Agricultural machinery steering man-machine cooperative control device and agricultural machinery auxiliary navigation system

Abstract

According to the agricultural machine steering man-machine cooperative control device and the agricultural machine auxiliary navigation system, a plurality of manual control elements are additionally arranged on a steering engine structure, auxiliary navigation control instructions correspondingly triggered by the manual control elements are supported to be configured and operated, and a man-machine cooperative physical structure is provided; operators are supported to directly intervene in the operation state of the agricultural vehicle, so that the operation efficiency is remarkably improved, and the operation safety is ensured; the agricultural machine steering man-machine cooperative control device is installed below the steering wheel of an agricultural vehicle, the deflector rod, the deflector rod end button and the mushroom button are arranged to serve as manual control elements, the human engineering is met, operation is convenient, and frequent operation of a touch screen during field operation is avoided; therefore, the technical problems of poor operation adaptability, low operation efficiency and poor safety caused by lack of a man-machine cooperation physical structure or single man-machine cooperation operation mode of a steering engine are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery auxiliary navigation, in particular to an agricultural machinery steering man-machine cooperative control device and an agricultural machinery auxiliary navigation system. BACKGROUND

[0002] The agricultural machinery auxiliary navigation system is an intelligent equipment for realizing automatic driving of agricultural vehicles by using modern information technology, which is profoundly changing the traditional agricultural production mode and promoting the development of modern agriculture towards intelligence and automation. The agricultural machinery auxiliary navigation system integrates satellite positioning, inertial navigation, mechanical control and man-machine interaction, etc. to precisely control the steering device of agricultural vehicles, so that the agricultural vehicles can strictly travel along the planned route, thereby effectively improving the operation efficiency and quality of the agricultural vehicles and reducing the labor intensity of the operators.

[0003] The existing agricultural auxiliary navigation system usually includes a satellite positioning receiver, an inertial measurement unit, a navigation controller, a steering servo, a sensor module and a display module. The steering servo, as the end execution mechanism of the agricultural machinery auxiliary navigation system, is connected with the steering device of the agricultural vehicle and is mainly used for receiving the control instructions from the navigation controller and driving the steering device of the agricultural vehicle to adjust the wheel angle of the agricultural vehicle to ensure that the agricultural vehicle travels along the planned operation route.

[0004] The existing steering servo is usually only a simple execution mechanism and only drives the agricultural vehicle according to the control instructions of the navigation controller. However, the working site environment is complex during actual operation of the agricultural vehicle, and if an unrecognized obstacle is encountered or the navigation controller signal is lost or the program is incorrect, the operator cannot intervene in an emergency, which may cause interruption of the operation, affect the operation efficiency and even cause a safety accident.

[0005] Some agricultural machinery auxiliary navigation systems can support the operator to input control instructions through the man-machine interaction interface provided by the display module, so as to manually control the steering servo and realize manual intervention. However, when the operator is working on site, the hands are usually in a wet or muddy state, or the operator may wear gloves, which makes it inconvenient to directly operate the man-machine interaction interface. If the hands are wiped clean or the gloves are removed before operation, on the one hand, the operation process is complicated and inconvenient, and on the other hand, the time is wasted and the intervention cannot be timely, which may still cause a safety accident.

[0006] In order to improve the operation adaptability and safety of the steering gear, some steering gears increase the rocker switch and the self-resetting mushroom button switch to realize the on-off power supply of the agricultural vehicle or the quick start-stop of the operation state. However, the button can only realize a single function, has a low utilization rate, is inconvenient to operate, and when encountering unrecognized obstacles, or signal loss of the navigation controller, program errors and the like, the agricultural vehicle can only be interrupted for emergency intervention to avoid safety accidents, which seriously affects the field operation efficiency of the agricultural vehicle. SUMMARY

[0007] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide an agricultural machine steering man-machine collaborative control device and an agricultural machine auxiliary navigation system, which are used to solve the technical problems of poor operation adaptability, low operation efficiency and poor safety caused by the lack of man-machine collaborative physical structure or single man-machine collaborative operation mode of the existing steering gear.

[0008] To achieve the above-mentioned purposes and other related purposes, the first aspect of the present application provides an agricultural machine steering man-machine collaborative control device, which is installed below the steering wheel of an agricultural vehicle and applied to an agricultural machine auxiliary navigation system, comprising: a steering gear structure, which is provided with a plurality of manual control elements; each manual control element is configured to generate different manual control trigger signals in response to different operations of a user; a steering gear controller, which is connected with the steering gear structure, the agricultural vehicle and a navigation controller of the agricultural machine auxiliary navigation system, for receiving and analyzing the manual control trigger signals and then sending them to the navigation controller, so that the navigation controller updates the planned operation path of the agricultural vehicle according to a preset manual control trigger mechanism and generates a steering control instruction; and for analyzing the steering control instruction and driving the agricultural vehicle to perform corresponding steering operation in response to the steering control instruction sent by the navigation controller.

[0009] In some embodiments of the first aspect of the application, each manual control element comprises: a dial lever disposed on the right side of the rudder structure and connected to the rudder controller through a first manual control trigger circuit; the dial lever is configured to turn on the first manual control trigger circuit and generate a corresponding manual control trigger signal sent to the rudder controller in response to the dialing operation of the user; a dial lever end button disposed at the end of the dial lever and connected to the rudder controller through a second manual control trigger circuit; the dial lever end button is configured to turn on the second manual control trigger circuit and generate a corresponding manual control trigger signal sent to the rudder controller in response to the pressing operation of the user; a mushroom button disposed on the front side of the rudder structure and connected to the rudder controller through a third manual control trigger circuit, the mushroom button is configured to turn on the third manual control trigger circuit and generate a corresponding manual control trigger signal sent to the rudder controller in response to the pressing operation of the user.

[0010] In some embodiments of the first aspect of the application, the dial lever comprises a lever body that can be swung forward or backward around an axis pin; the dial lever is configured to swing the lever body forward to a first angle in response to the forward dialing operation of the user, to close the forward travel switch of the first manual control trigger circuit, to turn on the first manual control trigger circuit, and to generate a first type of manual control trigger signal; the dial lever is also configured to swing the lever body backward to a second angle in response to the backward dialing operation of the user, to close the backward travel switch of the first manual control trigger circuit, to turn on the first manual control trigger circuit, and to generate a second type of manual control trigger signal. The manual control trigger mechanism comprises: a corresponding relationship between each type of manual control trigger signal and one or more auxiliary navigation control instructions.

[0011] In some embodiments of the first aspect of the application, the types of the auxiliary navigation control instructions include: an auxiliary navigation start-stop control instruction configured to control the agricultural machine auxiliary navigation system to start or stop by the navigation controller in response to the control instruction; a manual new task control instruction configured to perform a new task by the navigation controller in response to the control instruction; a manual marking task route start point control instruction and a manual marking task route end point control instruction configured to mark a start point or an end point of a task route of a current task by the navigation controller in response to the control instruction to plan the work path; a left U-turn manual control instruction, a left offset manual control instruction, a right U-turn manual control instruction, and a right offset manual control instruction configured to update the work path by the navigation controller in response to the control instruction, and generate a corresponding left U-turn steering control instruction, a left offset steering control instruction, a right U-turn steering control instruction, or a right offset steering control instruction and send it to the steering engine controller to drive the agricultural vehicle to perform a corresponding left U-turn steering operation, a left offset steering operation, a right U-turn steering operation, or a right offset steering operation; a horn manual control instruction configured to generate a horn control instruction by the navigation controller in response to the control instruction and send it to the steering engine controller to drive the horn of the agricultural vehicle to perform a horn operation; and other custom auxiliary navigation control instructions.

[0012] In some embodiments of the first aspect of the application, the steering engine controller comprises a second communication unit connected with the first communication unit of the navigation controller for signal transmission between the steering engine controller and the navigation controller.

[0013] In some embodiments of the first aspect of the application, the second communication unit adopts a CAN communication protocol, and the steering engine controller sends the manual control trigger signal to the navigation controller through the second communication unit after CAN signal conversion.

[0014] To achieve the above object and other related objects, the second aspect of the present application provides an agricultural machine assisted navigation system, which is arranged on an agricultural vehicle, is used for planning a working path of the agricultural vehicle and controlling the agricultural vehicle to travel along the planned working path, and comprises a satellite positioning receiver, a navigation controller and the agricultural machine steering man-machine cooperative control device according to any one of the above embodiments. The agricultural machine steering man-machine cooperative control device is installed below a steering wheel of the agricultural vehicle and comprises a steering engine structure and a steering engine controller. The navigation controller is connected with the satellite positioning receiver and the steering engine controller respectively. The steering engine controller is further connected with the agricultural vehicle. The agricultural machine assisted navigation system plans the working path of the agricultural vehicle and controls the agricultural vehicle to travel along the planned working path in the following manner: the satellite positioning receiver receives satellite signals and locates the agricultural vehicle to output the location data of the agricultural vehicle; the steering engine structure generates a manual control trigger signal corresponding to a specified operation of a user and sends the manual control trigger signal to the steering engine controller; the steering engine controller analyzes the manual control trigger signal and sends the manual control trigger signal to the navigation controller; the navigation controller plans the working path of the agricultural vehicle based on a preset working path planning strategy and a manual control trigger mechanism according to the location data of the agricultural vehicle and the manual control trigger signal, generates a steering control instruction and sends the steering control instruction to the steering engine controller; and the steering engine controller analyzes the steering control instruction and drives the agricultural vehicle to perform a corresponding steering operation.

[0015] In some embodiments of the second aspect of the present application, the agricultural machine assisted navigation system further comprises a display module connected with the navigation controller, which comprises a man-machine interactive interface. The man-machine interactive interface is used for obtaining a working path planning strategy and a manual control trigger mechanism configured by a user and sending the working path planning strategy and the manual control trigger mechanism to the navigation controller, so that the navigation controller plans the working path of the agricultural vehicle based on the working path planning strategy and the manual control trigger mechanism and generates the steering control instruction.

[0016] In some embodiments of the second aspect of the present application, the navigation controller comprises a first communication unit connected with a second communication unit of the steering engine controller, which is used for signal transmission between the navigation controller and the steering engine controller. The first communication unit adopts a CAN communication protocol.

[0017] As described above, the present application has the following beneficial effects: the present application provides an agricultural machine steering man-machine collaborative control device and an agricultural machine auxiliary navigation system, by adding a plurality of manual control elements to the steering engine structure, and supporting the configuration of auxiliary navigation control instructions triggered by operating each manual control element, a man-machine collaborative physical structure is provided, which supports the direct intervention of the operation personnel in the operation state of the agricultural vehicle, significantly improves the operation efficiency, and ensures the operation safety; by installing the agricultural machine steering man-machine collaborative control device under the steering wheel of the agricultural vehicle, and setting the lever, lever end button and mushroom button as manual control elements, it is ergonomic, convenient to operate, and avoids frequent operation of the touch screen during field operation; thereby solving the technical problems of poor operation adaptability, low operation efficiency and poor safety caused by the lack of man-machine collaborative physical structure or single man-machine collaborative operation mode of the steering engine. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure schematic diagram of the agricultural machine auxiliary navigation system in an embodiment of the present application is shown.

[0019] Figure 2 The structure schematic diagram of the agricultural machine steering man-machine collaborative control device in an embodiment of the present application is shown.

[0020] Figure 3 The structure schematic diagram of the steering engine structure in an embodiment of the present application is shown.

[0021] Figure 4 The flow schematic diagram of the agricultural machine auxiliary navigation mode in an embodiment of the present application is shown.

[0022] Element number explanation

[0023] 1 housing

[0024] 2 lever

[0025] 3 lever end button

[0026] 4 mushroom button DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described in detail below with specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the present specification. The present application can also be implemented or applied by other different specific embodiments, and each detail in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0028] To solve the problems in the background art, the application provides an agricultural machine steering man-machine collaborative control device and an agricultural machine auxiliary navigation system, aiming to add multiple manual control elements to the steering engine structure and support the configuration of control instructions triggered by operating the manual control elements, thereby providing a man-machine collaborative physical structure that supports the direct intervention of the operating personnel in the operating state of the agricultural vehicle, thereby solving the technical problems of poor work adaptability, low work efficiency and poor safety caused by the lack of man-machine collaborative physical structure or single man-machine collaborative operation mode in the existing steering engine.

[0029] At the same time, in order to make the purpose, technical scheme and advantages of the application more clear and explicit, the technical scheme in the embodiments of the application is further described in detail through the following embodiments and in conjunction with the drawings. It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0030] As shown in Figure 1 , a structural schematic diagram of an agricultural machine auxiliary navigation system in an embodiment of the application is shown. It should be understood that the agricultural machine auxiliary navigation system is an intelligent equipment for realizing automatic driving of an agricultural vehicle by using modern information technology, which is arranged in the agricultural vehicle and is used for planning an operating path of the agricultural vehicle and controlling the agricultural vehicle to travel according to the planned operating path by integrating key technologies such as satellite positioning, inertial navigation, mechanical control and man-machine interaction. Thus, the operating needs of the agricultural scene are met, the operating efficiency and operating quality of the agricultural vehicle are improved, and the labor intensity of the operating personnel is reduced.

[0031] Specifically, the agricultural machine auxiliary navigation system at least includes a satellite positioning receiver, a navigation controller and an agricultural machine steering man-machine collaborative control device. As shown in Figure 1 , the satellite positioning receiver, the navigation controller and the agricultural machine steering man-machine collaborative control device are connected in sequence. The agricultural machine steering man-machine collaborative control device is further connected to the agricultural vehicle.

[0032] The satellite positioning receiver is used to receive satellite signals and position the agricultural vehicle, and output the positioning data of the agricultural vehicle to the navigation controller. In a specific embodiment, the satellite positioning receiver includes a GNSS (Global Navigation Satellite System) antenna and a positioning board card. The Beidou or GPS (Global Positioning System) satellite signals can be received through the GNSS antenna, and the received satellite signals can be solved through the positioning board card to generate corresponding latitude, longitude, height, speed and other positioning data.

[0033] The navigation controller is configured to plan a work path of the agricultural vehicle based on a preset work path planning strategy according to the positioning data of the agricultural vehicle, and generate a steering control instruction of the agricultural vehicle and send the steering control instruction to the agricultural machinery steering man-machine cooperative control device. In a specific embodiment, the navigation controller can be built-in with a data processing algorithm and a navigation algorithm, the positioning data of the agricultural vehicle is processed by the data processing algorithm, for example, a filtering algorithm is used to eliminate noise, an optimal work path is generated according to the denoised positioning data, and a corresponding steering control instruction is generated according to the current position information and attitude information of the agricultural vehicle, including wheel adjustment angle, turning radius or vehicle speed, etc.

[0034] In an embodiment, the agricultural auxiliary navigation system further comprises an inertial measurement unit. The inertial measurement unit is connected with the navigation controller and is configured to measure the pose information of the agricultural vehicle, including the angular velocity, linear acceleration and direction information of the agricultural vehicle, so that the navigation controller can optimize the work path of the agricultural vehicle in combination with the positioning data and the pose information of the agricultural vehicle, thereby improving the navigation accuracy of the agricultural auxiliary navigation system. Moreover, the inertial measurement unit can provide the navigation controller with a short-time attitude and position calculation of the agricultural vehicle when the satellite signal is temporarily lost, thereby ensuring the continuity of the navigation of the agricultural vehicle and improving the reliability of the agricultural auxiliary navigation system.

[0035] The agricultural machinery steering man-machine cooperative control device is a terminal actuator of the agricultural auxiliary navigation system, which is connected with the agricultural vehicle, specifically connected with the steering device of the agricultural vehicle, such as connected with the steering wheel of the agricultural vehicle, configured to receive the steering control instruction sent by the navigation controller, respond to the steering control instruction, drive the steering device of the agricultural vehicle to perform corresponding steering operation, and control the agricultural vehicle to travel along the planned work path.

[0036] The agricultural auxiliary navigation system realizes the auxiliary navigation of the agricultural vehicle through the satellite positioning receiver, the navigation controller and the agricultural machinery steering man-machine cooperative control device. However, in this auxiliary navigation mode, the agricultural machinery steering man-machine cooperative control device only drives the agricultural vehicle according to the steering control instruction of the navigation controller. If an unrecognized obstacle is encountered in the work site, or the satellite signal is lost, or the navigation controller program is wrong, the work personnel cannot intervene in time, which not only may cause interruption of work and affect work efficiency, but also may cause safety accidents, and the risk is uncontrollable.

[0037] In an embodiment, the agricultural auxiliary navigation system further comprises a display module. The display module is connected with the navigation controller and is configured to display the planned work path of the agricultural vehicle or the current travel trajectory of the agricultural vehicle, etc.

[0038] In a specific embodiment, the display module comprises a human-machine interface for supporting user input, including configuring the job path planning strategy, such as the starting point and the ending point of each job route, the width between job routes, or providing a manual control mode, and the user can input manual control instructions through the human-machine interface to control the agricultural vehicle and the agricultural vehicle steering human-machine collaborative control device to realize human intervention.

[0039] However, the display module is usually designed as a touch screen, and when the operation personnel are on site, their hands are usually in a wet or muddy state, or they may wear gloves for operation, and it is extremely inconvenient to directly operate the touch screen.

[0040] Therefore, to solve the above technical problems, the agricultural vehicle steering human-machine collaborative control device provided by the present application can provide a human-machine collaborative physical structure for collaborative control of the agricultural vehicle, optimize the assisted navigation mode of the agricultural vehicle auxiliary navigation system, and improve the operation adaptability, operation efficiency and operation safety of the agricultural vehicle auxiliary navigation system.

[0041] As shown in Figure 2 , the agricultural vehicle steering human-machine collaborative control device comprises a steering gear structure and a steering gear controller.

[0042] As shown in Figure 3 , a structural diagram of a steering gear structure of the present application is shown. The steering gear structure comprises a housing 1, and the steering gear controller is packaged in the housing 1 (not shown). The steering gear structure is provided with a plurality of manual control elements. Each manual control element is configured to generate different manual control trigger signals in response to different operations of the user as a human-machine collaborative physical structure for collaborative control of the agricultural vehicle.

[0043] In an embodiment, as shown in Figure 3 , each manual control element comprises a lever 2, a lever end button 3 and a mushroom button 4. Among them, the lever 2 is arranged on the right side of the steering gear structure, the lever end button 3 is arranged at the end of the lever 2, and the mushroom button 4 is arranged on the front side of the steering gear structure. It should be noted that in a preferred embodiment, the agricultural vehicle steering human-machine collaborative control device is installed below the steering wheel of the agricultural vehicle, and the operation of the lever 2, the lever end button 3 and the mushroom button 4 by the operation personnel is ergonomic and convenient to operate, even during the driving of the agricultural vehicle.

[0044] The lever 2 can adopt an electric control lever structure and is connected to the steering gear controller through a first manual control trigger circuit and is configured to turn on the first manual control trigger circuit in response to the user's lever operation and generate a corresponding manual control trigger signal to the steering gear controller.

[0045] It should be understood that the electric control lever structure generally includes a spring reset mechanism, a ratchet slot positioning mechanism, and a contact point triggering mechanism. After the lever is pulled, energy is stored by the spring inside the structure, and when it swings to a certain angle, the ratchet falls into the corresponding slot, locking the lever at this fixed position. At this time, the metal sheet inside the structure swings to connect a certain circuit, triggering a corresponding electronic signal, and after the lock is released, the spring releases energy, causing the lever to automatically return to its original position. The electric control lever structure can support forward, backward, left or right pulling, and can also support fluctuation in the same direction to different gears, thereby triggering multiple different electronic signals.

[0046] In a specific embodiment, the lever 2 is configured to respond to a user's forward pulling operation, the lever body swings forward to a first angle, closes the forward travel switch of the first manual control trigger circuit to connect the first manual control trigger circuit, and generates a first type of manual control trigger signal. The lever 2 is also configured to respond to a user's backward pulling operation, the lever body swings backward to a second angle, closes the backward travel switch of the first manual control trigger circuit to connect the first manual control trigger circuit, and generates a second type of manual control trigger signal.

[0047] It should be noted that the user can also configure the lever 2 to respond to a user's left or right pulling operation, or configure the lever 2 to respond to a user's forward pulling operation, the lever body swings forward to a first angle, a second angle, etc. to trigger different manual control trigger signals. The present application is not limited.

[0048] The lever end button 3 is connected to the rudder controller through a second manual control trigger circuit and is configured to respond to a user's pressing operation to connect the second manual control trigger circuit and generate a corresponding manual control trigger signal to the rudder controller. In a specific embodiment, the lever end button 3 is configured to respond to a user's pressing operation to connect the second manual control trigger circuit and generate a third type of manual control trigger signal.

[0049] The mushroom button 4 is connected to the rudder controller through a third manual control trigger circuit and is configured to respond to a user's pressing operation to connect the third manual control trigger circuit and generate a corresponding manual control trigger signal to the rudder controller. In a specific embodiment, the mushroom button 4 is configured to respond to a user's pressing operation to connect the third manual control trigger circuit and generate a fourth type of manual control trigger signal.

[0050] As Figure 2The steering controller is connected with each manual control element of the steering structure respectively, and is connected with the agricultural vehicle and the navigation controller respectively, and the working mode mainly includes the following steps.

[0051] ①After receiving and analyzing the manual control trigger signal, the manual control trigger signal is sent to the navigation controller, so that the navigation controller updates the planned operation path of the agricultural vehicle according to the preset manual control trigger mechanism, and generates a steering control instruction.

[0052] ②In response to the steering control instruction sent by the navigation controller, the steering control instruction is analyzed, and the agricultural vehicle is driven to perform corresponding steering operation.

[0053] Among them, the manual control trigger mechanism includes: the corresponding relationship between each type of manual control trigger signal and one or more auxiliary navigation control instructions.

[0054] In an embodiment, the type of auxiliary navigation control instruction includes:

[0055] ①Auxiliary navigation start-stop control instruction.

[0056] The auxiliary navigation start-stop control instruction is configured to control the start-stop of the agricultural auxiliary navigation system by the navigation controller in response to the control instruction.

[0057] ②Manual new operation control instruction.

[0058] The manual new operation control instruction is configured to execute a new operation task by the navigation controller in response to the control instruction.

[0059] ③Manual marking operation route start point control instruction and manual marking operation route end point control instruction.

[0060] The manual marking operation route start point control instruction and the manual marking operation route end point control instruction are respectively configured to mark the start point or the end point of the operation route of the current operation task by the navigation controller in response to the control instruction, so as to plan the operation path.

[0061] ④Left U-turn manual control instruction, left offset manual control instruction, right U-turn manual control instruction and right offset manual control instruction.

[0062] Each manual control instruction is respectively configured to update the operation path by the navigation controller in response to the control instruction, and generate corresponding left U-turn steering control instruction, left offset steering control instruction, right U-turn steering control instruction or right offset steering control instruction and send to the steering controller, so as to drive the agricultural vehicle to perform corresponding left U-turn steering operation, left offset steering operation, right U-turn steering operation or right offset steering operation.

[0063] In an embodiment, the agricultural vehicle steering man-machine collaborative control device further comprises a driving structure. The driving structure is connected to the steering controller and connected to the steering device of the agricultural vehicle, and is configured to drive the steering device of the agricultural vehicle to perform a left U-turn steering operation, a left offset steering operation, a right U-turn steering operation or a right offset steering operation in response to the driving instruction of the steering controller.

[0064] Preferably, the driving structure adopts a motor, a rotor in the motor is connected to the steering column of the agricultural vehicle through a flange, and the steering controller drives the rotor in the motor to rotate, thereby driving the steering column to rotate and enabling the agricultural vehicle to perform a corresponding steering operation.

[0065] ⑤horn manual control instruction.

[0066] The horn manual control instruction is configured to enable the navigation controller to generate a horn control instruction in response to the control instruction and send the horn control instruction to the steering controller, so as to drive the horn of the agricultural vehicle to perform a horn operation.

[0067] In an embodiment, the steering controller can be connected to the horn of the agricultural vehicle, and the horn control instruction can be sent to the horn to drive the horn to perform a horn operation.

[0068] ⑥other customized auxiliary navigation control instruction.

[0069] It should be noted that the manual control triggering mechanism can be customized by the user in advance. In a preferred embodiment, the manual control triggering mechanism customized by the user can be obtained through the man-machine interaction interface of the display module and sent to the navigation controller for storage, so that the navigation controller can further analyze the manual control triggering signal according to the manual control triggering mechanism to obtain a matching target auxiliary navigation control instruction, thereby planning or updating the working path of the agricultural vehicle and generating a corresponding steering control instruction.

[0070] In an embodiment, one way of configuring the manual control triggering mechanism by the user includes configuring each type of manual control triggering signal to trigger a corresponding type of auxiliary navigation control instruction. For example, the first type of manual control triggering signal is configured to trigger one of the marker work route starting point control instruction or the left U-turn control instruction.

[0071] In another embodiment, another way of configuring the manual control trigger mechanism by the user includes configuring each type of manual control trigger signal to correspond to triggering two or more types of auxiliary navigation control instructions, so as to realize the function multiplexing of each manual control element. For example, the first type of manual control trigger signal is configured to correspond to triggering the marking work route start control instruction and the left turn control instruction. It should be noted that when a type of manual control trigger signal is configured to correspond to triggering two or more types of auxiliary navigation control instructions, the navigation controller can generate a target auxiliary navigation control instruction according to the current work state of the agricultural vehicle. For example, if the agricultural vehicle is currently in the manual driving state and needs to enter the auxiliary navigation mode, a new work needs to be created and a work path needs to be planned, and then the navigation controller can determine that the manual control trigger signal should trigger the generation of a corresponding manual new work control instruction or a manual marking work route start control instruction, a manual marking work route end control instruction; for example, if the agricultural vehicle is currently in the auxiliary navigation mode and encounters an unrecognized obstacle, etc., the steering controller can determine that the manual control trigger signal should trigger the generation of a corresponding left turn manual control instruction, a left offset manual control instruction, a right turn manual control instruction, or a right offset manual control instruction.

[0072] By configuring the manual control trigger mechanism, the agricultural auxiliary navigation system can realize basic and high-frequency process actions such as new work creation, marking the start point of the work route of the current work task, marking the end point of the work route of the current work task, left turn, left offset, right turn, right offset, and loudspeaker broadcasting, so that the work personnel can conveniently intervene through each manual control element during on-site work, and the need for frequent operation of the touch screen is avoided.

[0073] However, it should be noted that in addition to selecting and quickly configuring from the existing types of auxiliary navigation control instructions, the user can also customize other types of auxiliary navigation control instructions, such as configuring control instructions for the power supply device or the power device of the agricultural vehicle, control instructions for the farm implement, etc., so as to expand the control functions of each manual control element and meet more work scenarios that require human intervention. Whether the control instructions that can be quickly configured or the control instructions that are customized, the user can set them according to needs, and the present application does not specifically limit them.

[0074] In a specific embodiment, the steering controller adopts a wiring board, the wiring board is integrated with a microcontroller, and is packaged in Figure 3 The housing 1 of the steering structure. In this embodiment, the steering controller further includes a second communication unit. The second communication unit can also be integrated on the wiring board. The second communication unit is connected with the first communication unit of the navigation controller, respectively, for signal transmission between the steering controller and the navigation controller.

[0075] Preferably, the second communication unit transmits data and signals based on CAN (Controller Area Network) communication protocol. The rudder controller converts the manual control trigger signal into a CAN signal and sends it to the navigation controller through the second communication unit.

[0076] In order to describe the man-machine cooperative operation mode of the agricultural vehicle steering man-machine cooperative control device in detail, the present application provides the following specific example steps for illustration.

[0077] ①The operator configures the manual control trigger mechanism through the man-machine interactive interface of the display module: the first type of manual control trigger signal corresponds to triggering the manual marking work route start control instruction and the left U-turn manual control instruction, the second type of manual control trigger signal corresponds to triggering the manual marking work route end control instruction and the right U-turn manual control instruction, the third type of manual control trigger signal corresponds to triggering the manual new work control instruction and the horn manual control instruction, and the fourth type of manual control trigger signal corresponds to triggering the auxiliary navigation start-stop control instruction.

[0078] ②When the agricultural vehicle starts working, the operator presses the end of the lever button 3, which generates a third type of manual control trigger signal and sends it to the rudder controller; the rudder controller analyzes and converts it into a CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the manual new work control instruction according to the preset manual control trigger mechanism, thereby executing the new work task and starting to plan the work path of the current work task.

[0079] ③When the agricultural vehicle starts driving, the operator pulls the lever 2 forward, the lever body of the lever 2 swings forward to a first angle, generating a first type of manual control trigger signal and sending it to the rudder controller; the rudder controller analyzes and converts it into a CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the manual marking work route start control instruction according to the preset manual control trigger mechanism, thereby marking the current position of the agricultural vehicle as the start point of the current work route.

[0080] ④When the agricultural vehicle travels to the end position of the current work route, the work personnel pulls the lever 2 backward, the lever body of the lever 2 swings backward to a second angle, generating a second type of manual control trigger signal sent to the steering controller; the steering controller analyzes and converts the CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the manual marking work route end control instruction according to the preset manual control trigger mechanism, so as to mark the current position of the agricultural vehicle as the end point of the current work route, and generate the work path of the current work task according to the start point and end point of the marked current work route and based on the preset width of each work route.

[0081] ⑤The work personnel presses the mushroom button 4, the mushroom button 4 generates a fourth type of manual control trigger signal sent to the steering controller; the steering controller analyzes and converts the CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the auxiliary navigation start-stop control instruction according to the preset manual control trigger mechanism, so as to control the agricultural machinery auxiliary navigation system to start, and the agricultural vehicle starts the auxiliary navigation mode.

[0082] ⑥The navigation controller generates a steering control instruction according to the planned work path; the steering controller responds to and analyzes the steering control instruction and drives the agricultural vehicle to perform the corresponding steering operation, so as to control the agricultural vehicle to travel according to the planned work path.

[0083] ⑦And / or, each time the agricultural vehicle travels to the end of the work route, the work personnel pulls the lever 2 forward, the lever body of the lever 2 swings forward to a first angle, generating a first type of manual control trigger signal sent to the steering controller; the steering controller analyzes and converts the CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the left U-turn manual control instruction according to the preset manual control trigger mechanism, so as to generate a left U-turn steering control instruction sent to the steering controller to drive the agricultural vehicle to perform a left U-turn steering operation, while the navigation controller updates the work path of the current work task.

[0084] ⑧and / or, each time the agricultural vehicle travels to the end of the work route, the operator manually pushes the lever 2 backward, the lever body of the lever 2 swings forward to a second angle, generating a second type of manual control trigger signal sent to the steering controller; the steering controller analyzes and converts the CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the left U-turn manual control instruction according to the preset manual control trigger mechanism, thereby generating the right U-turn steering control instruction sent to the steering controller to drive the agricultural vehicle to perform the right U-turn steering operation, while the navigation controller updates the work path of the current work task.

[0085] ⑨Repeat steps ⑦ and ⑧ to assist in navigating the agricultural vehicle to complete the current work task.

[0086] It should be noted that if the agricultural vehicle encounters a pedestrian, the operator can press the lever end button 3, which generates a third type of manual control trigger signal sent to the steering controller; the steering controller analyzes and converts the CAN signal and sends it to the navigation controller; the navigation controller determines the target auxiliary navigation control instruction as the horn manual control instruction according to the preset manual control trigger mechanism, thereby generating the horn control instruction and sending it to the horn of the agricultural vehicle through the steering controller, driving the agricultural vehicle to perform the horn operation, thereby reminding the pedestrian to leave.

[0087] The user can also configure a certain type of manual control trigger signal to trigger the left or right offset control instruction, and when the agricultural vehicle encounters an unrecognized obstacle, the operator can perform the corresponding operation to generate the corresponding manual control trigger signal, so that the navigation controller generates the left or right offset steering control instruction and drives the agricultural vehicle to perform the left or right offset steering operation through the steering controller, thereby avoiding the obstacle. At this time, the navigation controller will also update the work path of the agricultural vehicle, and all subsequent incomplete work routes will be offset to the left or right by a preset offset distance.

[0088] The agricultural machine steering man-machine collaborative control device described in the present application has the following beneficial effects:

[0089] ①By adding multiple manual control elements to the steering structure as a man-machine collaborative physical structure, the operator can manually intervene in the work state of the agricultural vehicle, which can significantly improve the work efficiency and ensure the safety of the work in complex work sites.

[0090] The agricultural machine steering man-machine cooperative control device is installed below the steering wheel of the agricultural vehicle, and the pull rod 2, the pull rod end button 3 and the mushroom button 4 are arranged on the steering engine structure, which is ergonomic, convenient to operate and avoids frequent operation of the touch screen during field operation.

[0091] The application supports customizing the auxiliary navigation control instructions triggered by the operation of each manual control element according to the user's own habits, which can effectively ensure the use rate of each manual control element without being virtual; and the triggered auxiliary navigation control instructions also support customization and addition, thereby expanding the control function of each manual control element and meeting more operation scenarios requiring human intervention.

[0092] Based on the agricultural machine steering man-machine cooperative control device, the agricultural auxiliary navigation system provided by the application plans the operation path of the agricultural vehicle and controls the agricultural vehicle to travel along the planned operation path in the manner as shown in the drawing, in addition to the manner of automatically planning the operation path of the agricultural vehicle and generating the steering control instructions of the agricultural vehicle based on the positioning data of the agricultural vehicle output by the satellite positioning receiver, to automatically control the agricultural vehicle to travel along the planned operation path. Figure 4

[0093] Step S41: receiving satellite signals by the satellite positioning receiver and positioning the agricultural vehicle to output the positioning data of the agricultural vehicle.

[0094] Step S42: generating the corresponding manual control trigger signal and sending it to the steering engine controller in response to the specified operation of the user by the steering engine structure.

[0095] Step S43: analyzing the manual control trigger signal and sending it to the navigation controller by the steering engine controller.

[0096] Step S44: planning the operation path of the agricultural vehicle and generating the steering control instructions and sending them to the steering engine controller based on the positioning data of the agricultural vehicle and the manual control trigger signal by the navigation controller based on the preset operation path planning strategy and manual control trigger mechanism.

[0097] Step S45: analyzing the steering control instructions by the steering engine controller and driving the agricultural vehicle to perform the corresponding steering operation.

[0098] ​In the embodiment, the work path planning strategy and the manual control triggering mechanism can be configured by the user through the man-machine interaction interface of the display module. Specifically, the man-machine interaction interface is configured to obtain the work path planning strategy and the manual control triggering mechanism configured by the user and send them to the navigation controller, so that the navigation controller plans the work path of the agricultural vehicle according to the work path planning strategy and the manual control triggering mechanism and generates the steering control instruction.

[0099] In an embodiment, the navigation controller comprises a first communication unit. The first communication unit is connected with a second communication unit of the steering engine controller, and is configured to transmit signals between the navigation controller and the steering engine controller. Preferably, the first communication unit and the second communication unit adopt a CAN communication protocol.

[0100] In summary, the agricultural machinery auxiliary navigation system uses the agricultural machinery steering man-machine collaborative control device which can provide a man-machine collaborative physical structure, and can support the operator to directly intervene in the work state of the agricultural vehicle, thereby effectively improving the work adaptability, work efficiency and work safety of the system. The working mode between the display module, the navigation controller and the steering engine structure and the steering engine controller in the agricultural machinery steering man-machine collaborative control device has been described in detail in the above embodiments of each device, and will not be described again for the sake of brevity.

[0101] It should be understood that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In addition, each function module in each embodiment of the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module.

[0102] In the embodiments of the present application, the terms such as "first", "second", etc. are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first communication unit and the second communication unit are only used to distinguish different communication units, and do not limit the sequence. Those skilled in the art can understand that the terms such as "first", "second", etc. do not limit the quantity and execution sequence, and the terms such as "first", "second", etc. also do not necessarily mean different.

[0103] It should be noted that in the embodiments of the present application, the words such as "exemplary" or "for example" represent an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0104] The way that the steering engine controller assists the navigation of the agricultural vehicle to travel along the planned work path and the way that the agricultural machine assisted navigation system plans the work path of the agricultural vehicle and controls the agricultural vehicle to travel along the planned work path can be implemented on the terminal side or the server side, or completed through computer program related hardware.

[0105] The above merely provides a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0106] In summary, the present application provides an agricultural machine steering man-machine collaborative control device and an agricultural machine assisted navigation system, which adds multiple manual control elements to the steering engine structure and supports the configuration of auxiliary navigation control instructions triggered by operating the manual control elements, provides a man-machine collaborative physical structure, supports the direct intervention of the work personnel in the work state of the agricultural vehicle, significantly improves the work efficiency, and ensures the work safety; the agricultural machine steering man-machine collaborative control device is installed below the steering wheel of the agricultural vehicle, and the shift lever, the shift lever end button and the mushroom button are set as manual control elements, which conforms to ergonomics, is convenient to operate, and avoids frequent operation of the touch screen during field work; thereby solving the technical problems of poor work adaptability, low work efficiency and poor safety caused by the lack of man-machine collaborative physical structure or single man-machine collaborative operation mode of the steering engine. Therefore, the present application effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0107] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

Claims

1. A human-machine collaborative control device for agricultural machinery steering, installed below the steering wheel of an agricultural vehicle and applied to an agricultural machinery auxiliary navigation system, characterized in that, include: A servo motor structure, wherein the servo motor structure is provided with multiple manual control elements; Each manual control element is configured to generate different manual control trigger signals in response to different user operations; A servo controller is connected to the servo structure, the agricultural vehicle, and the navigation controller of the agricultural machinery auxiliary navigation system. It is used to receive and parse the manual control trigger signal and send it to the navigation controller so that the navigation controller can update the planned operation path of the agricultural vehicle according to the preset manual control trigger mechanism and generate steering control commands. And in response to a steering control command sent by the navigation controller, to parse the steering control command and drive the agricultural vehicle to perform the corresponding steering operation.

2. The agricultural machinery steering human-machine collaborative control device according to claim 1, characterized in that, Each manual control element includes: A lever is located on the right side of the servo structure and is connected to the servo controller via a first manual control trigger circuit. The lever is configured to respond to a user's toggle operation, activate the first manual control trigger circuit, and generate a corresponding manual control trigger signal to be sent to the servo controller. A lever end button is located at the end of the lever and is connected to the servo controller via a second manual control trigger circuit. The lever end button is configured to respond to a user's pressing operation, activate the second manual control trigger circuit, and generate a corresponding manual control trigger signal to be sent to the servo controller. A mushroom button is located on the front side of the servo structure and is connected to the servo controller via a third manual control trigger circuit. The mushroom button is configured to respond to a user's pressing operation, activate the third manual control trigger circuit, and generate a corresponding manual control trigger signal to be sent to the servo controller.

3. The agricultural machinery steering human-machine collaborative control device according to claim 2, characterized in that, The lever includes a rod body, which can swing forward or backward around a pivot pin; The lever is configured to respond to a user's forward toggle operation, the lever swings forward to a first angle, closes the forward travel switch of the first manual control trigger circuit, so as to connect the first manual control trigger circuit and generate a first type of manual control trigger signal; The lever is also configured to respond to a user's backward tossing operation, in which the lever swings backward to a second angle, closing the backward travel switch of the first manual control trigger circuit to activate the first manual control trigger circuit and generate a second type of manual control trigger signal.

4. The agricultural machinery steering human-machine collaborative control device according to claim 1, characterized in that, The manual control triggering mechanism includes: the correspondence between each type of manual control triggering signal and one or more auxiliary navigation control commands.

5. The agricultural machinery steering human-machine collaborative control device according to claim 4, characterized in that, The types of auxiliary navigation control commands include: An auxiliary navigation start / stop control command is configured such that the navigation controller responds to the control command to control the start / stop of the agricultural machinery auxiliary navigation system; A manual job creation control command is configured so that the navigation controller executes a new job task in response to the control command. The manual marking control command for the start point of the operation route and the manual marking control command for the end point of the operation route are respectively configured so that the navigation controller, in response to the control command, marks the start point or end point of the operation route of the current operation task in order to plan the operation path; The manual control commands for left U-turn, left offset, right U-turn, and right offset are configured such that the navigation controller, in response to the control command, updates the work path and generates corresponding left U-turn steering control commands, left offset steering control commands, right U-turn steering control commands, or right offset steering control commands and sends them to the servo controller to drive the agricultural vehicle to perform the corresponding left U-turn steering operation, left offset steering operation, right U-turn steering operation, or right offset steering operation. A manual horn control command is configured such that the navigation controller, in response to the control command, generates a horn control command and sends it to the servo controller to drive the horn of the agricultural vehicle to perform a horn-honking operation.

6. The agricultural machinery steering human-machine collaborative control device according to claim 1, characterized in that, The servo controller includes: The second communication unit is connected to the first communication unit of the navigation controller and is used for signal transmission between the servo controller and the navigation controller.

7. The agricultural machinery steering human-machine collaboration device according to claim 6, characterized in that, The second communication unit adopts the CAN communication protocol. After the servo controller converts the manual control trigger signal into a CAN signal, it sends it to the navigation controller through the second communication unit.

8. An agricultural machinery auxiliary navigation system, installed on an agricultural vehicle, for planning the working path of the agricultural vehicle and controlling the agricultural vehicle to travel along the planned working path, characterized in that, include: Satellite positioning receiver, navigation controller, and agricultural machinery steering human-machine collaborative control device as described in any one of claims 1 to 7; The agricultural machinery steering human-machine collaborative control device is installed below the steering wheel of the agricultural vehicle and includes a servo mechanism and a servo controller; the navigation controller is connected to the satellite positioning receiver and the servo controller respectively. The servo controller is connected to the agricultural vehicle; The agricultural machinery auxiliary navigation system plans the operating path of the agricultural vehicle and controls the agricultural vehicle to travel along the planned operating path in the following ways: The satellite positioning receiver receives satellite signals, locates the agricultural vehicle, and outputs the location data of the agricultural vehicle. Through the servo structure, in response to the user's specified operation, a corresponding manual control trigger signal is generated and sent to the servo controller; The manual control trigger signal is parsed and sent to the navigation controller via the servo controller; The navigation controller, based on a preset operation path planning strategy and a manual control triggering mechanism, plans the operation path of the agricultural vehicle according to the positioning data of the agricultural vehicle and the manual control triggering signal, and generates steering control commands to send to the servo controller. The steering control controller parses the steering control command and drives the agricultural vehicle to perform the corresponding steering operation.

9. The agricultural machinery auxiliary navigation system according to claim 8, characterized in that, Also includes: A display module, connected to the navigation controller, includes a human-computer interaction interface; The human-machine interface is used to acquire user-configured operation path planning strategies and manual control triggering mechanisms and send them to the navigation controller, so that the navigation controller can plan the operation path of the agricultural vehicle and generate the steering control command accordingly.

10. The agricultural machinery auxiliary navigation system according to claim 8, characterized in that, The navigation controller includes: The first communication unit is connected to the second communication unit of the servo controller and is used for signal transmission between the navigation controller and the servo controller; the first communication unit adopts the CAN communication protocol.

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