Intelligent seeding machine

Abstract

The invention discloses an intelligent seeding machine. A frame comprises a nested telescopic beam and two walking wheel boxes; the four walking steering wheel assemblies are installed at the front ends and the rear ends of the two walking wheel boxes respectively. The three-point suspension mechanism is mounted in the middle of the nested telescopic beam; the seeding unit is mounted on the three-point suspension mechanism; the power system comprises a range extender and a storage battery; the lighting module, the machine vision module and the positioning navigation unit are mounted on the frame; the impact sensing module, the abnormity alarm module and the indicating lamp are mounted on the walking wheel box; the displacement sensor is connected with the nested telescopic beam; the electro-hydraulic proportional driving system comprises a power supply unit, a wheel track adjusting driving unit, a seeding profiling driving unit and a three-point suspension driving unit. The seeder is high in intelligent degree and convenient in maintenance process, can realize self-adaptive stepless adjustment of the wheel track, can realize full-path unmanned operation and pneumatic electric-driven efficient seeding operation, has multiple steering modes, is high in steering flexibility, and can greatly improve the operation efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent agricultural machinery, and particularly relates to an intelligent seeding machine. BACKGROUND

[0002] In recent years, a large amount of research has been carried out on core technologies such as pneumatic high-frequency and high-efficiency seed filling, electro-hydraulic driving intelligent control and unmanned operation at home and abroad. New technologies such as intelligence, greenness and unmanned operation continue to empower the iteration and upgrading of precision seeding equipment. At present, the domestic seeding machine mainly has the following problems: (1) mechanical seeders are mostly used, and the operation speed can only reach 5-6 km / h; (2) the seeding operation needs to be completed by being hung behind a tractor, and due to the lifting force of the three-point suspension of the tractor and the rear hanging structure, a 4-row seeder usually needs to be configured with a tractor of more than 100 horsepower to complete the operation; (3) due to the turning form of the tractor, the unmanned operation efficiency is low, and the single field cannot realize full-path unmanned operation, and the reserved operation width still needs manual operation. Focusing on the above industry focus problems, it is urgent to improve the existing agricultural machinery and provide an intelligent seeding machine. SUMMARY

[0003] In view of the problems existing in the prior art, the application provides an intelligent seeding machine, which has high intelligent degree and convenient maintenance process, can realize adaptive stepless adjustment of wheel track, full-path unmanned operation and pneumatic and electro-hydraulic efficient seeding operation, has multiple turning modes, has high turning flexibility, can greatly improve the operation efficiency, can solve many problems such as poor maneuverability of the tractor when the seeding machine is hung, low unmanned operation efficiency, complex turning operation, high energy consumption and the like, and can provide reliable technical support for the technical upgrading of the seeding machine product.

[0004] In order to achieve the above purpose, the application provides an intelligent seeding machine, which comprises a vehicle frame, a walking and turning wheel assembly, a three-point suspension mechanism, a seeding unit, a power system, an illumination module, a machine vision module, a impact sensing module, a displacement sensor, a positioning and navigation unit, an abnormal alarm module, an electro-hydraulic proportional driving system and an intelligent control unit. The vehicle frame comprises a nested telescopic beam and two walking wheel boxes mounted at both ends of the nested telescopic beam. The four walking and turning wheel assemblies are in two groups, two groups of walking and turning wheel assemblies are respectively installed at the front end and the rear end of the two walking wheel boxes, and the four walking and turning wheel assemblies are distributed in a rectangular shape; the walking and turning wheel assembly has walking driving and turning driving functions. The three-point suspension mechanism is installed at the middle part of the nested telescopic beam. The number of the seeding units is one or more, and the seeding units are installed on the three-point suspension mechanism; the seeding unit is a pneumatic and electro-hydraulic profiled seeding unit. The power system is arranged in a walking wheel box, which includes a range extender and a battery, the range extender is connected with the battery, and the battery is used for supplying power; The lighting module is mounted on the vehicle frame to provide lighting during night work; The machine vision module is mounted on the vehicle frame to collect image data in real time; Two pairs of impact sensing modules are respectively mounted on the two walking wheel boxes, each pair of impact sensing modules is respectively mounted on the outer side and the front side of the walking wheel box, and is respectively used for collecting impact signals in the forward direction and the lateral direction; The displacement sensor is connected with the nested telescopic beam to collect wheel track signals; The positioning navigation unit is mounted on the vehicle frame to provide navigation and path planning support; The abnormal alarm module is mounted on the walking wheel box to execute alarm action when an abnormality occurs; The indicator light is mounted on the walking wheel box to indicate the working state; The electro-hydraulic proportional drive system includes a power supply unit, a wheel track adjustment drive unit, a seeding profiling drive unit and a three-point suspension drive unit; the power supply unit is connected with the wheel track adjustment drive unit, the seeding profiling drive unit and the three-point suspension drive unit to provide power supply for each drive unit; the wheel track adjustment drive unit is used to drive the nested telescopic beam to perform telescopic action to adjust the distance between the two walking wheel boxes; the three-point suspension drive unit is used to drive the action of the three-point suspension mechanism; The intelligent control unit is connected with the power system, the walking steering wheel assembly, the lighting module, the machine vision module, the impact sensing module, the displacement sensor, the positioning navigation unit, the abnormal alarm module, the indicator light and the electro-hydraulic proportional drive system.

[0005] Further, in order to realize the functions of straight walking drive and in-place steering drive at the same time, the walking steering wheel assembly includes a walking frame, a walking wheel, a slewing bearing, a steering motor, a drive gear and a drive motor; the walking wheel is rotatably connected in the lower space of the walking frame through the central rotating shaft; the slewing bearing is mounted on the top end of the walking frame through its inner ring, and is fixedly connected with the lower end of the walking wheel box through its inner ring; the steering motor is fixedly installed on one side outside the walking frame; the drive gear is fixedly sleeved outside the output shaft of the steering motor and is engaged with the outer gear ring of the slewing bearing; the drive motor is fixedly installed on the other side outside the walking frame, and its output shaft is connected with the central shaft of the walking wheel.

[0006] Further, in order to accurately and efficiently detect the impact, the impact sensing module comprises a spring, an impact sensing rod and a micro switch, the impact sensing rod is connected to the outer side of the traveling wheel box through the spring, the micro switch is installed on the outer side of the traveling wheel box and located at the inner side of the impact sensing rod, and the micro switch is connected to the intelligent control unit.

[0007] Further, in order to facilitate the adjustment of the track, the nested telescopic beam comprises a middle support sleeve and two end support beams, the inner sections of the two end support beams are respectively and slidingly inserted into the left and right inner cavities of the middle support sleeve, and the outer ends of the two end support beams are respectively and fixedly connected to the opposite sides of the two traveling wheel boxes.

[0008] As a preferred, the power supply unit comprises a hydraulic oil tank, a main oil return branch, a constant pressure variable pump, a power motor, a main reversing valve, a main safety valve, a pressure gauge and a one-way throttle valve; the main oil return branch is connected to the hydraulic oil tank; the oil suction port of the constant pressure variable pump is connected to the hydraulic oil tank through an oil suction pipeline; the power motor is coaxially connected to the constant pressure variable pump; the P port of the main reversing valve is connected to the oil discharge port of the constant pressure variable pump, and the T port thereof is connected to the main oil return branch; the oil inlet and outlet ports of the main safety valve are respectively connected to the P and T ports of the main reversing valve; the pressure gauge is connected to the oil discharge port of the constant pressure variable pump; the oil inlet port of the one-way throttle valve is connected to the A port of the main reversing valve; The track adjustment driving unit comprises a track adjustment reversing valve, a track adjustment hydraulic cylinder one, a track adjustment hydraulic cylinder two, a hydraulic control one-way valve group and a track safety valve; the P port of the track adjustment reversing valve is connected to the oil outlet port of the one-way throttle valve, and the T port thereof is connected to the main oil return branch; the first and second oil inlet ports of the hydraulic control one-way valve group are respectively connected to the A and B ports of the track adjustment reversing valve; the first and second oil outlet ports of the track adjustment hydraulic cylinder one are connected; the rodless cavity oil port and the rod cavity oil port of the track adjustment hydraulic cylinder two are respectively connected to the first and second oil outlet ports of the hydraulic control one-way valve group; the oil inlet and return ports of the track safety valve are respectively connected to the P and T ports of the track adjustment reversing valve; The number of the seeding units is four; the seeding profiling driving unit comprises a profiling reversing valve, a hydraulic control one-way valve, a profiling hydraulic cylinder one, a profiling hydraulic cylinder two, a profiling hydraulic cylinder three and a profiling hydraulic cylinder four; the P port of the profiling reversing valve is connected to the B port of the main reversing valve, and the T port thereof is connected to the main oil return branch; the oil inlet port of the hydraulic control one-way valve is connected to the A port of the profiling reversing valve, and the hydraulic control port thereof is connected to the B port of the profiling reversing valve; the rod cavities of the profiling hydraulic cylinder one, the profiling hydraulic cylinder two, the profiling hydraulic cylinder three and the profiling hydraulic cylinder four are all connected to the B port of the profiling reversing valve, and the rodless cavities of the profiling hydraulic cylinder one, the profiling hydraulic cylinder two, the profiling hydraulic cylinder three and the profiling hydraulic cylinder four are all connected to the oil outlet port of the hydraulic control one-way valve; The three-point suspension driving unit comprises a suspension reversing valve, a suspension safety valve, an auxiliary reversing valve one, an auxiliary reversing valve two, a suspension hydraulic cylinder one, a suspension hydraulic cylinder two, a PTO motor and a reserved quick interface; the P port of the suspension reversing valve is connected with the B port of the main reversing valve, and the T port thereof is connected with the main oil return branch; the oil inlet and the oil return of the suspension safety valve are connected with the P port and the T port of the suspension reversing valve respectively; the P ports of the auxiliary reversing valve one and the auxiliary reversing valve two are connected with the A port and the B port of the suspension safety valve respectively, and the T ports of the auxiliary reversing valve one and the auxiliary reversing valve two are connected with the T port of the suspension reversing valve; the A ports of the auxiliary reversing valve one and the auxiliary reversing valve two are blocked; the rod cavity oil ports of the suspension hydraulic cylinder one and the suspension hydraulic cylinder two are connected with the B port of the auxiliary reversing valve one, and the rod cavity oil ports of the suspension hydraulic cylinder one and the suspension hydraulic cylinder two are connected with the B port of the auxiliary reversing valve two; the A port of the PTO motor is connected with the B port of the main reversing valve, and the B port thereof is connected with the T port of the suspension reversing valve; the reserved quick interface has reserved interface A1, reserved interface A2, reserved interface B1 and reserved interface B2, and the reserved interface A1 and the reserved interface A2 are communicated, the reserved interface B1 and the reserved interface B2 are communicated, and meanwhile, the reserved interface A1 is connected with the main oil return branch, and the reserved interface B1 is connected with the B port of the main reversing valve.

[0009] In the technical scheme, the oil inlet and the oil outlet of the main safety valve are connected with the P port and the T port of the main reversing valve respectively, so that when the pressure of the main oil supply part exceeds the limit, the hydraulic oil can be directly discharged into the hydraulic oil tank in time, thereby ensuring that the pressure of the main oil supply part is always lower than the set pressure and ensuring the reliability of the system. The P port of the main reversing valve is connected with a pressure gauge, so that the pressure of the discharge port of the constant pressure changing pump can be sensed in real time, and the pressure condition of the system can be known by relevant personnel in real time. The wheel track adjusting hydraulic cylinders connected with the nested telescopic beams can facilitate the adjustment of the wheel track by controlling the telescopic action of the two wheel track adjusting hydraulic cylinders, thereby improving the convenience of the wheel track adjustment. The cooperation of the wheel track reversing valve and the hydraulic control one-way valve group can ensure the reliable supply of the hydraulic oil to the rodless cavity and the rod cavity of the wheel track adjusting hydraulic cylinder when the telescopic action of the wheel track adjusting hydraulic cylinder needs to be adjusted, and can realize the locking and fixing action of the wheel track adjusting hydraulic cylinder when the wheel track is adjusted to the set distance by disconnecting the oil supply and return pipeline by the neutral position of the wheel track reversing valve and depressurizing the hydraulic control port of the hydraulic control one-way valve group, thereby effectively ensuring the stability of the wheel track during the operation. The wheel track safety valve can ensure that the wheel track adjusting circuit always works within the safe pressure range. The two suspension hydraulic cylinders connected with the three-point suspension mechanism can facilitate the adjustment of the three-point suspension mechanism by the telescopic action of the suspension hydraulic cylinders. The cooperation of the suspension reversing valve and the two auxiliary reversing valves can ensure the reliable supply of the hydraulic oil to the rodless cavity and the rod cavity of the suspension hydraulic cylinder to drive the telescopic action, and can also realize the locking of the suspension hydraulic cylinder by the combined reversing action of the three reversing valves, thereby ensuring the reliability of the operation. The reserved quick interface can support the intelligent hydraulic power output and the parameter adjustable PTO power output, and can provide power interface for high-speed fans, seeding machine pressure steady control systems and the like, and can realize the real-time monitoring and control of the flow, pressure and PTO output speed of the hydraulic power output, thereby improving the versatility and intelligent level of the whole machine. The four profiling hydraulic cylinders matched with the four seeding units can facilitate the independent control of each seeding unit.

[0010] Further, in order to facilitate the quick disengagement of the faulty seeding unit without affecting the seeding operation of the remaining normal seeding units, the seeding profiling driving unit further comprises a stop valve one, a stop valve two, a stop valve three, a stop valve four, a stop valve five, a stop valve six, a stop valve seven and a stop valve eight; the stop valve one, the stop valve two, the stop valve three and the stop valve four are connected in series at the rodless cavity oil ports of the profiling hydraulic cylinder one, the profiling hydraulic cylinder two, the profiling hydraulic cylinder three and the profiling hydraulic cylinder four respectively; and the stop valve five, the stop valve six, the stop valve seven and the stop valve eight are connected in series at the rod cavity oil ports of the profiling hydraulic cylinder one, the profiling hydraulic cylinder two, the profiling hydraulic cylinder three and the profiling hydraulic cylinder four respectively.

[0011] Further, in order to facilitate the quick access and quick disengagement of the driving unit, the seeding profiling driving unit further comprises a quick interface one; the quick interface one has a quick interface C1, a quick interface C2, a quick interface D1 and a quick interface D2, and the quick interface C1 and C2 are communicated, and the quick interface D1 and D2 are communicated; the quick interface one is arranged between the seeding profiling driving unit and the power supply unit, the quick interface C2 and D2 are connected with the T port and P port of the profiling reversing valve respectively, the quick interface C1 is connected with the main oil return branch, and the quick interface D1 is connected with the B port of the main reversing valve. Through the arrangement of the quick interface one, the modular assembly can be facilitated, the seeding profiling driving unit can be accessed or removed according to different working conditions, and meanwhile, the convenient maintenance of the seeding profiling driving unit is also facilitated.

[0012] The three-point suspension driving unit comprises a quick interface two; the quick interface two has a quick interface E1, a quick interface E2, a quick interface F1, a quick interface F2, a quick interface G1 and a quick interface G2, and the quick interface E1 and E2 are communicated, the quick interface F1 and F2 are communicated, and the quick interface G1 and G2 are communicated; the quick interface two is arranged between the power supply unit and the three-point suspension driving unit, wherein the quick interface E1 and F1 are connected with the B port of the main reversing valve, the quick interface G1 is connected with the main oil return branch, the quick interface E2 is connected with the A port of the PTO motor, the quick interface F2 is connected with the P port of the suspension reversing valve, and the quick interface G2 is connected with the T port of the suspension reversing valve. Through the arrangement of the quick interface two, the modular assembly can be facilitated, the three-point suspension driving unit can be accessed or removed according to different working conditions, and meanwhile, the convenient maintenance of the three-point suspension unit is also facilitated.

[0013] Further, in order to prevent the case that the execution efficiency is reduced due to the excessively high oil temperature, and meanwhile, in order to effectively filter impurities, a filter one is connected in series on the oil suction pipeline; the main oil return branch comprises an oil return pipeline, a cooler and a filter, and the outlet end of the oil return pipeline is connected with the hydraulic oil tank; the cooler and the filter are connected in series on the oil return pipeline.

[0014] As a preferred, the main reversing valve is a three-position four-way electromagnetic reversing valve; when Y1 is powered, the main reversing valve works in the left position, the P port and the B port of the main reversing valve are communicated, and the T port and the A port of the main reversing valve are communicated; when Y1 is not powered, the main reversing valve works in the middle position, the P port and the T port of the main reversing valve are communicated, and the A port and the B port of the main reversing valve are both blocked; when Y2 is powered, the main reversing valve works in the right position, the P port and the A port of the main reversing valve are communicated, and the T port and the B port of the main reversing valve are communicated. The wheel track adjusting reversing valve is a three-position six-way electromagnetic reversing valve. When working in the upper position, the P port and the A port are communicated, the T port and the B port are communicated, and the X port and the C port are both cut off. When working in the middle position, the P port is cut off, the T port is communicated with the A port and the B port, and the X port and the C port are communicated. When working in the lower position, the P port is communicated with the B port, the T port is communicated with the A port, and the X port and the C port are both cut off. Meanwhile, a one-way valve is arranged between the X port and the P port, and the C port is cut off. The suspension reversing valve is a three-position four-way electromagnetic reversing valve. When Y3 is powered, the valve works in the left position, the P port and the B port are communicated, and the T port and the A port are communicated. When Y3 is not powered, the valve works in the middle position, the P port, the T port, the A port and the B port are all cut off. When Y4 is powered, the valve works in the right position, the P port and the A port are communicated, and the T port and the B port are communicated. The auxiliary reversing valve one and the auxiliary reversing valve two are both two-position two-way electromagnetic reversing valves. When powered, the valve works in the right position, the P port and the A port are communicated, and the T port and the B port are communicated. When powered off, the valve works in the left position, the P port and the B port are communicated, and the T port and the A port are communicated. The profiling reversing valve is a three-position four-way reversing valve. When Y7 is powered, the valve works in the left position, the P port and the B port are communicated. When Y7 is not powered, the valve works in the middle position, the P port, the T port, the A port and the B port are all cut off. When Y8 is powered, the valve works in the right position, the P port and the A port are communicated, and the T port and the B port are communicated.

[0015] The application provides a portal wheel track adjustable electric drive intelligent seeding machine, specifically, a nested telescopic beam is arranged, and meanwhile, a wheel track adjusting drive unit is used to drive the telescopic action of the nested telescopic beam, so that the distance between the two walking wheel boxes can be automatically adjusted, the wheel track adjusting function can effectively improve the steering flexibility of the seeding machine, and then the adaptability of the wheel track can be adjusted according to the field conditions. A walking steering wheel assembly with walking driving and steering driving functions is arranged at the bottom of the two walking wheel boxes, which can not only provide driving force for the walking of the whole machine, but also flexibly realize the in-place steering function, greatly reduce the steering radius and improve the adaptability and flexibility of the whole machine. One or more pneumatic electric drive profiling seeding units are connected to the three-point suspension mechanism hung in the middle of the vehicle frame, the weight of the seeding units can be evenly transmitted to the vehicle frame, the risk of machine forward inclination during operation is reduced, meanwhile, the three-point suspension mechanism cooperates with the three-point suspension drive unit to conveniently adjust the height of the multiple seeding units. The pneumatic electric drive profiling seeding unit can obtain higher seeding performance through the motor direct drive combined with the electro-hydraulic feedback profiling mode, which can significantly improve the seed spacing accuracy and has better operation adaptability. The seeding drive motor and the electro-hydraulic adaptive profiling system are separately arranged for each pneumatic electric drive profiling seeding unit, so that the operation parameters and operation states of each seeding unit can be independently controlled, and meanwhile, the number of the seeding units can be freely selected according to the required operation width. Through the setting of the seeding profiling drive unit, the action of the seeding unit can be conveniently adjusted. Through the setting of the lighting module, the machine vision module can be illuminated during night operation, and the image data acquisition accuracy is ensured. Through the setting of the impact sensing module, an impact signal can be sent to the intelligent control unit in time when impact occurs, and then the intelligent control unit can take timely shutdown disposal measures. Through the setting of the machine vision module, image data around the machine body can be obtained in real time, and then the intelligent control unit can obtain the surrounding obstacle situation based on the image data. Through the setting of the positioning navigation unit, navigation information and path planning support can be provided for the intelligent control unit, and then the intelligent control unit can plan the obstacle avoidance path combined with the image data around the machine body and the navigation information, so that the stability and reliability of the autonomous walking process can be effectively ensured, and correct disposal measures can be taken in time when impact occurs. In addition, the intelligent control unit can realize reliable unmanned driving and operation mode of the seeding machine based on the combined navigation mode of the positioning navigation unit and the machine vision module, that is, the unmanned navigation operation mode. In the unmanned navigation operation mode, the positioning navigation unit is mainly used to complete straight line walking and steering U-turn to opposite line walking, and the machine vision navigation is auxiliary, and mainly used to avoid collision with the obstacles in the field (including people, livestock, trees, power poles and the like) through image analysis.Through the setting of the abnormality alarm module, when the intelligent control unit receives the impact signal, the warning action can be executed under the control of the intelligent control unit to remind the relevant personnel to take necessary emergency measures in time. Through the setting of the displacement sensor, the wheel track signal can be conveniently collected in real time, and then the intelligent control unit can obtain the wheel track data according to the wheel track signal, so that the wheel track adjustment driving unit can be automatically closed-loop controlled. Furthermore, the intelligent control unit can solve the steering angle of the steering wheel under different steering modes based on the wheel track data and the Ackerman steering theorem, and the action of the steering motor can be closed-loop controlled according to the obtained steering angle, so that an efficient and accurate steering control process is realized. Especially, in the process of adjusting the wheel track, the left and right walking wheels are first driven by the steering motor to rotate, so that the left and right walking wheels are in the state of driving in opposite directions, and then the left and right walking wheels are controlled to walk synchronously in opposite directions, and at the same time, the wheel track adjustment reversing valve is controlled to work in the upper position to drive the auxiliary suspension hydraulic cylinders one and two to extend synchronously outward, so that the self-driving function of the walking wheel and the pulling capacity of the auxiliary suspension hydraulic cylinder are utilized at the same time to realize efficient wheel track adjustment operation, and at the same time, the resistance in the wheel track adjustment process is reduced. The present application adopts a portal structure, and a three-point suspension mechanism is hung in the middle of the vehicle frame, and then combined with the wheel track self-adaptive adjustment function provided by the nested telescopic beam and the wheel track adjustment driving unit, different seeding equipment with different working widths can be hung in the middle according to the size of the field, which greatly improves the versatility and flexibility of the seeding machine. At the same time, four walking steering wheel assemblies are installed at the bottom of the two walking wheel boxes, and a distributed four-wheel drive + four-wheel steering technical scheme is adopted, through the control of a single walking steering wheel assembly, a plurality of steering modes can be realized, the steering flexibility of the chassis is effectively improved, the steering action can be flexibly performed, the turning radius is greatly reduced, the efficiency of turning around in a straight line under unmanned operation is improved, and the mobility of the whole machine is improved. Through the setting of the power system, long-time power supply can be provided for the whole vehicle, which is beneficial to guarantee the operation time and operation efficiency.

[0016] The seeding machine has high intelligence, convenient maintenance process, can realize self-adaptive stepless adjustment of wheel track, can realize unmanned operation of full path and efficient pneumatic electric drive seeding operation, has multiple steering modes, high steering flexibility, can greatly improve the operation efficiency, can solve many problems such as poor mobility of tractor-hung seeding machine, low unmanned operation efficiency, complex turning operation, high energy consumption and the like, and can provide reliable technical support for the technical upgrading of the seeding machine product. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective structural schematic diagram of the present application; Figure 2 is a top view of Figure 1 ; Figure 3is the structure schematic view of the walking steering wheel assembly in the application; Figure 4 is the hydraulic principle view of the electro-hydraulic proportional driving system in the application; Figure 5 is the longitudinal driving state schematic view of the seeding machine in the application; Figure 6 is the transverse driving state schematic view of the seeding machine in the application; Figure 7 is the in-place steering state schematic view of the seeding machine in the application; Figure 8 is the front wheel driving state schematic view of the seeding machine in the application; Figure 9 is the schematic view of the unmanned operation path of the seeding machine in the application.

[0018] In the figure: 1, frame, 2, nested telescopic beam, 3, walking wheel box, 4, three-point suspension mechanism, 5, seeding unit, 6, reserved quick interface, 7, walking wheel assembly, 8, lighting module, 9, positioning navigation unit, 10, machine vision module, 11, indicator light, 12, abnormal alarm module, 13, impact sensing module, 14, slewing bearing, 15, driving gear, 16, walking wheel, 17, steering motor, 18, walking frame, 19, driving motor, 20, hydraulic oil tank, 21, constant pressure variable pump, 22, power motor, 23, main reversing valve, 24, main oil return branch, 25, main safety valve, 26, pressure gauge, 27, one-way throttle valve, 28, wheel track adjustment hydraulic cylinder one, 29, wheel track adjustment hydraulic cylinder two, 30, wheel track adjustment reversing valve, 31, wheel track safety valve, 32, hydraulic control one-way valve group, 33, profiling reversing valve, 34, hydraulic control one-way valve, 35, profiling hydraulic cylinder one, 36, profiling hydraulic cylinder two, 37, profiling hydraulic cylinder three, 38, profiling hydraulic cylinder four, 39, stop valve one, 40, stop valve two, 41, stop valve three, 42, stop valve four, 43, stop valve five, 44, stop valve six, 45, stop valve seven, 46, stop valve eight, 47, quick interface one, 48, suspension reversing valve, 49, suspension safety valve, 50, auxiliary reversing valve one, 51, auxiliary reversing valve two, 52, suspension hydraulic cylinder one, 53, suspension hydraulic cylinder two, 54, cooler, 55, filter one, 56, filter two, 57, PTO motor, 58, quick interface two, 59, middle support sleeve, 60, end support beam. DETAILED DESCRIPTION

[0019] The application will be further described below.

[0020] As Figures 1 to 9As shown, the present application provides an intelligent seeding machine, which comprises a vehicle frame 1, a walking steering wheel assembly 7, a three-point suspension mechanism 4, a seeding unit 5, a power system, a lighting module 8, a machine vision module 10, a collision sensing module 13, a displacement sensor, a positioning navigation unit 9, an abnormal alarm module 12, an electro-hydraulic proportional drive system and an intelligent control unit; The vehicle frame 1 comprises a nested telescopic beam 2 and two walking wheel boxes 3 installed at both ends of the nested telescopic beam 2; The four walking steering wheel assemblies 7 are in two groups, and the two groups of walking steering wheel assemblies 7 are respectively installed at the front end and the rear end of the two walking wheel boxes 3, and the four walking steering wheel assemblies 7 are distributed in a rectangular shape; the walking steering wheel assembly 7 has walking driving and steering driving functions; The three-point suspension mechanism 4 is installed at the middle part of the nested telescopic beam 2; The number of the seeding unit 5 is one or more, which is installed on the three-point suspension mechanism 4; the seeding unit 5 is a pneumatic electric drive profiled seeding unit; the seeding unit needs to be equipped with a high-speed fan, and the rotation speed of the high-speed fan is preferably 3500-4000 rpm.

[0021] The power system is arranged in one walking wheel box 3, which comprises a range extender and a storage battery; the range extender is connected with the storage battery and can charge the storage battery; the storage battery is used for supplying electricity; as a further preferred, whether to install a rectifier can be selected according to the voltage parameters of the range extender and the storage battery; the storage battery provides power supply for the steering motor, the driving motor and the power motor; The lighting module 8 is installed on the vehicle frame 1 and is used to provide lighting during night work; The machine vision module 10 is installed on the vehicle frame 1 and is used to collect image data in real time; Two pairs of collision sensing modules 13 are respectively installed on the two walking wheel boxes 3, and each pair of collision sensing modules 13 is respectively installed on the outer side and the front side of the walking wheel box 3, and is respectively used to collect collision signals in the forward direction and the lateral direction; The displacement sensor is connected with the nested telescopic beam 2 and is used to collect wheel track signals; as a preferred, the displacement sensor adopts a pull-wire type displacement sensor; The positioning navigation unit 9 is installed on the vehicle frame 1 and is used to provide navigation and path planning support; as a preferred, the positioning navigation unit 9 adopts a GNSS-based positioning navigation unit, which can complete seeding, fertilization and other operations through centimeter-level positioning, greatly improving the precision of the operation; The abnormal alarm module 12 is installed on the walking wheel box 3 and is used to execute an alarm action when an abnormality occurs; The indicator light 11 is installed on the walking wheel box 3 and is used to indicate the working state; The electro-hydraulic proportional drive system comprises a power supply unit, a wheel track adjusting drive unit, a seeding profiling drive unit and a three-point suspension drive unit; the power supply unit is connected with the wheel track adjusting drive unit, the seeding profiling drive unit and the three-point suspension drive unit respectively to provide power supply for each drive unit; the wheel track adjusting drive unit is used to drive the nested telescopic beam 2 to perform telescopic action to adjust the distance between the two walking wheel boxes 3; the seeding profiling drive unit is used to drive the profiling action of the seeding unit; the three-point suspension drive unit is used to drive the action of the three-point suspension mechanism 4; The intelligent control unit is connected with the power system, the walking and steering wheel assembly 7, the lighting module 8, the machine vision module 10, the impact sensing module 13, the displacement sensor, the positioning and navigation unit 9, the abnormal alarm module 12, the indicator light 11 and the electro-hydraulic proportional drive system.

[0022] In order to simultaneously realize the functions of straight walking drive and in-place steering drive, the walking and steering wheel assembly 7 comprises a walking frame 18, a walking wheel 16, a slewing bearing 14, a steering motor 17, a drive gear 15 and a drive motor 19; the walking wheel 16 is rotatably connected in the lower space of the walking frame 18 through the central rotating shaft thereof; the slewing bearing 14 is mounted at the top end of the walking frame 18 through the inner ring thereof, and is fixedly connected with the lower end of the walking wheel box 3 through the inner ring thereof; the steering motor 17 is fixedly installed on one side outside the walking frame 18; the drive gear 15 is fixedly sleeved outside the output shaft of the steering motor 17 and is engaged with the outer gear ring of the slewing bearing 14; the drive motor 15 is fixedly installed on the other side outside the walking frame 18, and the output shaft thereof is connected with the central shaft of the walking wheel 16. The walking part is driven by the drive motor, and the reduction ratio between the drive motor and the walking wheel can be selected according to the drive motor rotating speed and the walking speed range of the whole machine, and the reduction machine is installed. If a low-speed large-torque motor is selected as the drive motor, the reduction machine can not be installed. The steering part is driven by the drive gear of the steering motor, which can realize the driving mode of small motor with large torque and ensure the driving accuracy of steering.

[0023] In order to accurately and efficiently detect the impact situation, the impact sensing module 13 comprises a spring, an impact sensing rod and a micro switch, the impact sensing rod is connected with the outer side of the walking wheel box 3 through the spring, the micro switch is installed on the outer side of the walking wheel box 3 and is located on the inner side of the impact sensing rod, and the micro switch is connected with the intelligent control unit. Further preferably, the impact sensing rod can compress the spring to retract inwardly by 8-10 mm under the impact and trigger the micro switch, the micro switch sends an impact signal to the intelligent control unit after being triggered, and the controller controls the seeding machine to stop running and seeding operation and controls the abnormal alarm module 12 to sound and light alarm.

[0024] In order to facilitate the adjustment of the wheel track, the nested telescopic beam 2 comprises a middle support sleeve 59 and two end support beams 60, the inner sections of the two end support beams 60 are respectively slidingly inserted into the left and right inner cavities of the middle support sleeve 60, and the outer ends of the two end support beams 60 are respectively fixedly connected to the sides opposite to the two traveling wheel boxes 3. As a preferred, the inner cavities and the outer profiles of the middle support sleeve 59 are both rectangular in cross section, and the inner cavities are provided with guide rails; at the same time, the outer profiles of the end support beams 60 are also rectangular in cross section, and the end support beams 60 are axially slidingly matched with the middle support sleeve 59 through the guide rails. As a preferred, the power supply unit comprises a hydraulic oil tank 20, a main oil return branch 24, a constant pressure variable pump 21, a power motor 22, a main reversing valve 23, a main safety valve 25, a pressure gauge 26 and a one-way throttle valve 27; the main oil return branch 24 is connected with the hydraulic oil tank 20; the oil suction port of the constant pressure variable pump 21 is connected with the hydraulic oil tank 20 through an oil suction pipeline; the power motor 22 is coaxially connected with the constant pressure variable pump 21; the P port of the main reversing valve 23 is connected with the oil discharge port of the constant pressure variable pump 21, and its T port is connected with the main oil return branch 24; the oil inlet and outlet ports of the main safety valve 25 are respectively connected with the P port and the T port of the main reversing valve 23; the pressure gauge 26 is connected with the oil discharge port of the constant pressure variable pump 21; the oil inlet port of the one-way throttle valve 27 is connected with the A port of the main reversing valve 23. The wheel track adjustment driving unit comprises a wheel track adjustment reversing valve 30, a wheel track adjustment hydraulic cylinder one 28, a wheel track adjustment hydraulic cylinder two 29, a hydraulic control one-way valve group 32 and a wheel track safety valve 31; the P port of the wheel track adjustment reversing valve 30 is connected with the oil outlet port of the one-way throttle valve 27, and its T port is connected with the main oil return branch 24; the first and second oil inlet ports of the hydraulic control one-way valve group 32 are respectively connected with the A and B ports of the wheel track adjustment reversing valve 30; the rodless cavity oil port and the rod cavity oil port of the wheel track adjustment hydraulic cylinder one 28 are respectively connected with the first and second oil outlet ports of the hydraulic control one-way valve group 32; the rodless cavity oil port and the rod cavity oil port of the wheel track adjustment hydraulic cylinder two 29 are respectively connected with the first and second oil outlet ports of the hydraulic control one-way valve group 32; the oil inlet and return ports of the wheel track safety valve 31 are respectively connected with the P and T ports of the wheel track adjustment reversing valve 30. The number of sowing units 5 is four; the sowing contour drive unit includes a contour reversing valve 33, a hydraulically controlled check valve 34, a contour hydraulic cylinder one 35, a contour hydraulic cylinder two 36, a contour hydraulic cylinder three 37, and a contour hydraulic cylinder four 38; the P port of the contour reversing valve 33 is connected to the B port of the main reversing valve 23, and its T port is connected to the main return oil branch 24; the oil inlet of the hydraulically controlled check valve 34 is connected to the A port of the contour reversing valve 33, and its hydraulically controlled port is connected to the B port of the contour reversing valve 33; the contour hydraulic cylinder one 35, contour hydraulic cylinder two 36, contour hydraulic cylinder three 37, and contour hydraulic cylinder four 38... The rod chambers of all cylinders are connected to port B of the contouring directional valve 33. The rodless chambers of contouring hydraulic cylinders 35, 36, 37, and 38 are all connected to the oil outlet of the hydraulic check valve 34. Contouring hydraulic cylinders 35, 36, 37, and 38 correspond one-to-one with the four seeding units 5. This invention is illustrated by four seeding units 5. In actual use, the number of seeding units 5 can be selected according to different working conditions. The number of contouring hydraulic cylinders is set to correspond to the number of seeding units 5. The three-point suspension drive unit includes a suspension directional valve 48, a suspension safety valve 49, an auxiliary directional valve 1 50, an auxiliary directional valve 2 51, a suspension hydraulic cylinder 1 52, a suspension hydraulic cylinder 2 53, a PTO motor 57, and a reserved quick-connect interface. The P port of the suspension directional valve 48 is connected to the B port of the main directional valve 23, and its T port is connected to the main return oil branch 24. The inlet and return ports of the suspension safety valve 49 are connected to the P port and T port of the suspension directional valve 48, respectively. The P ports of the auxiliary directional valve 1 50 and the auxiliary directional valve 2 51 are connected to the A port and B port of the suspension safety valve 49, respectively. The T ports of the auxiliary directional valve 1 50 and the auxiliary directional valve 2 51 are both connected to the T port of the suspension directional valve 48. The A ports of the auxiliary directional valve 1 50 and the auxiliary directional valve 2 51 are both closed. The suspension hydraulic cylinders 1 52 and 2 53... The rod-side ports are all connected to port B of auxiliary directional valve 50, and the rodless ports of suspension hydraulic cylinder 52 and suspension hydraulic cylinder 53 are all connected to port B of auxiliary directional valve 51. Port A of PTO motor 57 is connected to port B of main directional valve 23, and port B is connected to port T of suspension directional valve 48. Preferably, PTO motor 57 is a two-speed variable displacement motor with large and small displacement. When PTO drives a high-speed, low-torque load, it is in small displacement mode; when PTO motor 57 drives a low-speed, high-torque load, it is in large displacement mode. The reserved quick-connect interface has reserved interface A1, reserved interface A2, reserved interface B1 and reserved interface B2, and reserved interfaces A1 and A2 are connected, and reserved interfaces B1 and B2 are connected. At the same time, reserved interface A1 is connected to main return oil branch 24, and reserved interface B1 is connected to port B of main directional valve 23.

[0025] In the technical scheme, the oil inlet and the oil outlet of the main safety valve are connected with the P port and the T port of the main reversing valve respectively, so that when the pressure of the main oil supply part exceeds the limit, the hydraulic oil can be directly discharged into the hydraulic oil tank in time, thereby ensuring that the pressure of the main oil supply part is always lower than the set pressure, and the reliability of the system is ensured. The P port of the main reversing valve is connected with a pressure gauge, so that the pressure at the oil discharge port of the constant pressure changing pump can be sensed in real time, and the pressure condition of the system can be understood by relevant personnel in real time. The wheel track adjusting hydraulic cylinders connected with the nested telescopic beams are arranged, so that the telescopic action of the two wheel track adjusting hydraulic cylinders can be controlled to adjust the wheel track, and the convenience of wheel track adjustment is improved. The wheel track reversing valve and the hydraulic control one-way valve group are arranged in cooperation, so that when the telescopic action of the wheel track adjusting hydraulic cylinder needs to be adjusted, the reliable supply of the hydraulic oil to the rodless cavity and the rod cavity of the wheel track adjusting hydraulic cylinder is ensured, and when the wheel track is adjusted to the set distance, the wheel track reversing valve is used to disconnect the oil supply and return pipeline, and the hydraulic control port of the hydraulic control one-way valve group is depressurized, so that the locking and fixing action of the wheel track adjusting hydraulic cylinder is realized, and the stability of the wheel track during operation is effectively ensured. The wheel track safety valve is arranged, so that the wheel track adjusting circuit can always work in the safe pressure range. The two suspension hydraulic cylinders connected with the three-point suspension mechanism are arranged, so that the telescopic action of the suspension hydraulic cylinder can be used to adjust the three-point suspension mechanism. The suspension reversing valve and the two auxiliary reversing valves are arranged in cooperation, so that the reliable supply of the hydraulic oil to the rodless cavity and the rod cavity of the suspension hydraulic cylinder is ensured to drive the telescopic action, and the locking of the suspension hydraulic cylinder state is realized by the combined reversing action of the three reversing valves, and the reliability of the operation is ensured. The reserved quick interface is arranged, so that the electro-hydraulic proportional driving system supports the intelligent hydraulic power output and the parameter adjustable PTO power output. The reserved quick interface can be used as a power interface for high-speed fans, seeding machine pressure stabilizing control systems and the like, and the flow, pressure and PTO output speed of the hydraulic power output can be monitored and controlled in real time, which helps to improve the universality and intelligent level of the whole machine. The four profiling hydraulic cylinders matched with the four seeding units are arranged, so that each seeding unit can be controlled independently.

[0026] In order to facilitate the quick disengagement of the fault seeding unit without affecting the seeding operation of the remaining normal seeding units, the seeding profiling driving unit further comprises a stop valve one 39, a stop valve two 40, a stop valve three 41, a stop valve four 42, a stop valve five 43, a stop valve six 44, a stop valve seven 45 and a stop valve eight 46; the stop valve one 39, the stop valve two 40, the stop valve three 41 and the stop valve four 42 are respectively connected in series to the rodless cavity oil ports of the profiling hydraulic cylinders one 35, the profiling hydraulic cylinders two 36, the profiling hydraulic cylinders three 37 and the profiling hydraulic cylinders four 38; the stop valve five 43, the stop valve six 44, the stop valve seven 45 and the stop valve eight 46 are respectively connected in series to the rod cavity oil ports of the profiling hydraulic cylinders one 35, the profiling hydraulic cylinders two 36, the profiling hydraulic cylinders three 37 and the profiling hydraulic cylinders four 38.

[0027] In order to facilitate the quick access and quick disengagement of the driving unit, the seeding profiling driving unit further comprises a quick interface one 47; the quick interface one 47 has a quick interface C1, a quick interface C2, a quick interface D1 and a quick interface D2, and the quick interface C1 and the quick interface C2 are in communication, and the quick interface D1 and the quick interface D2 are in communication; the quick interface one 47 is arranged between the seeding profiling driving unit and the power supply unit, the quick interface C2 and the quick interface D2 are respectively connected to the T port and the P port of the profiling reversing valve 33, the quick interface C1 is connected to the main oil return branch 24, and the quick interface D1 is connected to the B port of the main reversing valve 23.

[0028] The three-point suspension driving unit comprises a quick interface two 58, the quick interface two 58 has a quick interface E1, a quick interface E2, a quick interface F1, a quick interface F2, a quick interface G1 and a quick interface G2, and the quick interface E1 and the quick interface E2 are in communication, the quick interface F1 and the quick interface F2 are in communication, and the quick interface G1 and the quick interface G2 are in communication; the quick interface two 58 is arranged between the power supply unit and the three-point suspension driving unit, wherein the quick interface E1 and the quick interface F1 are both connected to the B port of the main reversing valve 23, the quick interface G1 is connected to the main oil return branch 24, the quick interface E2 is connected to the A port of the PTO motor 57, the quick interface F2 is connected to the P port of the suspension reversing valve 48, and the quick interface G2 is connected to the T port of the suspension reversing valve 48.

[0029] In order to prevent the situation that the execution efficiency is reduced due to the excessively high oil temperature, and at the same time, in order to effectively filter out impurities, a filter one 55 is connected in series to the oil suction pipeline; the main oil return branch 24 comprises an oil return pipeline, a cooler 54 and a filter 56, and the outlet end of the oil return pipeline is connected to the hydraulic oil tank 20; the cooler 54 and the filter 56 are connected in series to the oil return pipeline.

[0030] As a preferred embodiment, the main directional valve 23 is a three-position four-way solenoid directional valve. When Y1 is energized, it operates in the left position, with its P port and B port connected, and its T port and A port connected. When it is not energized, it operates in the middle position, with its P port and T port connected, and its A port and B port both cut off. When Y2 is energized, it operates in the right position, with its P port and A port connected, and its T port and B port connected. The wheel track adjustment directional valve 30 is a three-position six-way solenoid directional valve. When it is in the upper position, its P port and A port are connected, its T port and B port are connected, and its X port and C port are both closed. When it is in the middle position, its P port is closed, its T port is connected to both A port and B port, and its X port and C port are connected. When it is in the lower position, its P port is connected to B port, its T port is connected to A port, and its X port and C port are both closed. At the same time, a check valve is provided between its X port and P port, and its C port is closed. The suspended directional valve 48 is a three-position four-way solenoid directional valve. When Y3 is energized, it operates in the left position, with its P port and B port connected, and its T port and A port connected. When it is not energized, it operates in the middle position, with its P port, T port, A port and B port all cut off. When Y4 is energized, it operates in the right position, with its P port and A port connected, and its T port and B port connected. Both the auxiliary directional valve 1 50 and the auxiliary directional valve 2 51 are two-position two-way solenoid directional valves. When energized, they operate in the right position, with their P port connected to their A port and their T port connected to their B port. When de-energized, they operate in the left position, with their P port connected to their B port and their T port connected to their A port. The contour-following directional valve 33 is a three-position four-way directional valve. When Y7 is energized, it operates in the left position, with its P port and B port connected. When it is not energized, it operates in the middle position, with its P port, T port, A port, and B port all cut off. When Y8 is energized, it operates in the right position, with its P port and A port connected, and its T port and B port connected.

[0031] As a preferred embodiment, the intelligent control unit includes a controller and a wireless communication module, wherein the wireless communication module is used to establish a communication link between the controller and an external communication terminal; As a preferred option, when wheel track adjustment is required, the seeder enters a lateral travel mode, such as... Figure 6 As shown, at this time, the left and right traveling wheels travel in opposite directions to pull or push the middle end support beam of the nested telescopic beam to extend or retract outside the middle support sleeve, thereby increasing or decreasing the wheel track. During the adjustment process, closed-loop control is performed based on the displacement signal fed back in real time by the displacement sensor. The wheel track size is adjusted according to the number of sowing units. Preferably, the wheel track adjustment range of the seeder is set to 2.0m to 3.0m.

[0032] As a kind of preferred, the seeding machine provides 2 wheel track adjustment configuration schemes, mechanical step regulation and electro-hydraulic stepless regulation respectively. Among them, electro-hydraulic stepless regulation mode needs to set wheel track adjustment drive unit, and in electro-hydraulic stepless regulation process, wheel track is locked by hydraulic control one-way valve group 32. When mechanical step regulation is used, as an alternative, wheel track adjustment drive unit can be directly removed, and at the same time, a plurality of pairs of positioning holes matched in length direction of middle support sleeve 59 and end support beam 60 are provided, the spacing between adjacent positioning holes is the step regulation spacing, when the positioning holes on middle support sleeve 59 and end support beam 60 coincide, lock pin is inserted for position locking, to fix wheel track by lock pin, to prevent the change of wheel track during driving operation, and ensure the stability of operation.

[0033] The application provides a portal wheel track adjustable electric drive intelligent seeding machine, specifically, a nested telescopic beam is arranged, and meanwhile, a wheel track adjusting drive unit is used to drive the telescopic action of the nested telescopic beam, so that the distance between the two walking wheel boxes can be automatically adjusted, the wheel track adjusting function can effectively improve the steering flexibility of the seeding machine, and then the adaptability of the wheel track can be adjusted according to the field conditions. A walking steering wheel assembly with walking driving and steering driving functions is arranged at the bottom of the two walking wheel boxes, which can not only provide driving force for the walking of the whole machine, but also flexibly realize the in-place steering function, greatly reduce the steering radius and improve the adaptability and flexibility of the whole machine. One or more pneumatic electric drive profiling seeding units are connected to the three-point suspension mechanism hung in the middle of the vehicle frame, the weight of the seeding units can be evenly transmitted to the vehicle frame, the risk of machine forward inclination during operation is reduced, meanwhile, the three-point suspension mechanism cooperates with the three-point suspension drive unit to conveniently adjust the height of the multiple seeding units. The pneumatic electric drive profiling seeding unit can obtain higher seeding performance through the motor direct drive combined with the electro-hydraulic feedback profiling mode, which can significantly improve the seed spacing accuracy and has better operation adaptability. The seeding drive motor and the electro-hydraulic adaptive profiling system are separately arranged for each pneumatic electric drive profiling seeding unit, so that the operation parameters and operation states of each seeding unit can be independently controlled, and meanwhile, the number of the seeding units can be freely selected according to the required operation width. Through the setting of the seeding profiling drive unit, the action of the seeding unit can be conveniently adjusted. Through the setting of the lighting module, the machine vision module can be illuminated during night operation, and the image data acquisition accuracy is ensured. Through the setting of the impact sensing module, an impact signal can be sent to the intelligent control unit in time when impact occurs, and then the intelligent control unit can take timely shutdown disposal measures. Through the setting of the machine vision module, image data around the machine body can be obtained in real time, and then the intelligent control unit can obtain the surrounding obstacle situation based on the image data. Through the setting of the positioning navigation unit, navigation information and path planning support can be provided for the intelligent control unit, and then the intelligent control unit can plan the obstacle avoidance path combined with the image data around the machine body and the navigation information, so that the stability and reliability of the autonomous walking process can be effectively ensured, and correct disposal measures can be taken in time when impact occurs. In addition, the intelligent control unit can realize reliable unmanned driving and operation mode of the seeding machine based on the combined navigation mode of the positioning navigation unit and the machine vision module, that is, the unmanned navigation operation mode. In the unmanned navigation operation mode, the positioning navigation unit is mainly used to complete straight line walking and steering U-turn to opposite line walking, and the machine vision navigation is auxiliary, and mainly used to avoid collision with the obstacles in the field (including people, livestock, trees, power poles and the like) through image analysis.Through the setting of the abnormality alarm module, when the impact signal is received by the intelligent control unit, the warning action can be executed under the control of the intelligent control unit to remind the relevant personnel to take necessary emergency measures in time. Through the setting of the displacement sensor, the wheel track signal can be collected in real time, and then the wheel track data can be obtained by the intelligent control unit according to the wheel track signal, so that the wheel track adjustment driving unit can be automatically closed-loop controlled. Furthermore, the intelligent control unit can solve the steering angle of the steering wheel under different steering modes based on the wheel track data and the Ackerman steering theorem, and the action of the steering motor can be closed-loop controlled according to the obtained steering angle, so that the efficient and accurate steering control process is realized. Especially, in the process of adjusting the wheel track, the left and right walking wheels are first driven by the steering motor to rotate, so that the left and right walking wheels are in the opposite direction driving state, and then the left and right walking wheels are controlled to walk synchronously in the opposite direction, and at the same time, the wheel track adjustment reversing valve is controlled to work in the upper position to drive the auxiliary suspension hydraulic cylinders one and two to extend synchronously outward, so that the self-driving function of the walking wheel and the pulling capacity of the auxiliary suspension hydraulic cylinder are utilized at the same time to realize efficient wheel track adjustment operation, and at the same time, the resistance in the wheel track adjustment process is reduced. The present application adopts a portal structure, and a three-point suspension mechanism is hung in the middle of the vehicle frame, and then the self-adaptive wheel track adjustment function provided by the nested telescopic beam combined with the wheel track adjustment driving unit can be used to hang the seeding equipment with different working widths in the middle according to the size of the field, so that the universality and flexibility of the seeding machine are greatly improved. At the same time, four walking steering wheel assemblies are installed at the bottom of the two walking wheel boxes, and a distributed four-wheel drive + four-wheel steering technical scheme is adopted, through the control of a single walking steering wheel assembly, a plurality of steering modes can be realized, the steering flexibility of the chassis is effectively improved, the steering action can be flexibly performed, the turning radius is greatly reduced, the efficiency of turning around in the row under unmanned operation is improved, and the mobility of the whole machine is improved. Through the setting of the power system, long-time power supply can be provided for the whole vehicle, which is beneficial to guarantee the operation time and operation efficiency.

[0034] The seeding machine has high intelligence degree and convenient maintenance process, can realize self-adaptive stepless adjustment of wheel track, can realize full-path unmanned operation and pneumatic electric drive efficient seeding operation, has multiple steering modes, has high steering flexibility, can greatly improve the operation efficiency, can solve many problems such as poor mobility of the tractor connected with the seeding machine, low unmanned operation efficiency, complex turning operation, high energy consumption and the like, and can provide reliable technical support for the technical upgrading of the seeding machine product.

[0035] Working principle: 1, travel mode: the seeding machine supports four travel modes, such as Figures 5 to 8As shown, respectively, are longitudinal travel, transverse travel, four-wheel spot steering and front-wheel steering, and all modes satisfy the Ackerman steering theorem. In the steering state, the steering angle of each wheel is related to the wheel track and wheelbase of the planter; 2. Operation mode: the planter supports remote control operation and unmanned operation modes; In the remote control operation mode, a remote control device can be set up to set the parameters, and the remote control device is connected to the controller through a wireless communication module, so that the planter can be controlled by the remote control device. In the unmanned operation mode, a dot positioning operation is first performed according to a preset path, and unmanned operation is completed, and the operation path of a single field is as shown in Figure 9 In Figure 9 , point A is the starting point of operation, point B is the ending point of operation, point C is the turning point, the outermost point is the boundary of the field, and each arrow direction changes at the turning point. The turning points are schematically shown in the figure and are not all shown. At the turning point C, the planter performs the following actions: three-point suspension lifting - switching to four-wheel spot steering mode - steering 90° - advancing by one operation width - steering 90° - three-point suspension lowering - starting the next operation width operation. In the unmanned operation mode, the planter reserves one operation width at the outermost side of the field, first completes the seeding operation in the inside row by row, and finally completes the operation in the reserved operation width, so as to realize the full-path unmanned operation in a single field. In straight-line operation, the steering mode of the planter is front-wheel steering mode, so as to adjust the steering angle of the planter in real time and realize high-precision path tracking. When the transverse length of the field is not equal to an integer multiple of the operation width, the seeding drive motor of some seeding units can be turned off to prevent repeated operation.

[0036] 3. Working process of the electro-hydraulic proportional drive system: 3.1. Main oil supply part: as shown in Figure 4 , the constant-pressure variable pump 21 provides a power source for the entire planter. When there is no action of the system execution element (Y1 and Y2 of the main reversing valve 23 cannot be electrified), it works in the middle position, and the constant-pressure variable pump 21 is adaptively adjusted to a small displacement state, and the system basically has no overflow loss, effectively improving the efficiency. The main safety valve 25 is used to set the system safety pressure, which can ensure that the pressure of the main oil supply part is always below the safety upper limit, ensuring the reliability of the system. The pressure gauge 3 is used to measure the pump outlet pressure, so that relevant personnel can intuitively observe the pressure condition.

[0037] 3.2, Track adjustment driving unit: before the seeder works, the track is adjusted according to the number of seeding units 5 (seeding operation width), and during the seeding operation, the track is not adjusted. When the track needs to be adjusted, Y2 of the control main reversing valve 23 is powered on, so that it works in the right position, and the track adjustment reversing valve 30 is controlled to work in the upper position or the lower position. When the track needs to be increased, the track adjustment reversing valve 30 is controlled to work in the upper position, and when the track needs to be reduced, the track adjustment reversing valve 30 is controlled to work in the lower position. Further, in order to realize a more efficient track adjustment process, the seeder can be adjusted to a transverse driving mode (as shown in Figure 6 When the track is adjusted to the set distance, the track adjustment reversing valve 30 is controlled to work in the middle position, and the two hydraulic control ports of the hydraulic control reversing valve group 32 are connected to the main oil return branch 24 by the track adjustment reversing valve 30, so that the pressure of the hydraulic control port of the hydraulic control reversing valve group 32 is released, and the hydraulic control reversing valve group 32 locks the stroke of the track adjustment hydraulic cylinders one and two. The working position of the track reversing valve 31 is determined according to whether the track adjustment hydraulic cylinders one and two need to be retracted or pulled apart. The track safety valve 31 is used to set the safety pressure of the track adjustment circuit, and the set pressure is less than the set pressure of the main safety valve 25.

[0038] 3.3, Three-point suspension driving unit: during the operation of the seeder, the three-point suspension mechanism 4, the PTO motor 57 and the lower pressure profiling system of the seeding unit 5 need to work, at this time, Y1 of the control main reversing valve 23 is powered on. In actual production operation, the three-point suspension mechanism 4 and the PTO motor 57 will not work at the same time, and after the lower pressure profiling system starts to adjust and completes, it enters the self-adaptive adjustment state.

[0039] When it is necessary to lock the suspension hydraulic cylinders one and two, Y3 and Y4 of the suspension reversing valve 48 are both powered off, so that it works in the middle position, at the same time, auxiliary reversing valve one 50 is powered off, so that it works in the left position, and auxiliary reversing valve two 51 is powered off, so that it works in the left position.

[0040] When it is necessary to retract the piston rods of the suspension hydraulic cylinders one and two, Y4 of the suspension reversing valve 48 is powered on, so that it works in the right position, at the same time, auxiliary reversing valve one 50 is powered off, auxiliary reversing valve two 51 is powered off, so that the two auxiliary reversing valves work in the left position, the rod cavities of the suspension hydraulic cylinders one and two are supplied with hydraulic oil, and the piston rods of the two suspension hydraulic cylinders are retracted.

[0041] When the piston rod of the suspension hydraulic cylinders one and two needs to be extended, Y3 of the suspension directional control valve 48 is powered on to make it work in the left position, at the same time, auxiliary directional control valve one 50 is powered off, auxiliary directional control valve two 51 is powered off, so that both auxiliary directional control valves work in the left position, the rodless chambers of the suspension hydraulic cylinders one and two are supplied with hydraulic oil, and the piston rods of the two suspension hydraulic cylinders are extended.

[0042] When the floating state of the suspension hydraulic cylinders one and two needs to be achieved, Y3 and Y4 of the suspension directional control valve 48 are both powered off, at the same time, auxiliary directional control valve one 50 is powered on, auxiliary directional control valve two 51 is powered on, so that both auxiliary directional control valves work in the right position.

[0043] The reserved quick connector 6 (one oil inlet and one oil return) is reserved as an output interface for hydraulic flow, which can be used to drive the fan, motor and other hydraulic actuators in the seeding unit 5.

[0044] 3.4, Seeding Profiling Driving Unit: Profiling directional control valve 33 is used to adjust the initial position of profiling hydraulic cylinders one to four, after adjustment, Y7 and Y8 of the profiling directional control valve 33 are both powered off to make it work in the middle position; at the same time, when the stop valves one to eight are all opened, the rodless chambers of the four profiling hydraulic cylinders are connected with each other, and the rod chambers are also connected with each other. When the corresponding farmland surface of one of the profiling hydraulic cylinders is convex upward, the whole frame of the seeding machine is lifted, which may cause the remaining seeding units to be unable to contact the ground, resulting in abnormal seeding depth. At this time, the oil in the rodless chamber of the profiling hydraulic cylinder above the convex part flows into the rodless chambers of the remaining three profiling hydraulic cylinders, so that the piston rods of the remaining three profiling hydraulic cylinders are extended outward, so that the seeding unit 4 maintains the appropriate grounding pressure, and the consistency of the seeding depth is ensured. When one of the seeding units 5 fails, first, the stop valve connected to the rodless chamber of the corresponding profiling hydraulic cylinder and the stop valve connected to the rod chamber are both in the open state, and all the seeding units 5 are lifted through the profiling directional control valve 33. At this time, the stop valve connected to the rod chamber and the stop valve connected to the rodless chamber of the faulty seeding unit 5 are closed (always in the lifted position), and then the remaining seeding units 5 are adjusted to the working position, and the faulty seeding unit 5 does not perform subsequent operation, which can also be used for convenient maintenance of the faulty seeding unit 5.

Claims

1. An intelligent seeder, comprising a frame (1), characterized in that, It also includes a walking steering wheel assembly (7), a three-point suspension mechanism (4), a seeding unit (5), a power system, a lighting module (8), a machine vision module (10), an impact sensing module (13), a displacement sensor, a positioning and navigation unit (9), an abnormal alarm module (12), an electro-hydraulic proportional drive system, and an intelligent control unit; The frame (1) includes a nested telescopic beam (2) and two wheel boxes (3) installed at both ends of the nested telescopic beam (2). The four walking steering wheel assemblies (7) are arranged in pairs, and the two sets of walking steering wheel assemblies (7) are respectively installed at the front and rear ends of the two walking wheel boxes (3), and the four walking steering wheel assemblies (7) are distributed in a rectangular shape; the walking steering wheel assembly (7) has walking drive and steering drive functions; The three-point suspension mechanism (4) is installed in the middle of the nested telescopic beam (2); the number of the sowing unit (5) is one or more, which is installed on the three-point suspension mechanism (4); the sowing unit (5) is a pneumatic electric drive contour sowing unit. The power system is housed in a wheel box (3), which includes a range extender and a battery. The range extender is connected to the battery, which is used to supply electricity. The lighting module (8) is mounted on the frame (1) to provide lighting during nighttime operations; the machine vision module (10) is mounted on the frame (1) to collect image data in real time; two pairs of impact sensing modules (13) are mounted on the two wheel boxes (3) respectively, with each pair of impact sensing modules (13) mounted on the outer and front sides of the wheel box (3) respectively, to collect impact signals in the forward direction and lateral direction; the displacement sensor is connected to the nested telescopic beam (2) to collect wheel track signals; the positioning and navigation unit (9) is mounted on the frame (1) to provide navigation and path planning support; the abnormal alarm module (12) is mounted on the wheel box (3) to execute alarm actions when an abnormality occurs; the indicator light (11) is mounted on the wheel box (3) to indicate the working status; The electro-hydraulic proportional drive system includes a power supply unit, a wheel track adjustment drive unit, a seeding contour drive unit, and a three-point suspension drive unit; the power supply unit is connected to the wheel track adjustment drive unit, the seeding contour drive unit, and the three-point suspension drive unit respectively, providing power to each drive unit; the wheel track adjustment drive unit is used to drive the nested telescopic beam (2) to perform telescopic movements to adjust the distance between the two traveling wheel boxes (3); the three-point suspension drive unit is used to drive the movement of the three-point suspension mechanism (4); The intelligent control unit is connected to the power system, the walking steering wheel assembly (7), the lighting module (8), the machine vision module (10), the impact sensing module (13), the displacement sensor, the positioning and navigation unit (9), the abnormal alarm module (12), the indicator light (11), and the electro-hydraulic proportional drive system.

2. The intelligent seeder according to claim 1, characterized in that, The walking steering wheel assembly (7) includes a walking frame (18), a walking wheel (16), a slewing bearing (14), a steering motor (17), a drive gear (15), and a drive motor (19). The walking wheel (16) is rotatably connected to the lower space of the walking frame (18) through a central pivot. The slewing bearing (14) is mounted on the top of the walking frame (18) through its inner ring, and is fixedly connected to the lower end of the walking wheel box (3) through its inner ring. The steering motor (17) is fixedly mounted on one side outside the walking frame (18). The drive gear (15) is fixedly fitted outside the output shaft of the steering motor (17) and meshes with the outer gear ring of the slewing bearing (14). The drive motor (15) is fixedly mounted on the other side outside the walking frame (18), and its output shaft is connected to the central shaft of the walking wheel (16).

3. An intelligent seeder according to claim 1 or 2, characterized in that, The impact sensing module (13) includes a spring, an impact sensing rod and a micro switch. The impact sensing rod is connected to the outer side of the wheel box (3) through the spring. The micro switch is installed on the outer side of the wheel box (3) and located inside the impact sensing rod. The micro switch is connected to the intelligent control unit.

4. An intelligent seeder according to claim 1 or 2, characterized in that, The nested telescopic beam (2) includes a central support sleeve (59) and two end support beams (60). The inner sections of the two end support beams (60) are slidably inserted into the left and right inner cavities of the central support sleeve (60), respectively. The outer ends of the two end support beams (60) are fixedly connected to the opposite side of the two wheel boxes (3).

5. The intelligent seeder according to claim 1, characterized in that, The power supply unit includes a hydraulic oil tank (20), a main return oil branch (24), a constant pressure variable pump (21), a power motor (22), a main reversing valve (23), a main safety valve (25), a pressure gauge (26), and a one-way throttle valve (27); the main return oil branch (24) is connected to the hydraulic oil tank (20); the suction port of the constant pressure variable pump (21) is connected to the hydraulic oil tank (20) through a suction pipe; the power motor (22) is connected to the hydraulic oil tank (20) through a main return oil branch (24), a constant pressure variable pump (21), a power motor (22), a main directional ...). The variable pressure pump (21) is coaxially connected; the P port of the main directional valve (23) is connected to the oil discharge port of the constant pressure variable pump (21), and its T port is connected to the main return oil branch (24); the oil inlet and oil outlet of the main safety valve (25) are respectively connected to the P port and T port of the main directional valve (23); the pressure gauge (26) is connected to the oil discharge port of the constant pressure variable pump (21); the oil inlet of the one-way throttle valve (27) is connected to the A port of the main directional valve (23); The wheel track adjustment drive unit includes a wheel track adjustment directional valve (30), a wheel track adjustment hydraulic cylinder one (28), a wheel track adjustment hydraulic cylinder two (29), a hydraulically controlled check valve group (32), and a wheel track safety valve (31). The P port of the wheel track adjustment directional valve (30) is connected to the oil outlet of the one-way throttle valve (27), and its T port is connected to the main return oil branch (24). The first oil inlet and the second oil inlet of the hydraulically controlled check valve group (32) are respectively connected to the wheel track adjustment directional valve (30). The A port and B port of the wheel track adjusting hydraulic cylinder (28) are connected; the rodless chamber oil port and the rod chamber oil port of the wheel track adjusting hydraulic cylinder (28) are respectively connected to the first oil outlet and the second oil outlet of the hydraulic control check valve group (32); the rodless chamber oil port and the rod chamber oil port of the wheel track adjusting hydraulic cylinder (29) are respectively connected to the first oil outlet and the second oil outlet of the hydraulic control check valve group (32); the inlet and outlet of the wheel track safety valve (31) are respectively connected to the P port and the T port of the wheel track adjusting directional valve (30); The number of the sowing units (5) is four; the sowing contour drive unit includes a contour reversing valve (33), a hydraulic control check valve (34), a contour hydraulic cylinder one (35), a contour hydraulic cylinder two (36), a contour hydraulic cylinder three (37), and a contour hydraulic cylinder four (38); the P port of the contour reversing valve (33) is connected to the B port of the main reversing valve (23), and its T port is connected to the main return oil branch (24); the oil inlet of the hydraulic control check valve (34) is connected to the contour reversing valve (35). The A port of 33) is connected, and its hydraulic control port is connected to the B port of the contour reversing valve (33); the rod chambers of the contour hydraulic cylinder one (35), contour hydraulic cylinder two (36), contour hydraulic cylinder three (37) and contour hydraulic cylinder four (38) are all connected to the B port of the contour reversing valve (33), and the rodless chambers of the contour hydraulic cylinder one (35), contour hydraulic cylinder two (36), contour hydraulic cylinder three (37) and contour hydraulic cylinder four (38) are all connected to the oil outlet of the hydraulic control check valve (34); The three-point suspension drive unit includes a suspension directional valve (48), a suspension safety valve (49), an auxiliary directional valve one (50), an auxiliary directional valve two (51), a suspension hydraulic cylinder one (52), a suspension hydraulic cylinder two (53), a PTO motor (57), and a reserved quick interface (6); the P port of the suspension directional valve (48) is connected to the B port of the main directional valve (23), and its T port is connected to the main return oil branch (24); the inlet and return ports of the suspension safety valve (49) are connected to the P port and T port of the suspension directional valve (48), respectively; the P port of the auxiliary directional valve one (50) and the P port of the auxiliary directional valve two (51) are connected to the A port and B port of the suspension safety valve (49), respectively, and the T port of the auxiliary directional valve one (50) and the T port of the auxiliary directional valve two (51) are both connected to the T port of the suspension directional valve (48); the auxiliary Port A of directional control valve 1 (50) and port A of auxiliary directional control valve 2 (51) are both closed; the rod-side ports of suspension hydraulic cylinder 1 (52) and suspension hydraulic cylinder 2 (53) are connected to port B of auxiliary directional control valve 1 (50), and the rodless ports of suspension hydraulic cylinder 1 (52) and suspension hydraulic cylinder 2 (53) are connected to port B of auxiliary directional control valve 2 (51); port A of PTO motor (57) is connected to port B of main directional control valve (23), and port B is connected to port T of suspension directional control valve (48); the reserved quick interface has reserved interface A1, reserved interface A2, reserved interface B1 and reserved interface B2, and reserved interfaces A1 and A2 are connected, reserved interfaces B1 and B2 are connected, and reserved interface A1 is connected to the main return oil branch (24), and reserved interface B1 is connected to port B of main directional control valve (23).

6. The intelligent seeder according to claim 5, characterized in that, The seeding contour drive unit also includes stop valve one (39), stop valve two (40), stop valve three (41), stop valve four (42), stop valve five (43), stop valve six (44), stop valve seven (45) and stop valve eight (46); the stop valve one (39), stop valve two (40), stop valve three (41) and stop valve four (42) are respectively connected in series to the rodless chamber oil port of the contour hydraulic cylinder one (35), contour hydraulic cylinder two (36), contour hydraulic cylinder three (37) and contour hydraulic cylinder four (38); the stop valve five (43), stop valve six (44), stop valve seven (45) and stop valve eight (46) are respectively connected in series to the rod chamber oil port of the contour hydraulic cylinder one (35), contour hydraulic cylinder two (36), contour hydraulic cylinder three (37) and contour hydraulic cylinder four (38).

7. The intelligent seeder according to claim 5, characterized in that, The seeding contour drive unit also includes a quick interface one (47); the quick interface one (47) has quick interface C1, quick interface C2, quick interface D1 and quick interface D2, and quick interfaces C1 and C2 are connected, and quick interfaces D1 and D2 are connected; the quick interface one (47) is set between the seeding contour drive unit and the power supply unit, quick interfaces C2 and D2 are connected to the T port and P port of the contour reversing valve (33) respectively, quick interface C1 is connected to the main return oil branch (24), and quick interface D1 is connected to the B port of the main reversing valve (23).

8. The intelligent seeder according to claim 5, characterized in that, The three-point suspension drive unit also includes a second quick interface (58), which has quick interfaces E1, E2, F1, F2, G1 and G2, and quick interfaces E1 and E2 are connected, quick interfaces F1 and F2 are connected, and quick interfaces G1 and G2 are connected; the second quick interface (58) is located between the power supply unit and the three-point suspension drive unit, wherein quick interfaces E1 and F1 are both connected to the B port of the main reversing valve (23), quick interface G1 is connected to the main return oil branch (24), quick interface E2 is connected to the A port of the PTO motor (57), quick interface F2 is connected to the P port of the suspension reversing valve (48), and quick interface G2 is connected to the T port of the suspension reversing valve (48).

9. An intelligent seeder according to claim 6, characterized in that, A filter (55) is connected in series on the oil suction line; the main return oil branch (24) includes a return oil line, a cooler (54) and a filter (56), and the outlet end of the return oil line is connected to the hydraulic oil tank (20); the cooler (54) and the filter (56) are connected in series on the return oil line.

10. An intelligent seeder according to claim 5, characterized in that, The main directional valve (23) is a three-position four-way solenoid directional valve. When Y1 is energized, it works in the left position, with its P port and B port connected, and its T port and A port connected. When it is not energized, it works in the middle position, with its P port and T port connected, and its A port and B port both cut off. When Y2 is energized, it works in the right position, with its P port and A port connected, and its T port and B port connected. The wheel track adjustment directional valve (30) is a three-position six-way solenoid directional valve. When it is in the upper position, its P port and A port are connected, its T port and B port are connected, and its X port and C port are both closed. When it is in the middle position, its P port is closed, its T port is connected to both A port and B port, and its X port and C port are connected. When it is in the lower position, its P port is connected to B port, its T port is connected to A port, and its X port and C port are both closed. At the same time, a check valve is provided between its X port and P port, and its C port is closed. The suspended directional valve (48) is a three-position four-way solenoid directional valve. When Y3 is energized, it operates in the left position, with its P port and B port connected, and its T port and A port connected. When it is not energized, it operates in the middle position, with its P port, T port, A port and B port all cut off. When Y4 is energized, it operates in the right position, with its P port and A port connected, and its T port and B port connected. The auxiliary directional valve one (50) and the auxiliary directional valve two (51) are both two-position two-way solenoid directional valves. When energized, they work in the right position, with their P port connected to their A port and their T port connected to their B port. When de-energized, they work in the left position, with their P port connected to their B port and their T port connected to their A port. The contour-following directional valve (33) is a three-position four-way directional valve. When Y7 is energized, it operates in the left position, with its P port and B port connected. When it is not energized, it operates in the middle position, with its P port, T port, A port and B port all cut off. When Y8 is energized, it operates in the right position, with its P port and A port connected, and its T port and B port connected.

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