space to obtain a plurality of two-dimensional slices, select corresponding vegetation information in each of the two-dimensional slices, obtain vegetation height features corresponding to each of the vegetation information, and construct vegetation undulation information of the specified area;

[0036] A synchronous adjustment unit is used to track the working vehicle, determine the vegetation height corresponding to the working vehicle when it is in a forward position, determine the height and direction to be adjusted of the working vehicle according to the vegetation height and the current height of the working vehicle, find the corresponding lifting and lowering adaptation parameters, and use the lifting and lowering adaptation parameters to adjust the height of the working vehicle.

[0037] In one practicable manner,

[0038] Also includes:

[0039] A sensing and recording unit, used for recording height adjustment information of the working vehicle in the specified area, and using the height adjustment information to establish a plurality of height change vectors of the working vehicle in the specified area;

[0040] Determine the total value of the current lift of the working vehicle according to the height change vector, evaluate the energy consumption of the total value of the current lift, and judge the remaining usable energy of the working vehicle;

[0041] When the remaining usable energy is lower than the specified energy, an energy replenishment instruction is generated and transmitted to the display terminal for display.

[0042] In one practicable manner,

[0043] The driving execution module includes:

[0044] A driving preprocessing unit estimates the height adjustment time of the working vehicle according to the height difference between the current height of the working vehicle and the adaptation height, and adds a raising mark to the working vehicle when the height difference is positive, and adds a lowering mark otherwise;

[0045] A heightening processing unit, for determining a height adjustment starting point of the working vehicle according to a forward speed of the working vehicle and the height adjustment time when the working vehicle is provided with a heightening mark, and when the working vehicle reaches the height adjustment starting point, adjusting the working vehicle to an adapted height within the height adjustment time;

[0046] A lowering processing unit is used to obtain the position difference between the current position of the working vehicle and the forward position when the working vehicle is provided with a lowering mark, regard the forward position as the stop position, construct a deceleration and stop plan for the working vehicle, and adjust the working vehicle to an adaptive height when the working vehicle reaches the stop position.

[0047] In one practicable manner,

[0048] Also includes:

[0049] A balance driving module, used for drawing a vegetation fluctuation chart according to the vegetation fluctuation information, and considering a sub-specified area with a fluctuation degree within a preset range as a balance area according to the vegetation fluctuation chart;

[0050] Respectively obtain the highest value of vegetation in each of the balance areas, and establish a balance driving height of the working vehicle in the corresponding balance area;

[0051] When the vehicle reaches the balancing area, the vehicle is adjusted to the balancing driving height.

[0052] In one practicable manner,

[0053] Also includes:

[0054] A driving supervision module, used to record the activity track of the working vehicle in the specified area and analyze the work completion degree of the working vehicle;

[0055] When the work completion rate is 100%, the working vehicle is controlled to arrive at a designated temporary storage location.

[0056] The achievable beneficial effects of the above technical solution are as follows: in order to make up for the defects of the prior art, a vehicle drive axle that can meet the needs of different vegetation heights is manufactured. First, the specified area is scanned using environmental perception technology to construct the vegetation growth characteristics of the area, so as to determine the height lifting range of the working vehicle in the specified area, so as to match the corresponding lifting adaptation parameters for the working vehicle before performing the work. When the working vehicle is spraying, the corresponding lifting adaptation parameters are retrieved by analyzing the vegetation undulation information, and the actual height adjustment time is further considered to control the speed of the working vehicle, so that the height adjustment work can be completed smoothly. In this way, the spraying vehicle can adapt to the height of different varieties of crops at the same time, and adjust the height of the vehicle according to the height of the crops during spraying, avoiding waste of pesticides and uneven application, realizing self-driving, and reducing manpower and time investment.

[0057] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0058] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0060] Figure 1 It is a schematic diagram of the composition of a vehicle drive axle with automatic lifting and adjustable height in an embodiment of the present invention;

[0061] Figure 2 The figure is a schematic diagram of the vehicle adaptation module of a vehicle drive axle with automatic lifting and adjustable height in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0063] Example 1

[0064] This embodiment provides a vehicle drive axle with automatic lifting and adjustable height, such as Figure 1 As shown, including:

[0065] A vegetation perception module is used to scan a specified area using environmental perception technology to construct vegetation growth characteristics in the specified area;

[0066] A vehicle adaptation module, used to determine a height lifting range of the working vehicle within the specified area according to the vegetation growth characteristics, and adjust a lifting adaptation parameter of the working vehicle based on the height lifting range;

[0067] A synchronous lifting module, used for drawing the vegetation undulation information of the specified area according to the vegetation growth characteristics, and calling the corresponding lifting adaptation parameters according to the forward position of the working vehicle to determine the adaptation height of the working vehicle;

[0068] A driving execution module is used to determine the height adjustment time corresponding to the forward position according to the height difference between the current height of the working vehicle and the adaptation height, and to control the speed of the working vehicle based on the height adjustment time and adjust the working vehicle to the adaptation height.

[0069] In this example, the environment perception technology may be: lidar remote sensing, sensor scanning, or other image scanning and shooting methods;

[0070] In this example, the prescribed area means the area where the work vehicle performs spraying;

[0071] In this example, the lifting adaptation parameter represents the vehicle parameter used to adjust the height of the working vehicle when adjusting the height;

[0072] In this example, the vegetation fluctuation information represents the fluctuation information presented by vegetation of different heights in a specified area;

[0073] In this example, the adaptation height indicates the height that needs to be adjusted when the working vehicle reaches the forward position;

[0074] In this example, the purpose of height adjustment is to improve the quality of spraying and reduce drug waste.

[0075] The working principle and beneficial effects of the above technical solution: In order to make up for the defects of the prior art, a vehicle drive axle that can meet the needs of different vegetation heights is manufactured. First, the specified area is scanned using environmental perception technology to construct the vegetation growth characteristics of the area, so as to determine the height lifting range of the working vehicle in the specified area, so as to match the corresponding lifting adaptation parameters for the working vehicle before performing the work. When the working vehicle is spraying, the corresponding lifting adaptation parameters are retrieved by analyzing the vegetation undulation information, and the actual height adjustment time is further considered to control the speed of the working vehicle, so that the height adjustment work can be completed smoothly. In this way, the spraying vehicle can adapt to the height of different varieties of crops at the same time, and adjust the height of the vehicle according to the height of the crops during spraying, avoiding waste of pesticides and uneven application, realizing self-driving, and reducing manpower and time investment.

[0076] Example 2

[0077] On the basis of Example 1, the automatic lifting height-adjustable vehicle drive axle and the vegetation sensing module include:

[0078] A scanning execution unit, configured to scan an environmental image of the specified area, identify vegetation color information of the specified area in the environmental image, feed back the same type of vegetation color information to the environmental image, and obtain vegetation contour information of the specified area;

[0079] A depth recognition unit is used to extract features from the vegetation contour information using a multi-signal classification algorithm to obtain a plurality of vegetation density information and vegetation height information of the specified area, perform a first integration of first local contours containing the same vegetation density information to obtain a first characteristic area of ​​the specified area, and perform a second integration of second local contours containing the same vegetation height information to obtain a second characteristic area of ​​the specified area;

[0080] A regional fusion unit, used for obtaining the working parameters of the working vehicle, determining the unit working area of ​​the working vehicle, dividing the environmental image into a plurality of sub-areas to be analyzed based on the unit working area, marking the first feature area and the second feature area in the environmental image, and generating regional attribute information corresponding to each sub-area to be analyzed;

[0081] A feature construction unit is used to establish an attribute matrix based on the regional attribute features corresponding to each sub-region to be analyzed, visualize the attribute matrix according to the change rate between adjacent elements in the attribute matrix, obtain a vegetation growth visualization diagram of the specified area, and generate vegetation growth features in the specified area.

[0082] In this example, the vegetation color information indicates the color of the vegetation in the specified area;

[0083] In this example, the same type of vegetation color information refers to the result obtained by statistically analyzing vegetation color information showing the same color;

[0084] In this example, the vegetation contour information represents the contour presented by the vegetation in the specified area;

[0085] In this example, the multi-signal classification algorithm represents extracting features related to vegetation density and extracting features related to vegetation height from vegetation contour information. In this embodiment, the number of signals of the multi-signal classification algorithm is 2;

[0086] In this example, the purpose of the first integration is to classify vegetation with the same density, and the purpose of the second integration is to classify vegetation with the same height;

[0087] In this example, the unit working area refers to the sprayable area when the working vehicle is stationary;

[0088] In this example, the regional attribute information includes the density characteristics and height characteristics of the vegetation in the sub-region to be analyzed;

[0089] In this example, the vegetation growth visual graph represents the dynamic growth graph of vegetation in a specified area using visualization technology.

[0090] The working principle and beneficial effects of the above technical solution: In order to improve the compatibility between the working vehicle and the environment, it is necessary to analyze the vegetation in the specified area before the working vehicle starts working. First, the scanning technology and recognition technology are used to determine the vegetation color information contained in the specified area, and then it is fed back to the environmental image to determine the vegetation contour information of the specified area. Then, the multi-signal classification algorithm is used to extract and classify the vegetation contour information, and the vegetation density information and vegetation height information of the specified area are determined. The two types of information are classified and integrated to clarify the two areas with different attributes in the specified area. Then, the environmental image is divided according to the working parameters of the working vehicle, and the regional attribute information of each sub-area to be analyzed is determined. Then, the matrix is ​​used to process the regional attribute information to construct a vegetation growth visual diagram of the specified area, so that the vegetation growth characteristics in the specified area can be clearly obtained. In this way, the vegetation height and density in the specified area can be effectively analyzed, which is convenient for the subsequent adjustment of the vehicle's working height according to the vegetation height.

[0091] Example 3

[0092] On the basis of Example 2, the vehicle drive axle with automatic lifting and adjustable height further includes:

[0093] estimating the number of vegetation types in the specified area according to the amount of vegetation color information in the specified area;

[0094] The number of vegetation species is transmitted to the control platform for quantity verification, and a passing score is given to the scanning work according to the verification result;

[0095] When the qualified score is lower than the standard score, the scan execution unit is controlled to perform a compensation scan.

[0096] In this example, the standard score is 80 points.

[0097] The working principle and beneficial effects of the above technical solution: In order to further ensure the quality of work, it is necessary to estimate the number of vegetation types in the specified area, and then indirectly judge the completeness of this scanning work. When the scanning range is incomplete, compensatory scanning is required.

[0098] Example 4

[0099] On the basis of Example 1, the vehicle drive axle with automatic lifting and adjustable height, such as Figure 2 As shown, the vehicle adaptation module includes:

[0100] A feature perception unit is used to draw the vegetation concept information of the specified area according to the vegetation growth characteristics, perform contour tracking on the vegetation concept information to obtain a plurality of closed contours in the specified area, and perform height stratification on each of the closed contours to obtain vegetation height distribution information corresponding to each of the closed contours;

[0101] A height setting unit is used to obtain basic parameters of the working vehicle, determine a height threshold for lifting and a height threshold for lowering of the working vehicle, respectively match each vegetation height distribution information with the height threshold for lifting and the height threshold for lowering, and obtain the working vehicle adaptation height information corresponding to each closed contour;

[0102] A threshold analysis unit is used to spatially arrange the working vehicle adaptation height information according to the contour position of each closed contour in the specified area, obtain the spatial working vehicle adaptation height information of the working vehicle in the specified area, and obtain the rising height difference threshold and the lowering height difference threshold of the working vehicle in the specified area;

[0103] A parameter adjustment unit is used to determine the height lifting range of the working vehicle within the specified area based on the rising drop threshold and the lowering drop threshold, construct the height lifting trajectory of the working vehicle within the specified area in combination with the spatial working vehicle adaptation height information, and determine the lifting adaptation parameters of the working vehicle when executing the height lifting trajectory in combination with the basic parameters.

[0104] In this example, height stratification refers to the process of classifying closed contours according to their height;

[0105] In this example, the elevation threshold represents the highest height that the working vehicle can reach, and the height threshold represents the lowest height that the working vehicle can reach;

[0106] In this example, the working vehicle adaptation height information indicates the height that needs to be adjusted when the working vehicle reaches different closed contours;

[0107] In this example, the height lifting trajectory refers to the height adjustment trajectory of the working vehicle in the vertical direction.

[0108] The working principle and beneficial effects of the above technical solution are as follows: in order to allow the working vehicle to adapt to the conditions in the specified area in advance, the vegetation concept information of the specified area is first drawn according to the vegetation growth characteristics, and then the closed contours in the specified area are extracted through contour tracking technology, and then the vegetation height distribution information of each closed contour is determined, and the basic parameters of the working vehicle are further used to determine the height threshold of the working vehicle, and the corresponding height information is matched for each closed contour, and the lifting and lowering height difference of the working vehicle in the specified area is determined by means of spatial arrangement, thereby constructing the height lifting and lowering trajectory of the working vehicle in the specified area, and combining the basic parameters to determine the lifting and lowering adaptation parameters of the working vehicle, so that the height adjustment can be made in time when the working vehicle enters the specified area.

[0109] Example 5

[0110] Based on the fourth embodiment, the vehicle drive axle with automatic lifting and adjustable height further includes:

[0111] A path planning module, used for selecting a plurality of regional paths in the specified area according to the adaptation height information of the space working vehicle;

[0112] The working path of the working vehicle in the specified area is drawn and displayed according to the wheelbase specification of the working vehicle and the area path.

[0113] The working principle and beneficial effects of the above technical solution: In order to improve the working efficiency of the working vehicle, a working path is set for it in advance to provide a reference for its spraying work.

[0114] Example 6

[0115] On the basis of Example 1, the automatic lifting height-adjustable vehicle drive axle, the synchronous lifting module, comprises:

[0116] A three-dimensional analysis unit is used to obtain a ground image of the specified area and draw a rough ground contour of the specified area, construct a three-dimensional coordinate of the specified area according to the rough ground contour, and map the vegetation growth characteristics into the three-dimensional coordinates to generate a three-dimensional regional space of the specified area;

[0117] A depth analysis unit is used to perform virtual slicing processing on the three-dimensional area space to obtain a plurality of two-dimensional slices, select corresponding vegetation information in each of the two-dimensional slices, obtain vegetation height features corresponding to each of the vegetation information, and construct vegetation undulation information of the specified area;

[0118] A synchronous adjustment unit is used to track the working vehicle, determine the vegetation height corresponding to the working vehicle when it is in a forward position, determine the height and direction to be adjusted of the working vehicle according to the vegetation height and the current height of the working vehicle, find the corresponding lifting and lowering adaptation parameters, and use the lifting and lowering adaptation parameters to adjust the height of the working vehicle.

[0119] In this example, the virtual slice processing refers to a process of obtaining a cross section of a three-dimensional region space.

[0120] The working principle and beneficial effects of the above technical solution are as follows: by constructing a three-dimensional area space of a specified area to use virtual technology to represent the specified area, and then further virtually slice the specified area to analyze its vegetation undulation information, track the work vehicle when it enters the specified area to perform work, and then determine the height and direction to be adjusted of the work vehicle, determine its corresponding lifting and lowering adaptation parameters by searching, and then adjust the height of the work vehicle to adapt it to the specified environment, thereby improving the efficiency and quality of this work.

[0121] Example 7

[0122] Based on Example 6, the vehicle drive axle with automatic lifting and adjustable height further includes:

[0123] A sensing and recording unit, used for recording height adjustment information of the working vehicle in the specified area, and using the height adjustment information to establish a plurality of height change vectors of the working vehicle in the specified area;

[0124] Determine the total value of the current lift of the working vehicle according to the height change vector, evaluate the energy consumption of the total value of the current lift, and judge the remaining usable energy of the working vehicle;

[0125] When the remaining usable energy is lower than the specified energy, an energy replenishment instruction is generated and transmitted to the display terminal for display.

[0126] In this example, the energy is specified to be 10%.

[0127] The working principle and beneficial effects of the above technical solution are as follows: after a working vehicle completes a work, the energy consumption of this work is analyzed, and then it is determined whether it can complete the next work, and corresponding prompts are given.

[0128] Example 8

[0129] On the basis of Example 1, the automatic lifting height-adjustable vehicle drive axle, the drive execution module, comprises:

[0130] A driving preprocessing unit estimates the height adjustment time of the working vehicle according to the height difference between the current height of the working vehicle and the adaptation height, and adds a raising mark to the working vehicle when the height difference is positive, and adds a lowering mark otherwise;

[0131] A heightening processing unit, for determining a height adjustment starting point of the working vehicle according to a forward speed of the working vehicle and the height adjustment time when the working vehicle is provided with a heightening mark, and when the working vehicle reaches the height adjustment starting point, adjusting the working vehicle to an adapted height within the height adjustment time;

[0132] A lowering processing unit is used to obtain the position difference between the current position of the working vehicle and the forward position when the working vehicle is provided with a lowering mark, regard the forward position as the stop position, construct a deceleration and stop plan for the working vehicle, and adjust the working vehicle to an adaptive height when the working vehicle reaches the stop position.

[0133] The working principle and beneficial effects of the above technical solution: when performing height driving, different adjustment tasks are performed according to the different height adjustment directions of the working vehicle, avoiding affecting the spraying efficiency when raising, and avoiding damaging crops when lowering, thereby improving the intelligence of the drive axle and allowing it to be put into better use.

[0134] Example 9

[0135] Based on the first embodiment, a vehicle drive axle with automatic lifting and adjustable height further includes:

[0136] A balance driving module, used for drawing a vegetation fluctuation chart according to the vegetation fluctuation information, and considering a sub-specified area with a fluctuation degree within a preset range as a balance area according to the vegetation fluctuation chart;

[0137] Respectively obtain the highest value of vegetation in each of the balance areas, and establish a balance driving height of the working vehicle in the corresponding balance area;

[0138] When the vehicle reaches the balancing area, the vehicle is adjusted to the balancing driving height.

[0139] In this example, the preset range is: the vegetation drop does not exceed 30 centimeters.

[0140] The working principle and beneficial effects of the above technical solution are as follows: a balanced driving height is set for areas with small vegetation height differences, and then the working vehicle works at this height. This can not only ensure the smooth progress of the work, but also reduce the number of height adjustments and maintain the performance of the working vehicle.

[0141] Example 10

[0142] On the basis of Example 1, the vehicle drive axle with automatic lifting and adjustable height further includes:

[0143] A driving supervision module, used to record the activity track of the working vehicle in the specified area and analyze the work completion degree of the working vehicle;

[0144] When the work completion rate is 100%, the working vehicle is controlled to arrive at a designated temporary storage location.

[0145] The working principle and beneficial effects of the above technical solution are as follows: when the working vehicle completes its work, it is guided to a temporary storage location to wait for the next step of unified management.

[0146] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle drive axle with automatic lifting and adjustable height, characterized in that: include: A vegetation perception module is used to scan a specified area using environmental perception technology to construct vegetation growth characteristics in the specified area; A vehicle adaptation module, used to determine a height lifting range of the working vehicle within the specified area according to the vegetation growth characteristics, and adjust a lifting adaptation parameter of the working vehicle based on the height lifting range; A synchronous lifting module, used for drawing the vegetation undulation information of the specified area according to the vegetation growth characteristics, and calling the corresponding lifting adaptation parameters according to the forward position of the working vehicle to determine the adaptation height of the working vehicle; A driving execution module is used to determine the height adjustment time corresponding to the forward position according to the height difference between the current height of the working vehicle and the adaptation height, and to control the speed of the working vehicle based on the height adjustment time and adjust the working vehicle to the adaptation height.

2. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: The vegetation perception module comprises: A scanning execution unit, configured to scan an environmental image of the specified area, identify vegetation color information of the specified area in the environmental image, feed back the same type of vegetation color information to the environmental image, and obtain vegetation contour information of the specified area; A depth recognition unit is used to extract features from the vegetation contour information using a multi-signal classification algorithm to obtain a plurality of vegetation density information and vegetation height information of the specified area, perform a first integration of first local contours containing the same vegetation density information to obtain a first characteristic area of ​​the specified area, and perform a second integration of second local contours containing the same vegetation height information to obtain a second characteristic area of ​​the specified area; A regional fusion unit, used for obtaining the working parameters of the working vehicle, determining the unit working area of ​​the working vehicle, dividing the environmental image into a plurality of sub-areas to be analyzed based on the unit working area, marking the first feature area and the second feature area in the environmental image, and generating regional attribute information corresponding to each sub-area to be analyzed; A feature construction unit is used to establish an attribute matrix based on the regional attribute features corresponding to each sub-region to be analyzed, visualize the attribute matrix according to the change rate between adjacent elements in the attribute matrix, obtain a vegetation growth visualization diagram of the specified area, and generate vegetation growth features in the specified area.

3. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 2, characterized in that: Also includes: estimating the number of vegetation types in the specified area according to the amount of vegetation color information in the specified area; The number of vegetation species is transmitted to the control platform for quantity verification, and a passing score is given to the scanning work according to the verification result; When the qualified score is lower than the standard score, the scan execution unit is controlled to perform a compensation scan.

4. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: The vehicle adaptation module comprises: A feature perception unit is used to draw the vegetation concept information of the specified area according to the vegetation growth characteristics, perform contour tracking on the vegetation concept information to obtain a plurality of closed contours in the specified area, and perform height stratification on each of the closed contours to obtain vegetation height distribution information corresponding to each of the closed contours; A height setting unit is used to obtain basic parameters of the working vehicle, determine a height threshold for lifting and a height threshold for lowering of the working vehicle, respectively match each vegetation height distribution information with the height threshold for lifting and the height threshold for lowering, and obtain the working vehicle adaptation height information corresponding to each closed contour; A threshold analysis unit is used to spatially arrange the working vehicle adaptation height information according to the contour position of each closed contour in the specified area, obtain the spatial working vehicle adaptation height information of the working vehicle in the specified area, and obtain the rising height difference threshold and the lowering height difference threshold of the working vehicle in the specified area; A parameter adjustment unit is used to determine the height lifting range of the working vehicle within the specified area based on the rising drop threshold and the lowering drop threshold, construct the height lifting trajectory of the working vehicle within the specified area in combination with the spatial working vehicle adaptation height information, and determine the lifting adaptation parameters of the working vehicle when executing the height lifting trajectory in combination with the basic parameters.

5. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 4, characterized in that: Also includes: A path planning module, used for selecting a plurality of regional paths in the specified area according to the adaptation height information of the space working vehicle; The working path of the working vehicle in the specified area is drawn and displayed according to the wheelbase specification of the working vehicle and the area path.

6. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: The synchronous lifting module comprises: A three-dimensional analysis unit is used to obtain a ground image of the specified area and draw a rough ground contour of the specified area, construct a three-dimensional coordinate of the specified area according to the rough ground contour, and map the vegetation growth characteristics into the three-dimensional coordinates to generate a three-dimensional regional space of the specified area; A depth analysis unit is used to perform virtual slicing processing on the three-dimensional area space to obtain a plurality of two-dimensional slices, select corresponding vegetation information in each of the two-dimensional slices, obtain vegetation height features corresponding to each of the vegetation information, and construct vegetation undulation information of the specified area; A synchronous adjustment unit is used to track the working vehicle, determine the vegetation height corresponding to the working vehicle when it is in a forward position, determine the height and direction to be adjusted of the working vehicle according to the vegetation height and the current height of the working vehicle, find the corresponding lifting and lowering adaptation parameters, and use the lifting and lowering adaptation parameters to adjust the height of the working vehicle.

7. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 6, characterized in that: Also includes: A sensing and recording unit, used for recording height adjustment information of the working vehicle in the specified area, and using the height adjustment information to establish a plurality of height change vectors of the working vehicle in the specified area; Determine the total value of the current lift of the working vehicle according to the height change vector, evaluate the energy consumption of the total value of the current lift, and judge the remaining usable energy of the working vehicle; When the remaining usable energy is lower than the specified energy, an energy replenishment instruction is generated and transmitted to the display terminal for display.

8. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: The driving execution module includes: A driving preprocessing unit estimates the height adjustment time of the working vehicle according to the height difference between the current height of the working vehicle and the adaptation height, and adds a raising mark to the working vehicle when the height difference is positive, and adds a lowering mark otherwise; A heightening processing unit, for determining a height adjustment starting point of the working vehicle according to a forward speed of the working vehicle and the height adjustment time when the working vehicle is provided with a heightening mark, and when the working vehicle reaches the height adjustment starting point, adjusting the working vehicle to an adapted height within the height adjustment time; A lowering processing unit is used to obtain the position difference between the current position of the working vehicle and the forward position when the working vehicle is provided with a lowering mark, regard the forward position as the stop position, construct a deceleration and stop plan for the working vehicle, and adjust the working vehicle to an adaptive height when the working vehicle reaches the stop position.

9. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: Also includes: A balance driving module, used for drawing a vegetation fluctuation chart according to the vegetation fluctuation information, and considering a sub-specified area with a fluctuation degree within a preset range as a balance area according to the vegetation fluctuation chart; Respectively obtain the highest value of vegetation in each of the balance areas, and establish a balance driving height of the working vehicle in the corresponding balance area; When the vehicle reaches the balancing area, the vehicle is adjusted to the balancing driving height.

10. The vehicle drive axle with automatic lifting and adjustable height as claimed in claim 1, characterized in that: Also includes: A driving supervision module, used to record the activity track of the working vehicle in the specified area and analyze the work completion degree of the working vehicle; When the work completion rate is 100%, the working vehicle is controlled to arrive at a designated temporary storage location.

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