Rice transplanter rotation angle measuring device and rice transplanter

Abstract

The utility model discloses a rice transplanter rotation angle measuring device and a rice transplanter. According to the technical scheme, one end of the displacement sensor is hinged to the steering transmission assembly, and the other end is hinged to the rice transplanter. When the rice transplanter steers, the steering transmission assembly rotates, the steering transmission assembly drives the telescopic sliding rod of the displacement sensor to telescopically move, the displacement distance of the sliding rod is obtained, then the corresponding front wheel steering angle value can be calculated through an equivalent wheel angle calibration method, and the problems that in the prior art, a calculation link is long, and errors are large are solved.

Description

Technical Field

[0001] The utility model relates to vehicle path measurement, and more specifically, to a rice transplanter turning angle measuring device and a rice transplanter. Background Art

[0002] In order to realize the high-precision automatic driving function of the high-speed rice transplanter, the automatic driving control algorithm needs to obtain the precise front wheel angle input of the high-speed rice transplanter when moving forward / reverse. However, due to the small structural space of the rice transplanter chassis, the close arrangement of components, and the long-term contact with the paddy field during operation, the chassis may need to be immersed in the rice field, and it is not easy to install angle sensors and other measuring mechanisms to directly obtain the front wheel angle.

[0003] Therefore, the common scheme for the automatic driving transformation of high-speed rice transplanters is: do not install directly, but use the positioning + attitude combined navigation device to measure the attitude information (heading angle, roll angle, pitch angle) and high-precision position information of the high-speed rice transplanter when it is moving forward / backward, perform fusion calculations, and estimate the front wheel turning angle through the rice transplanter motion model. Although the existing technical scheme simplifies the mechanical installation, it is impossible to directly and accurately measure the front wheel turning angle of the high-speed rice transplanter. It is necessary to fuse the combined navigation parameters and obtain the front wheel turning angle by combining the mathematical model calculation method. The overall calculation link is very lengthy and will introduce many errors, such as positioning accuracy error, attitude measurement error, motion model error, algorithm error, etc., resulting in a large gap between the final estimated front wheel turning angle and the true value, which leads to the impairment of automatic driving performance. When encountering complex terrain conditions or the combined navigation signal is affected, the correct front wheel turning angle cannot be output, resulting in the inability to achieve high-precision automatic driving function, affecting the actual use effect. Utility Model Content

[0004] The utility model overcomes the shortcomings of the prior art and provides a rice transplanter rotation angle measuring device and a rice transplanter, so as to solve the problems of long calculation link and large error in the prior art.

[0005] In order to solve the above technical problems, the utility model provides a rice transplanter angle measuring device on the one hand.

[0006] A rice transplanter turning angle measuring device, comprising a displacement sensor and a steering transmission assembly;

[0007] The displacement sensor comprises a sensor housing, a telescopic slide rod, and a sliding sensor;

[0008] The bottom of the sensor housing is provided with a bottom fixing component, and the top of the telescopic slide rod is provided with a top fixing component;

[0009] The telescopic slide rod is telescopically and slidably installed in the sensor housing, and the sliding sensor is installed in the sensor housing;

[0010] The sliding sensor can measure the sliding distance of the telescopic sliding rod in the sensor housing;

[0011] The steering transmission assembly is connected to the rice transplanter rotating assembly and rotates together with it;

[0012] One of the bottom fixing assembly and the top fixing assembly is hinged to the steering transmission assembly, and the other is hinged to the rice transplanter.

[0013] When the rice transplanter turns, the steering transmission assembly rotates, because one of the bottom fixed assembly and the top fixed assembly is hinged to the steering transmission assembly, and the other is hinged to the rice transplanter.

[0014] The steering transmission assembly drives the telescopic slide bar to move telescopically, and the displacement distance of the slide bar is obtained. Then, the corresponding front wheel steering angle value can be calculated through the equivalent wheel angle calibration method.

[0015] A further technical solution is that the bottom fixing component and the top fixing component are fixing rings.

[0016] The fixing ring is installed by means of pins, screws, etc.

[0017] A further technical solution is that the steering transmission assembly is a fixed plate;

[0018] The fixing plate is divided into an upper transverse connecting portion, a vertical connecting portion, and a lower transverse connecting portion;

[0019] The upper transverse connecting portion is connected to the steering steel fork structure.

[0020] Adding a fixed plate has the following advantages: the fixed plate amplifies the movement of the telescopic slide rod, making the measurement more accurate; the fixed plate has a vertical connection portion, and the height of the connection end of the displacement sensor can be adjusted by adjusting the length of the vertical connection portion to adapt to different rice transplanters.

[0021] A further technical solution is that the length of the vertical connecting portion is adjustable.

[0022] A further technical solution is that the rice transplanter angle measuring device further includes a sensor fixing bracket;

[0023] The sensor fixing bracket is installed between the bottom brackets of the rice transplanter;

[0024] One of the bottom fixing component and the top fixing component is hinged to the sensor fixing bracket.

[0025] There is a bottom bracket of the rice transplanter at the bottom, but the bottom bracket is short. Directly hinged to the bottom bracket will cause inconvenience in use and maintenance. By adding a sensor fixing bracket, the height and angle of the displacement sensor can be adjusted for easy use.

[0026] A further technical solution is that the displacement sensor is arranged horizontally.

[0027] The expansion and contraction amount of the horizontally arranged displacement sensor does not need to consider the change in angle, and the calculation is simple and accurate.

[0028] The utility model also provides a rice transplanter.

[0029] A rice transplanter, comprising the rice transplanter rotation angle measuring device as described above;

[0030] The rotation angle measuring device is installed at the bottom of the rice transplanter, one end of the rotation angle measuring device is hinged to the steering transmission component, and the other end is hinged to the rice transplanter.

[0031] Compared with the prior art, the utility model has at least the following beneficial effects: the utility model uses a technical solution in which one end of the displacement sensor is hinged to the steering transmission assembly and the other end is hinged to the rice transplanter. When the rice transplanter turns, the steering transmission assembly rotates, and the steering transmission assembly drives the telescopic slide bar of the displacement sensor to move telescopically, and the displacement distance of the slide bar is obtained. Then, the corresponding front wheel steering angle value can be calculated through the equivalent wheel angle calibration method, which solves the problems of long calculation link and large error in the prior art solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0033] Figure 2 It is a schematic diagram of the structure of the steering transmission assembly;

[0034] Figure 3 This is a schematic diagram of the sensor fixing bracket structure;

[0035] Figure 4 This is a schematic diagram of the installation structure of the utility model.

[0036] In the figure, 1-displacement sensor, 11-sensor housing, 111-bottom fixing assembly, 12-telescopic slide rod, 121-top fixing assembly, 2-fixing plate, 21-upper transverse connecting part, 22-vertical connecting part, 23-lower transverse connecting part, 3-sensor fixing bracket, 4-steering steel fork structure. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0038] A rice transplanter angle measuring device, see Figure 1, including a displacement sensor 1, a steering transmission assembly, and a sensor fixing bracket 3;

[0039] The displacement sensor 1 includes a sensor housing 11, a telescopic slide rod 12, and a sliding sensor;

[0040] A bottom fixing assembly 111 is provided at the bottom of the sensor housing 11, and a top fixing assembly 121 is provided at the top of the telescopic slide rod 12;

[0041] In this embodiment, the bottom fixing assembly 111 and the top fixing assembly 121 are fixing rings, and the fixing rings can be installed by pins, screws, etc.

[0042] The telescopic slide rod 12 is telescopically and slidably installed in the sensor housing 11, and the sliding sensor is installed in the sensor housing 11;

[0043] In this embodiment, the sliding sensor is a magnetic sensor.

[0044] The sliding sensor can measure the sliding distance of the telescopic slide rod 12 in the sensor housing 11;

[0045] The steering transmission assembly is connected to the rotating assembly of the transplanter and rotates together;

[0046] In this embodiment, the steering transmission assembly is a fixing plate 2. The fixing plate 2 is divided into an upper horizontal connecting portion 21, a vertical connecting portion 22, and a lower horizontal connecting portion 23. See Figure 2 ;

[0047] During use, the length of the vertical connecting portion 22 can be fixed or adjustable. The vertical connecting portion 22 with a fixed length has poor compatibility but low cost and high reliability; the length-adjustable vertical connecting portion 22 can be implemented by using a telescopic rod, two stacked telescopic sheets, etc. The telescopic type has good compatibility but high cost and low reliability.

[0048] In this embodiment, the vertical connecting portion 22 with a fixed length is adopted.

[0049] The upper horizontal connecting portion 21 is connected to the steering steel fork structure 4 through screws and screw holes. The steering steel fork structure 4 is an inherent structure of the transplanter, and its rotation angle is the same as the rotation angle of the transplanter.

[0050] The sensor fixing bracket 3 is installed between the bottom brackets of the transplanter. In this embodiment, the sensor fixing bracket 3 is U-shaped. See Figure 3 , the vertical part is connected to the bottom bracket, and the horizontal part is hinged to one of the bottom fixing assembly 111 and the top fixing assembly 121.

[0051] One of the bottom fixing component 111 and the top fixing component 121 is hinged to the steering transmission component, and the other is hinged to the sensor fixing bracket 3 .

[0052] It should be understood that the hinged relationship between the bottom fixing assembly 111, the top fixing assembly 121, the steering transmission assembly, and the sensor fixing bracket 3 is optional, as long as the telescopic amount of the telescopic slide rod 12 can be measured by the rotation of the steering transmission assembly.

[0053] In this embodiment, the top fixing component 121 is hinged to the fixing plate 2, the bottom fixing component 111 is hinged to the sensor fixing bracket 3, and the displacement sensor 1 is arranged horizontally.

[0054] When the rice transplanter turns, the steering transmission assembly rotates, and since the top fixing assembly 121 is hinged to the fixing plate 2 , the bottom fixing assembly 111 is hinged to the horizontal part of the sensor fixing bracket 3 .

[0055] The fixed plate 2 drives the telescopic slide bar 12 to telescope, and the magnetic sensor inside the displacement sensor 1 senses the displacement distance of the slide bar, and then the corresponding front wheel steering angle value can be calculated through the equivalent wheel angle calibration method.

[0056] A rice transplanter, comprising a rice transplanter rotation angle measuring device as described above, and a rice transplanter;

[0057] The angle measuring device is installed at the bottom of the rice transplanter. One end of the angle measuring device is hinged to the steering transmission assembly, and the other end is hinged to the rice transplanter. Figure 4 .

[0058] The installation and testing methods will not be described in detail.

[0059] Although the utility model is described herein with reference to the illustrative embodiments of the utility model, it should be understood that those skilled in the art can design many other modifications and implementations, which will fall within the scope and spirit of the principles disclosed in the present application. More specifically, within the scope disclosed in the present application, multiple variations and improvements can be made to the components and / or layout of the subject combination layout. In addition to the variations and improvements made to the components and / or layout, other uses will also be obvious to those skilled in the art.

Claims

1. A rice transplanter angle measuring device, characterized in that: Including displacement sensor, steering transmission assembly; The displacement sensor comprises a sensor housing, a telescopic slide rod, and a sliding sensor; The bottom of the sensor housing is provided with a bottom fixing component, and the top of the telescopic slide rod is provided with a top fixing component; The telescopic slide rod is telescopically and slidably installed in the sensor housing, and the sliding sensor is installed in the sensor housing; The sliding sensor can measure the sliding distance of the telescopic sliding rod in the sensor housing; The steering transmission assembly is connected to the rice transplanter rotating assembly and rotates together with it; One of the bottom fixing assembly and the top fixing assembly is hinged to the steering transmission assembly, and the other is hinged to the rice transplanter.

2. A rice transplanter angle measuring device as claimed in claim 1, characterized in that: The bottom fixing component and the top fixing component are fixing rings.

3. A rice transplanter angle measuring device as claimed in claim 1, characterized in that: The steering transmission assembly is a fixed plate; The fixing plate is divided into an upper transverse connecting portion, a vertical connecting portion, and a lower transverse connecting portion; The upper transverse connecting portion is connected to the steering steel fork structure.

4. A rice transplanter angle measuring device as claimed in claim 3, characterized in that: The length of the vertical connection portion is adjustable.

5. The rice transplanter rotation angle measuring device according to claim 1, characterized in that: Also included is a sensor fixing bracket; The sensor fixing bracket is installed between the bottom brackets of the rice transplanter; One of the bottom fixing component and the top fixing component is hinged to the sensor fixing bracket.

6. A rice transplanter rotation angle measuring device as described in any one of claims 1 to 5, characterized in that: The displacement sensor is arranged horizontally.

7. A rice transplanter, characterized in that: A rice transplanter angle measuring device comprising the device as claimed in any one of claims 1 to 6; The rotation angle measuring device is installed at the bottom of the rice transplanter, one end of the rotation angle measuring device is hinged to the steering transmission component, and the other end is hinged to the rice transplanter.

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