Harvester unmanned instrument control system

Abstract

The utility model discloses a harvester unmanned pilot control system which comprises an all-in-one machine, a ceiling assembly, an AHD camera, a millimeter wave radar, a 2.4 GHz sucker antenna, a 433 MHz sucker antenna, a relay control box, an LORA radio station, a remote controller, a remote controller receiver, a hydraulic valve controller, a tablet computer, an angular displacement measuring device, a hydraulic valve assembly, a wiring harness assembly and a two-linkage rocker switch. One end of the wire harness assembly is connected with an interface of the tablet computer, the tablet computer is provided with two rocker switches, and the other end of the wire harness assembly is respectively connected with a whole vehicle CAN interface and a reserved interface of a remote controller; according to the unmanned instrument control system of the harvester, centimeter-level high-precision position information of the harvester is obtained by adopting the Beidou satellite difference technology, the direction of the harvester is controlled through the hydraulic valve, precise harvesting of the harvester which automatically works along a planned route is achieved, the working efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of harvesters, in particular to a control system for an unmanned driver of a harvester. Background Technique

[0002] In recent years, the cost of agricultural production has been increasing day by day, and the labor cost has increased significantly, which has promoted the in-depth development of harvesters towards low emissions, intelligence and automation.

[0003] At present, most harvesters still rely on manual operation, with defects such as low operation efficiency, high cost, and improper human operation, forcing intelligent harvesters to require a reliable and perfect control system to achieve precise operation of unmanned harvesters. Summary of the Invention

[0004] The technical problem to be solved by the utility model is to overcome the existing defects, provide a control system for an unmanned driver of a harvester, use Beidou satellite differential technology to obtain centimeter-level high-precision position information of the harvester, and control the direction of the harvester through a hydraulic valve to achieve precise harvesting of the harvester automatically along the planned line, which can effectively solve the problems in the background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A control system for an unmanned driver of a harvester, including an all-in-one machine, a roof assembly, an AHD camera, a millimeter-wave radar, a 2.4GHz suction cup antenna, a 433MHz suction cup antenna, a relay control box, a LORA radio station, a remote control, a remote control receiver, a hydraulic valve controller, a tablet computer, an angular displacement measuring device, a hydraulic valve assembly, a wire harness assembly and a two-way rocker switch;

[0006] One end of the wire harness assembly is connected to the interface of the tablet computer, and a two-way rocker switch is installed on the tablet computer. The other end of the wire harness assembly is respectively connected to the vehicle CAN interface and the remote control reserved interface;

[0007] An angular displacement measuring device, a LORA radio station, a hydraulic valve controller, a remote control receiver, a power supply interface, an all-in-one machine, an AHD camera and a millimeter-wave radar are respectively connected to the wire harness assembly;

[0008] The output end of the remote control is electrically connected to the input end of the remote control receiver;

[0009] The output end of the hydraulic valve controller is electrically connected to the input end of the hydraulic valve assembly, and the output end of the hydraulic valve assembly is respectively electrically connected to the input ends of a steering oil pot, a steering oil pump and a steering gear, for controlling the moving direction of the harvester;

[0010] The other end of the LORA radio station is connected to the 433MHz suction cup antenna;

[0011] The output terminals of the remote control receiver are respectively connected to the relay control box and the 2.4GHz suction cup antenna, and the output terminal of the relay control box is connected to the on-vehicle harness.

[0012] As a preferred technical solution of the present utility model, the ceiling assembly includes a mounting plate, an all-in-one machine, a millimeter-wave radar, and an AHD camera;

[0013] The mounting plate is installed at the front end of the top cover of the harvester cab and is parallel to the ground. The millimeter-wave radar and the AHD camera are arranged at the front part of the mounting plate, and the AHD camera is located directly above the millimeter-wave radar. The all-in-one machine is arranged at the rear part of the mounting plate.

[0014] As a preferred technical solution of the present utility model, both the millimeter-wave radar and the AHD camera are arranged on brackets with adjustable angles.

[0015] As a preferred technical solution of the present utility model, the tablet computer and the two-way rocker switch are both installed on the B-pillar on one side inside the harvester cab through a tablet computer bracket.

[0016] As a preferred technical solution of the present utility model, the angular displacement measuring device is installed on the A-pillar on one side inside the harvester cab.

[0017] As a preferred technical solution of the present utility model, the 2.4GHz suction cup antenna and the 433MHz suction cup antenna are adsorbed on the middle part of the top cover of the harvester cab.

[0018] As a preferred technical solution of the present utility model, the relay control box is installed on one side of the steering gear below the harvester cab.

[0019] As a preferred technical solution of the present utility model, the LORA radio station is installed inside the large cross beam of the operating platform below the harvester cab.

[0020] As a preferred technical solution of the present utility model, the hydraulic valve controller and the hydraulic valve assembly are installed on the outer side of the large cross beam of the operating platform below the harvester cab, on the side of the steering gear interface.

[0021] As a preferred technical solution of the present utility model, an intelligent controller is further connected to the wire harness assembly, and a lidar is connected to the output terminal of the intelligent controller.

[0022] Compared with the prior art, the beneficial effects of the present utility model are as follows: (1) Improving operation efficiency: The driverless harvester can accurately complete various agricultural operations, significantly enhancing agricultural production efficiency; (2) Reducing costs: The driverless harvester reduces the manpower requirement, thereby lowering the labor cost. Through the remote monitoring platform, the staff can clearly see the real-time operation status of the driverless harvester, further reducing the manpower input for on-site supervision and management; (3) Precise operation: The driverless technology combined with a high-precision positioning system (such as the Beidou system) can achieve high-precision autonomous navigation and operation; (4) Reducing human errors: Through the automated control system, the driverless harvester can reduce human operation errors, ensuring the stability and consistency of operations and improving the operation quality; (5) Adapting to complex environments: The driverless technology enables the harvester to operate stably in complex environments, being unrestricted by factors such as terrain and weather, improving the flexibility and adaptability of operations; (6) Data collection and analysis: The driverless harvester can collect a large amount of data in real time during operation, and these data can be processed and analyzed through the intelligent system, providing a scientific basis for farm management and further optimizing agricultural production. Description of the Drawings

[0023] Figure 1 It is the overall system connection diagram of the present utility model;

[0024] Figure 2 It is the structural schematic diagram of the ceiling assembly.

[0025] In the figure: 1 integrated machine, 2 ceiling assembly, 3 AHD camera, 4 millimeter-wave radar, 5 2.4GHz suction cup antenna, 6 433MHz suction cup antenna, 7 relay control box, 8 LORA radio station, 9 remote control, 10 remote control receiver, 11 hydraulic valve controller, 12 tablet computer, 13 angular displacement measuring device, 14 hydraulic valve assembly, 15 wire harness assembly, 16 two-way rocker switch, 17 mounting plate, 18 intelligent controller, 19 lidar, 20 tablet computer bracket. Specific Embodiments

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0027] Please refer to Figure 1-2, the present utility model provides a technical solution: a control system for an unmanned driving instrument of a harvester, including an all-in-one machine 1, a ceiling assembly 2, an AHD camera 3, a millimeter-wave radar 4, a 2.4GHz suction cup antenna 5, a 433MHz suction cup antenna 6, a relay control box 7, a LORA radio station 8, a remote controller 9, a remote controller receiver 10, a hydraulic valve controller 11, a tablet computer 12, an angular displacement measuring device 13, a hydraulic valve assembly 14, a wire harness assembly 15, and a two-way rocker switch 16;

[0028] The ceiling assembly 2 includes a mounting plate 17, an all-in-one machine 1, a millimeter-wave radar 4, and an AHD camera 3;

[0029] The mounting plate 17 is installed at the front end of the top cover of the harvester cab and is parallel to the ground. The millimeter-wave radar 4 and the AHD camera 3 are arranged at the front of the mounting plate 17, and the AHD camera 3 is located directly above the millimeter-wave radar 4. The all-in-one machine 1 is arranged at the rear of the mounting plate 17;

[0030] The all-in-one machine 1 mainly includes a calculation unit and a receiving unit, integrating positioning data transmission, path planning, and control, and can also be used as a reference station;

[0031] The AHD camera 3 mainly collects image information and shoots the working environment of the harvester;

[0032] The millimeter-wave radar 4 mainly measures obstacles in the range of 0.2 - 0.4m and 0 - 120°;

[0033] The tablet computer 12 and the two-way rocker switch 16 are both installed on one side of the B-pillar in the harvester cab through a tablet computer bracket 20. The tablet computer 12 mainly displays various parameter information;

[0034] The angular displacement measuring device 13 is installed on one side of the A-pillar in the harvester cab. The angular displacement measuring device 13 mainly measures the steering angle of the rear wheels, and the corresponding value can be read in the cab;

[0035] The 2.4GHz suction cup antenna 5 and the 433MHz suction cup antenna 6 are adsorbed on the middle part of the top cover of the harvester cab, mainly connected to the Beidou system to realize the positioning of the harvester and come with built-in wifi;

[0036] The relay control box 7 is installed on one side of the steering gear under the harvester cab for remotely controlling the ignition or shutdown of the harvester;

[0037] The LORA radio station 8 is installed inside the large crossbeam of the operating platform under the harvester cab, mainly for networking connection with relevant radio stations;

[0038] The hydraulic valve controller 11 and the hydraulic valve assembly 14 are installed on the outer side of the steering gear interface of the large cross beam of the operating platform under the cab of the harvester. The hydraulic valve controller 11 receives electronic signals to control the operation of the hydraulic valve assembly, and the hydraulic valve assembly 14 controls the moving direction of the harvester.

[0039] The remote controller 9 is mainly a remote control handle, which can remotely operate the unmanned harvester.

[0040] One end of the wire harness assembly 15 is connected to the interface of the tablet computer 12. A two-way toggle switch 16 is installed on the tablet computer 12. The other end of the wire harness assembly 15 is respectively connected to the vehicle CAN interface and the remote controller reserved interface.

[0041] An angular displacement measuring device 13, a LORA radio 8, a hydraulic valve controller 11, a remote controller receiver 10, a power supply interface, an all-in-one machine 1, an AHD camera 3 and a millimeter wave radar 4 are respectively connected to the wire harness assembly 15.

[0042] The output end of the remote controller 9 is electrically connected to the input end of the remote controller receiver 10.

[0043] The output end of the hydraulic valve controller 11 is electrically connected to the input end of the hydraulic valve assembly 14. The output end of the hydraulic valve assembly is respectively electrically connected to the input ends of the steering oil pot, the steering oil pump and the steering gear, and is used to control the moving direction of the harvester.

[0044] The other end of the LORA radio 8 is connected to the 433 MHz sucker antenna 6.

[0045] The output end of the remote controller receiver 10 is respectively connected to the relay control box 7 and the 2.4 GHz sucker antenna 5. The output end of the relay control box 7 is connected to the wire harness on the vehicle.

[0046] In order to facilitate image information acquisition and adaptively sense obstacles, both the millimeter wave radar 4 and the AHD camera 3 are arranged on brackets with adjustable angles.

[0047] In use: The harvester is positioned by cooperating the 2.4GHz suction cup antenna 5 and the 433MHz suction cup antenna 6 with the Beidou satellite system, enabling the driverless harvester to accurately complete the harvesting operation and generate a yield distribution map within the plot, improving the accuracy and efficiency of the operation; the millimeter-wave radar 4 and the AHD camera 3 are used to transmit image information to the all-in-one machine 1, enabling the unmanned harvester to avoid obstacles reasonably. The all-in-one machine 1 makes a reasonable path plan based on the image information, sends commands to the hydraulic valve controller 11, and the hydraulic valve controller 11 controls the hydraulic valve assembly 14 to work and then changes the walking angle according to the path plan. The angular displacement measuring device 13 measures the rotation angle of the rear wheels of the harvester and transmits the rotation angle information to the all-in-one machine 1. The all-in-one machine 1 controls the harvester to accurately turn and perform accurate operations, reducing human errors; information parameters such as image information and rotation angle are all displayed on the tablet computer 12, and the harvester can also be remotely controlled by the remote control 9 to perform actions.

[0048] Embodiment 2: The difference from Embodiment 1 is that an intelligent controller 18 is further connected to the wire harness assembly 15, and a lidar 19 is connected to the output end of the intelligent controller 18 to provide more accurate navigation and obstacle avoidance for the intelligent driving system.

[0049] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned control system for a harvester, characterized in that: It includes an all-in-one machine (1), a ceiling assembly (2), an AHD camera (3), a millimeter-wave radar (4), a 2.4GHz suction cup antenna (5), a 433MHz suction cup antenna (6), a relay control box (7), a LORA radio (8), a remote control (9), a remote control receiver (10), a hydraulic valve controller (11), a tablet computer (12), an angular displacement measuring device (13), a hydraulic valve assembly (14), a wire harness assembly (15), and a two-way rocker switch (16); One end of the wire harness assembly (15) is connected to the interface of the tablet computer (12), a two-way rocker switch (16) is installed on the tablet computer (12), and the other end of the wire harness assembly (15) is respectively connected to the vehicle's CAN interface and the reserved interface of the remote control; An angular displacement measuring device (13), a LORA radio (8), a hydraulic valve controller (11), a remote control receiver (10), a power interface, an all-in-one machine (1), an AHD camera (3), and a millimeter-wave radar (4) are respectively connected to the wire harness assembly (15); The output end of the remote control (9) is electrically connected to the input end of the remote control receiver (10); The output end of the hydraulic valve controller (11) is electrically connected to the input end of the hydraulic valve assembly (14), and the output end of the hydraulic valve assembly (14) is respectively electrically connected to the input ends of the steering oil pot, the steering oil pump, and the steering gear, for controlling the moving direction of the harvester; The other end of the LORA radio (8) is connected to the 433MHz suction cup antenna (6); The output end of the remote control receiver (10) is respectively connected to the relay control box (7) and the 2.4GHz suction cup antenna (5), and the output end of the relay control box (7) is connected to the wire harness on the vehicle; 2. The control system of the unmanned harvester according to claim 1, characterized in that: The ceiling assembly (2) includes a mounting plate (17), an all-in-one machine (1), a millimeter-wave radar (4), and an AHD camera (3); The mounting plate (17) is installed at the front end of the top cover of the harvester cab and is parallel to the ground. The millimeter-wave radar (4) and the AHD camera (3) are arranged at the front part of the mounting plate (17), and the AHD camera (3) is directly above the millimeter-wave radar (4). The all-in-one machine (1) is arranged at the rear part of the mounting plate (17).

3. The control system of the driverless device for a harvester according to claim 2, characterized in that: Both the millimeter-wave radar (4) and the AHD camera (3) are arranged on brackets with adjustable angles.

4. The unmanned control system for a harvester according to claim 1, characterized in that: Both the tablet computer (12) and the two-way rocker switch (16) are installed on the B-pillar on one side inside the harvester cab through a tablet computer bracket (20).

5. The control system for the driverless device of a harvester according to claim 1, wherein: The angular displacement measuring device (13) is installed on the A-pillar on one side inside the harvester cab.

6. The control system of the driverless device for a harvester according to claim 1, characterized in that: The 2.4GHz suction cup antenna (5) and the 433MHz suction cup antenna (6) are adsorbed on the middle part of the top cover of the harvester cab.

7. The control system of the unmanned driver of a harvester according to claim 1, characterized in that: The relay control box (7) is installed on one side of the steering gear under the harvester cab.

8. A control system for an unmanned harvester according to claim 1, characterized in that: The LORA radio (8) is installed inside the large cross beam of the operating platform under the harvester cab.

9. The control system of the driverless device for a harvester according to claim 1, wherein: The hydraulic valve controller (11) and the hydraulic valve assembly (14) are installed on the outer side of the large cross beam of the operating platform under the harvester cab, on the side of the steering gear interface.

10. The control system for the driverless device of a harvester according to claim 1, wherein: An intelligent controller (18) is also connected to the wire harness assembly (15), and a lidar (19) is connected to the output end of the intelligent controller (18).

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