Ridge searching mechanism for assisting machinery to advance in field

Abstract

The utility model discloses a ridge searching mechanism used for assisting a machine to advance in a field, which comprises a shell internally provided with an accommodating groove, a PCB (printed circuit board) is mounted in the accommodating groove, and two magnetic angle sensors are symmetrically mounted on two sides of the bottom of the PCB; two shaft sleeves communicated with the accommodating groove are symmetrically mounted on the two sides of the bottom of the shell, a central shaft with the top end extending to the position below the magnetic angle sensor on the corresponding side is rotationally arranged in each shaft sleeve, and a magnet is fixedly arranged on the top of each central shaft; two touch rods are symmetrically mounted at the bottoms of the two central shafts; each center shaft is sleeved with a torsional spring, and the two ends of each torsional spring are connected with the corresponding shaft sleeve and the corresponding touch rod respectively and used for applying recovery acting force to the touch rod. The ridge searching mechanism provides tracking reference for machinery by touching the surface of an obstacle, and the ridge searching method based on physical touch does not depend on a high-precision map or positioning information, so that the ridge searching mechanism is more suitable for a scene in which the machinery runs in an actual field environment.

Description

Technical Field

[0001] The utility model relates to a ridge-finding mechanism for assisting machinery in moving in a field, and belongs to the technical field of agricultural machinery. Background Art

[0002] Modern agriculture is undergoing a profound transformation from traditional to intelligent operations. The application of automated and intelligent equipment has significantly improved production efficiency and quality. However, navigation technology for agricultural robots and auxiliary vehicles remains challenging. While numerous innovations, such as automated tracking technologies and ridge-finding mechanisms for agricultural robots, have made it possible to automate agricultural operations, these technologies largely rely on GPS or other radio navigation signals, limiting their accuracy and stability in complex and changing field environments.

[0003] In particular, when agricultural robots need to operate between narrow ridges, high-precision navigation signals can theoretically provide precise positioning. However, in practice, this accuracy is often significantly compromised by factors such as obstruction by crop branches and leaves, and interference from ground reflections caused by varying soil moisture. Furthermore, even with sufficiently high navigation accuracy, it is difficult to ensure that the robot can advance between crop ridges without collision, as even slight changes in crop growth and ridge shape can affect the robot's trajectory.

[0004] To overcome these challenges, the market urgently needs a more intuitive and reliable navigation method, especially during crop growth, when space between ridges is limited and the environment is complex. Therefore, it is particularly important to develop a ridge-finding mechanism that obtains directional reference information through contact. Utility Model Content

[0005] The purpose of the utility model is to provide a ridge-finding mechanism for assisting machinery in moving in the field. After the touch rod on one side hits an obstacle and rotates, the magnet rotates along the central axis. The magnetic angle sensor senses the angular phase change of the magnet and acquires and translates the information through the MCU on the PCB board, and transmits the electrical signal to the mechanical control unit. The mechanical control unit adjusts the wheel steering according to the acquired information to achieve ridge-finding and tracking effects. This method is not affected by the accuracy of the navigation signal, thereby ensuring that the machine is both accurate and safe when moving in the field.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present utility model is:

[0007] A ridge-finding mechanism for assisting machinery in moving in a field comprises a housing having an internal receiving slot, a PCB board connected to a mechanical control unit being mounted in the receiving slot, and two magnetic angle sensors electrically connected to the PCB board being symmetrically mounted on both sides of the bottom of the PCB board;

[0008] Two shaft sleeves are symmetrically installed on both sides of the bottom of the shell and are connected to the accommodating groove. A central shaft with a top end extending to the bottom of the corresponding side magnetic angle sensor is rotatably installed in each shaft sleeve, and a magnet is fixed on the top of each central shaft.

[0009] Two contact rods extending away from each other are symmetrically mounted at the bottom of the two central shafts;

[0010] A torsion spring is sleeved outside each central shaft, one end of the torsion spring is connected to the corresponding shaft sleeve, and the other end is connected to the corresponding touch rod, which is used to apply a restoring force when the extended end of the touch rod is rotated in the opposite direction of the wheel's travel by an external force.

[0011] Preferably, the housing includes a bottom cover and an upper cover detachably mounted on top of the bottom cover, the accommodating groove is formed in the bottom cover, and the shaft sleeves are symmetrically mounted on both sides of the bottom of the bottom cover.

[0012] Preferably, an embedding ring is formed on the outer edge of the accommodating groove, and the PCB board is embedded in the embedding ring;

[0013] A plurality of mounting posts with screw holes are also formed in the receiving groove, and the PCB board is fixed to the mounting posts by bolts.

[0014] Preferably, a bending plate for fixing the housing to the mechanical wheel travel mechanism is also installed on the top of the housing.

[0015] Preferably, reinforcing plates are provided on both sides of the bent plate.

[0016] Preferably, a recess is formed on the top of the central shaft, and the magnet is embedded in the recess.

[0017] Preferably, the touch rod is a carbon tube or a telescopic rod, and the end of the torsion spring is inserted into the non-telescopic section of the carbon tube or the telescopic rod.

[0018] Preferably, an adjustment plate is formed on the outer edge of the bottom of the sleeve, and a plurality of adjustment holes are formed around the adjustment plate, and the end of the torsion spring is inserted into one of the adjustment holes.

[0019] Preferably, two bearings are provided in the sleeve for the central shaft to pass through, and the central shaft is rotatably connected to the sleeve through the bearings;

[0020] Mounting grooves are formed at the top and bottom openings of the sleeve, and the bearings located above and below are embedded in the corresponding mounting grooves. A shaft retaining ring is provided on the upper shaft body of the central shaft to prevent the upper bearing from shifting axially upward, and a shaft shoulder is formed on the lower shaft body of the central shaft to prevent the lower bearing from shifting axially downward.

[0021] Preferably, corresponding through holes are provided on the top of the shell and the bending plate, the transmission connector on the PCB board is inserted through the corresponding through holes and sealed between the through holes, and the PCB board is connected to the mechanical control unit through the transmission connector.

[0022] The beneficial effects of the present invention are:

[0023] 1. Low-cost, high-performance: This design utilizes a magnetic angle sensor in conjunction with a magnet, eliminating the need for complex and expensive equipment such as infrared sensors, lidar, or image recognition. This design not only directly reduces the design cost of traditional ridge-finding and obstacle avoidance technologies, but also ensures efficient ridge-finding and obstacle avoidance. Compared to solutions that rely on expensive sensors, this mechanism achieves similar or even superior performance at a lower cost.

[0024] 2. Simple and reliable structure: The components that make up this structure are easy to manufacture and assemble, and have high reliability. Especially in the application environment of agricultural robots, this simple and reliable ridge-finding mechanism can effectively adapt to various complex field terrains;

[0025] 3. Tracking and obstacle avoidance: By touching the surface of the obstacle, the machine provides a tracking reference. This physical touch-based ridge-finding method does not rely on high-precision maps or positioning information, and is therefore more suitable for scenarios where the machine operates in actual field environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the Xunlong organization;

[0027] Figure 2 A three-dimensional diagram showing another perspective of the loot-seeking organization;

[0028] Figure 3 It is a schematic diagram of the structure of the bottom cover;

[0029] Figure 4 This is a structural diagram of the PCB board;

[0030] Figure 5 It is a structural diagram of the shaft sleeve;

[0031] Figure 6 Schematic diagram of the structure at the central axis;

[0032] Figure 7 It is a three-dimensional diagram of the shaft sleeve;

[0033] Figure 8 Flip the three-dimensional image of the sleeve;

[0034] Figure 9 Schematic diagram of the central axis structure;

[0035] Figure 10Schematic diagram of an agricultural robot with a ridge-finding structure installed at the leading edge of one of the front wheel travel mechanisms.

[0036] The main reference numerals in the figures have the following meanings:

[0037] 1. Bottom cover, 2. Top cover, 3. Housing, 4. Bending plate, 5. Reinforcement plate, 6. Receiving groove, 7. Mounting column, 8. Bushing, 9. Bearing, 10. Adjustment plate, 11. Adjustment hole, 12. Center shaft, 13. Mounting groove, 14. Shaft retaining ring, 15. Shoulder, 16. Magnet, 17. Magnetic angle sensor, 18. Transmission connector, 19. Touch rod, 20. Torsion spring, 21. PCB board. DETAILED DESCRIPTION

[0038] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0039] This embodiment provides a ridge-finding mechanism for assisting machinery in traveling in the field. Figure 1-9 As shown, the housing 3 comprises a bottom cover 1 and an upper cover 2 detachably mounted on top of the bottom cover 1. A bent plate 4 is mounted on top of the upper cover 2, and reinforcement plates 5 are provided on both sides of the bent plate 4. Three mounting holes are provided on the vertical plate of the bent plate 4 from top to bottom. The bent plate 4 is mounted to the front edge of the mechanical wheel travel mechanism using a bolt assembly.

[0040] A receiving groove 6 is formed in the bottom cover 1, and an embedding ring is formed on the outer edge of the receiving groove 6. A PCB board 21 connected to the mechanical control unit is installed in the receiving groove 6, and the PCB board 21 is embedded in the embedding ring. Three mounting columns 7 with screw holes are also formed in the receiving groove 6. The PCB board is fixed to the mounting columns 7 by bolts.

[0041] Two sleeves 8 are symmetrically mounted on either side of the bottom of the bottom cover 1, extending through the receiving groove 6. Two bearings 9 are mounted within the sleeves 8. An adjustment plate 10 is formed on the outer edge of the bottom of the sleeve 8, with a plurality of adjustment holes 11 formed around the adjustment plate 10. Within each sleeve 8 is a central shaft 12, which extends through the two bearings 9 and extends to the receiving groove 6. The central shaft 12 is rotatably connected to the sleeve 8 via the bearings 9. Mounting grooves 13 are formed at the top and bottom openings of the sleeve 8. The upper and lower bearings 9 are embedded in the corresponding mounting grooves 13. A shaft retaining ring 14 is mounted on the upper shaft of the central shaft 12 to prevent the upper bearing 9 from moving axially upward. The inner hoop of the shaft retaining ring 14 is embedded within the central shaft 12. A shaft shoulder 15 is formed on the lower shaft of the central shaft 12 to prevent the lower bearing 9 from moving axially downward.

[0042] A recessed groove is formed at the top of each central axis 12, within which a magnet 16 is fixed. Furthermore, two magnetic angle sensors 17 are symmetrically mounted on either side of the bottom of the PCB board. These sensors are electrically connected to the PCB board 21 (and to the control unit MCU on the PCB board 21) and correspond to the magnets 16. Corresponding through-holes are also provided on the top of the housing 3 and the bent plate 4. Transmission connectors 18 on the PCB board 21 extend through these through-holes and are sealed between them. The PCB board 21 (control unit MCU) is connected to the mechanical control unit via these transmission connectors 18.

[0043] Two touch rods 19 (hollow carbon tubes or telescopic rods) extending away from each other are symmetrically installed at the bottom of the two central shafts 12; a torsion spring 20 is sleeved on the outside of each central shaft 12 located below the shaft sleeve 8, one end of the torsion spring 20 is inserted into one of the adjustment holes 11 on the adjustment plate 10, and the other end is connected to the corresponding touch rod 19 (inserted into the non-telescopic section of the hollow carbon tube or telescopic rod), which is used to apply a reaction force when the extended end of the touch rod 19 is rotated in the opposite direction of the wheel's travel by external force.

[0044] See also Figure 10 As shown, the ridge-finding mechanism is installed at the front edge of one of the wheel travel mechanisms on the front side of the agricultural robot. The implementation process of the ridge-finding mechanism is divided into the following situations:

[0045] 1. When there is no collision with the touch bar 19, the wheels do not turn;

[0046] 2. When the touch rod 19 touches an object, the original position and the real-time position of the touch rod 19 form a certain angle. The rotation of the touch rod 19 will drive the central shaft 12 and the magnet 16 installed on the top of the central shaft 12 to rotate. At this time, the magnetic angle sensor 17 senses the angular phase change of the magnet 16 and acquires and translates the information through the MCU on the PCB board 21, and transmits the electrical signal to the agricultural robot vehicle control unit. The agricultural robot vehicle control unit adjusts the wheel steering according to the acquired information. The specific operating principle can be referred to the publication number CN 115981304 A, and the patent name is a ridge-finding method and ridge-finding mechanism for automatic tracking of agricultural robots.

[0047] The above is only a preferred embodiment of the present utility model patent. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present utility model patent. These improvements and modifications should also be regarded as the scope of protection of the present utility model patent.

Claims

1. A ridge-finding mechanism for assisting machinery in moving in a field, characterized in that: The invention comprises a housing with an internal receiving groove, a PCB board connected to the mechanical control unit is installed in the receiving groove, and two magnetic angle sensors electrically connected to the PCB board are symmetrically installed on both sides of the bottom of the PCB board; Two shaft sleeves are symmetrically installed on both sides of the bottom of the shell and are connected to the accommodating groove. A central shaft with a top end extending to the bottom of the corresponding side magnetic angle sensor is rotatably installed in each shaft sleeve, and a magnet is fixed on the top of each central shaft. Two contact rods extending away from each other are symmetrically mounted at the bottom of the two central shafts; A torsion spring is sleeved outside each central shaft, one end of the torsion spring is connected to the corresponding shaft sleeve, and the other end is connected to the corresponding touch rod, which is used to apply a restoring force when the extended end of the touch rod is rotated in the opposite direction of the wheel's travel by an external force.

2. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 1, characterized in that: The shell comprises a bottom cover and an upper cover detachably mounted on the top of the bottom cover. The accommodating groove is formed in the bottom cover, and the shaft sleeves are symmetrically mounted on both sides of the bottom of the bottom cover.

3. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 2, characterized in that: An embedding ring is formed on the outer edge of the accommodating groove, and the PCB board is embedded in the embedding ring; A plurality of mounting posts with screw holes are also formed in the receiving groove, and the PCB board is fixed to the mounting posts by bolts.

4. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 1, characterized in that: A bending plate for fixing the shell and the mechanical wheel travel mechanism is also installed on the top of the shell.

5. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 4, characterized in that: Reinforcement plates are also provided on both sides of the bent plate.

6. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 1, characterized in that: A sinking groove is formed on the top of the central shaft, and the magnet is embedded in the sinking groove.

7. The ridge-finding mechanism for assisting machinery in traveling in a field according to claim 1, characterized in that: The touch rod is a carbon tube or a telescopic rod, and the end of the torsion spring is inserted into the non-telescopic section of the carbon tube or the telescopic rod.

8. The ridge-finding mechanism for assisting machinery in traveling in a field according to claim 1, characterized in that: An adjustment plate is formed on the outer edge of the bottom of the shaft sleeve. A plurality of adjustment holes are arranged around the adjustment plate. The end of the torsion spring is inserted into one of the adjustment holes.

9. The ridge-finding mechanism for assisting machinery in traveling in a field according to claim 1, characterized in that: Two bearings are provided in the sleeve for the central shaft to pass through, and the central shaft is rotatably connected to the sleeve through the bearings; Mounting grooves are formed at the top and bottom openings of the sleeve, and the bearings located above and below are embedded in the corresponding mounting grooves. A shaft retaining ring is provided on the upper shaft body of the central shaft to prevent the upper bearing from shifting axially upward, and a shaft shoulder is formed on the lower shaft body of the central shaft to prevent the lower bearing from shifting axially downward.

10. The ridge-finding mechanism for assisting machinery in traveling in the field according to claim 4, characterized in that: Corresponding through holes are provided on the top of the shell and the bending plate. The transmission connectors on the PCB board are inserted through the corresponding through holes and sealed between the through holes. The PCB board is connected to the mechanical control unit through the transmission connectors.

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