Visual identification obstacle avoidance device for agricultural machinery

Abstract

The utility model provides a visual identification obstacle avoidance device for agricultural machinery, and belongs to the technical field of agricultural machinery. The device can be flexibly and adaptively mounted on various agricultural mechanical equipment, and has a visual identification capability and an efficient obstacle avoidance capability. A mounting frame of the device is hinged to the front end of a tractor, a first linear motor is fixedly mounted on the lower surface of the mounting frame, the base end of a lifting seat is fixedly connected with a first sliding plate of the first linear motor, the telescopic end of the lifting seat vertically points to the lower portion, and an obstacle removing basket is rotationally mounted at the end of the telescopic end of the lifting seat. The monitoring camera is fixedly arranged on the front side vertical face of the first linear motor, signal control connection is established between the monitoring camera and the first linear motor through the control circuit, and the control circuit controls the obstacle clearing basket to conduct stone obstacle clearing operation in a coordinated mode. The device is convenient to install and arrange, simple to operate, capable of accurately positioning stone obstacles and removing the stone obstacles, high in obstacle avoiding capacity, long in operation time and high in working efficiency, and the obstacle removing basket can automatically remove the stone obstacles in the basket.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the agricultural machinery technical field, especially, a kind of agricultural machinery vision identification obstacle avoidance device. BACKGROUND

[0002] When carrying out large-scale agricultural planting, mechanical plowing is mainly used as the main planting form to adapt to planting needs, and mechanical plowing can quickly and efficiently plow the land, with high operation efficiency. The main tillage machinery at present mainly includes land shaping machinery and crop planting and harvesting machinery. Before the operation of crop planting and harvesting machinery, land shaping machinery is used to shape the land to meet the needs of crop planting.

[0003] The common land shaping machinery at present is roughly divided into plow machines, rotary tillers and ridge formers according to the order of ground operation. The plow machine enters the area to be tilled to plow and shape the land, so that the lower soil is turned to the upper layer. The rotary tiller disperses the compacted soil plowed by the plow machine. The ridge former shapes the dispersed soil into the width of the ridge required by crops.

[0004] After deep plowing of the land, the stones hidden in the lower layer of the soil surface will be exposed on the soil surface. The rotary tiller directly enters the field for rotary tillage operation, and the stones will affect the operation of the rotary tiller. The rotary tillage blades of the rotary tiller will be damaged when hitting the stones, which will affect the smooth progress of land cultivation. Therefore, a device is needed to avoid stone obstacles during land rotary tillage operation to ensure the smooth progress of land cultivation. UTILITY MODEL CONTENTS

[0005] To solve the problems in the background art, the utility model provides an agricultural machinery vision identification obstacle avoidance device. The device can be flexibly installed on various agricultural machinery equipment, has vision identification capability and efficient obstacle avoidance capability.

[0006] The utility model solves the technical problems by adopting the technical scheme of an agricultural machinery vision identification obstacle avoidance device. The device includes a mounting frame, a linear motor one, a lifting seat, a barrier clearing basket and a monitoring camera. The mounting frame is hingedly installed at the front end of a tractor. The linear motor one is fixedly installed on the lower surface of the mounting frame and is arranged along the width direction of the mounting frame. The base end of the lifting seat is fixedly connected with the sliding plate one of the linear motor one, and the telescopic end of the lifting seat is vertically directed downward. The barrier clearing basket is rotatably installed at the telescopic end of the lifting seat. The monitoring camera is fixedly installed on the side vertical surface in front of the tractor along the direction of travel of the tractor. The monitoring camera and the linear motor one are signal control connected through a control circuit.

[0007] The agricultural machinery visual identification obstacle avoidance device further comprises two collecting baskets, the two collecting baskets are respectively detachably fixedly installed at two ends in the width direction of the mounting rack and located at the rear side in the advancing direction of the mounting rack, and the opening of the collecting basket faces the front side in the advancing direction of the mounting rack, so that the stone obstacles scooped up by the clearing basket are concentratedly collected in the collecting basket during operation.

[0008] The clearing basket comprises a second linear motor and a clearing plate, the telescopic end of the lifting seat is fixedly provided with a driving motor, the top of the clearing basket is fixedly connected to the driving shaft of the driving motor, the driving motor drives the clearing basket to rotate in the horizontal direction, the front upper portion of the clearing basket is provided with an opening, the second linear motor is fixedly installed on the inner side wall of the basket body of the clearing basket and is arranged in the horizontal direction, and the sliding plate two of the second linear motor moves in the horizontal direction when the second linear motor operates, the clearing plate is slidably inserted into the inner side of the clearing basket, the plate surface of the clearing plate is arranged in parallel with the opening of the clearing basket, and the side edge of the clearing plate is fixedly connected with the sliding plate two.

[0009] The agricultural machinery visual identification obstacle avoidance device further comprises a hydraulic supporting rod, a hinged seat one is fixedly arranged on the front end surface of the tractor, a hinged seat two is fixedly arranged on the bottom surface of the mounting rack, the base end of the hydraulic supporting rod is hingedly installed on the hinged seat one, the telescopic end of the hydraulic supporting rod is hingedly connected to the hinged seat two, and the hydraulic supporting rod is drivingly connected with the hydraulic system of the tractor.

[0010] The lifting seat is drivingly connected with the hydraulic system of the tractor, and the hydraulic system drives the lifting seat to elongate downward or retract upward.

[0011] A control circuit is fixedly arranged on the mounting rack, a signal transmission circuit is arranged between the control circuit and the monitoring camera, and the control circuit is controlly connected with the first linear motor, the lifting seat, the driving motor, the second linear motor and the hydraulic supporting rod through control lines.

[0012] The device has the advantages that the mounting rack of the device is hingedly arranged on the front side of the tractor, can be freely lifted and lowered, is convenient to install and arrange and simple to operate, the monitoring camera, the first linear motor, the lifting seat and the clearing basket are arranged based on the visual identification technology, the position of the stone obstacle can be accurately positioned, the clearing basket can accurately remove the stone obstacle under the control of the control circuit, the device can prolong the operation time of a single operation, improve the work efficiency and reduce the labor of the driver in non-operation requirements. BRIEF DESCRIPTION OF DRAWINGS

[0013] In the drawings:

[0014] Figure 1 It is the overall structure schematic view of the device;

[0015] Figure 2 is the working principle schematic diagram of the obstacle clearing basket of the utility model;

[0016] Figure 3 is the working principle schematic diagram of the obstacle clearing basket of the utility model;

[0017] Figure 4 is the effect schematic diagram of the mounting rack of the utility model;

[0018] In the figure: 1, mounting rack; 2, linear motor one; 3, lifting seat; 4, obstacle clearing basket; 5, monitoring camera; 6, collecting hanging basket; 7, tractor; 8, hydraulic support; 21, slide plate one; 41, linear motor two; 42, clear push plate. DETAILED DESCRIPTION

[0019] The utility model will be further explained in detail in combination with the drawings. The drawings are all simplified schematic diagrams, and only the basic structure of the utility model is schematically shown, so it only shows the structure related to the utility model.

[0020] An agricultural machinery vision identification obstacle avoidance device, including mounting frame 1, linear motor one 2, lifting seat 3, obstacle clearing basket 4 and monitoring camera 5, the mounting frame 1 is hinged and installed at the front end of tractor 7, linear motor one 2 is fixedly installed on the lower surface of mounting frame 1, and linear motor one 2 is arranged along the width direction of mounting frame 1, the base end of lifting seat 3 is fixedly connected with slide plate one 21 of linear motor one 2, linear motor one 2 operates to make slide plate one 21 carry lifting seat 3 to move horizontally along the width direction of mounting frame 1, and the telescopic end of lifting seat 3 is vertically directed to the lower side, obstacle clearing basket 4 is rotatably installed at the telescopic end of lifting seat 3, monitoring camera 5 is fixedly installed on the side vertical surface of linear motor one 2 towards the front of the advancing direction of tractor 7, signal control connection is established between monitoring camera 5 and linear motor one 2 through control circuit, monitoring camera 5 monitors the ground condition in front of the advancing route, detects the position of stone block obstacle, and feeds back the detection data to control circuit, control circuit controls linear motor one 2 to operate according to the detection data, adjusts and controls slide plate one 21 to move to the position of stone block obstacle, i.e. makes obstacle clearing basket 4 move to the position capable of shoveling stone block obstacle, lifting seat 3 is elongated downwards to make obstacle clearing basket 4 sink close to the ground, and tractor 7 keeps advancing, so that obstacle clearing basket 4 can shovel stone block obstacle to complete obstacle removal.

[0021] The agricultural machinery visual identification obstacle avoidance device further comprises two collection baskets 6, which are respectively detachably fixedly installed at the two ends in the width direction of the mounting frame 1 and located at the rear side in the advancing direction of the mounting frame 1. The opening of the collection basket 6 faces the front side in the advancing direction of the mounting frame 1. The stone obstacles scooped up by the obstacle clearing basket 4 are concentrated in the collection basket 6 during the operation, so that there is enough space in the obstacle clearing basket 4 for the stone obstacle clearing work.

[0022] The obstacle clearing basket 4 comprises a linear motor two 41 and a clearing push plate 42. The telescopic end of the lifting seat 3 is fixedly provided with a driving motor. The top of the obstacle clearing basket 4 is fixedly connected to the driving shaft of the driving motor. The driving motor drives the obstacle clearing basket 4 to rotate in the horizontal direction. The front upper part of the obstacle clearing basket 4 is provided with an opening. The linear motor two 41 is fixedly installed on the inner side wall of the basket body of the obstacle clearing basket 4. The linear motor two 41 is arranged in the horizontal direction. When the linear motor two 41 operates, the sliding plate two moves in the horizontal direction. The clearing push plate 42 is slidingly inserted into the inner side of the obstacle clearing basket 4. The plate surface of the clearing push plate 42 is parallel to the opening of the obstacle clearing basket 4. The side of the clearing push plate 42 is fixedly connected to the sliding plate two. When the linear motor two 41 operates, the clearing push plate 42 is driven by the sliding plate two to reciprocally slide in the obstacle clearing basket 4, so as to complete the clearing and resetting of the stone obstacles in the obstacle clearing basket 4.

[0023] The agricultural machinery visual identification obstacle avoidance device further comprises a hydraulic support rod 8. The front end surface of the tractor 7 is fixedly provided with a hinged seat one. The bottom surface of the mounting frame 1 is fixedly provided with a hinged seat two. The base end of the hydraulic support rod 8 is hingedly installed on the hinged seat one. The telescopic end of the hydraulic support rod 8 is hingedly connected to the hinged seat two. The hydraulic support rod 8 is drivingly connected to the hydraulic system of the tractor 7. The hydraulic system drives the hydraulic support rod 8 to elongate and push the suspended end of the mounting frame 1 to lift up, so that the tractor 7 can quickly advance in the non-operation state.

[0024] The lifting seat 3 is drivingly connected to the hydraulic system of the tractor 7. The hydraulic system drives the lifting seat 3 to elongate downward or retract upward.

[0025] The control circuit is fixedly arranged on the mounting frame 1. The control circuit is provided with a signal transmission circuit between the monitoring camera 5. The control circuit is controlly connected to the linear motor one 2, the lifting seat 3, the driving motor, the linear motor two 41 and the hydraulic support rod 8 through the control circuit. The control circuit cooperatively controls the linear motor one 2, the lifting seat 3, the driving motor, the linear motor two 41 and the hydraulic support rod 8 to operate, so as to realize the clearing operation of the stone obstacles, and further to ensure the safe and stable operation of the rotary tillage mechanism arranged at the rear end of the tractor 7. The image data processing function and the cooperative control function of the control circuit are both the existing technologies fully disclosed in the field of integrated circuit at present. They can be selected according to the needs of the specific operation environment.

[0026] Working principle: The monitoring camera 5 identifies the ground conditions on the travel line of the tractor 7 in real time, detects whether there is a stone obstacle based on visual recognition technology, and feeds the detected image information to the control circuit, which adjusts and controls the stone obstacle removing basket 4 to perform the stone obstacle removing action according to the detection result.

[0027] When there is a stone obstacle, the control circuit adjusts and controls the linear motor 1 2 to operate according to the position of the stone obstacle displayed by the detection result, so that the sliding plate 1 moves to the position of the stone obstacle on the travel line, that is, the stone obstacle removing basket 4 is moved to the corresponding position by the lifting seat 3, and then the lifting seat 3 is adjusted and controlled to extend downward, so that the stone obstacle removing basket 4 is lowered to a position close to the ground. With the continuous travel of the tractor 7, the stone obstacle removing basket 4 can shovel up the stone obstacle, and the soil shovelled up together with the stone obstacle will fall back to the ground.

[0028] When the stone obstacle in the stone obstacle removing basket 4 is removed, the driving motor is adjusted and controlled to operate, so that the stone obstacle removing basket 4 rotates by 180°, and the opening of the stone obstacle removing basket 4 is turned to the rear of the travel direction. Then the linear motor 1 2 is adjusted and controlled to operate, so that the stone obstacle removing basket 4 moves to the opening of the adjacent collection hanging basket 6, and then the linear motor 2 41 is adjusted and controlled to operate, so that the cleaning push plate 42 is driven to slide, and the stone obstacle in the stone obstacle removing basket 4 is pushed into the collection hanging basket 6. After the stone obstacle is removed, the linear motor 2 41 is adjusted and controlled to operate in reverse to drive the cleaning push plate 42 to reset to the rear wall of the stone obstacle removing basket 4, and then the driving motor and the linear motor 1 2 are adjusted and controlled to operate, so that the stone obstacle removing basket 4 repeats the stone obstacle removing action.

[0029] When the tractor 7 travels without working, the hydraulic support rod 8 is adjusted and controlled to extend, so as to lift the mounting frame 1, that is, the plurality of components installed on the mounting frame 1 are lifted synchronously, so as to avoid the components from colliding with the protrusions on the travel path during travel.

[0030] The above only describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An agricultural machinery visual identification obstacle avoidance device, characterized in that: Including the mounting frame (1), linear motor one (2), lifting seat (3), barrier basket (4) and monitoring camera (5), the mounting frame (1) is hinged to the front end of the tractor (7), the linear motor one (2) is fixedly installed on the lower surface of the mounting frame (1), the linear motor one (2) is arranged along the width direction of the mounting frame (1), the base end of the lifting seat (3) is fixedly connected with the slide plate one (21) of the linear motor one (2), the telescopic end of the lifting seat (3) is vertically directed downward, the barrier basket (4) is rotatably installed on the telescopic end of the lifting seat (3), the monitoring camera (5) is fixedly installed on the side vertical surface of the linear motor one (2) towards the front of the tractor (7) running direction, and the signal control connection is established between the monitoring camera (5) and the linear motor one (2) through the control circuit. 2.The agricultural machinery visual identification obstacle avoidance device according to claim 1, characterized in that: The agricultural machinery visual identification obstacle avoidance device further comprises two collecting baskets (6), the two collecting baskets (6) are respectively detachably fixedly installed on both ends of the width direction of the mounting frame (1) and located on the rear side of the running direction of the mounting frame (1), and the opening of the collecting basket (6) is directed to the front side of the running direction of the mounting frame (1) to collect the stone obstacles shoveled by the barrier basket (4) in the collecting basket (6) during the operation. 3.The agricultural machinery visual identification obstacle avoidance device according to claim 2, characterized in that: The barrier basket (4) comprises a linear motor two (41) and a cleaning push plate (42), a drive motor is fixedly arranged on the telescopic end of the lifting seat (3), the top of the barrier basket (4) is fixedly connected on the drive shaft of the drive motor, the drive motor drives the barrier basket (4) to rotate in the horizontal direction, the front upper portion of the barrier basket (4) is provided with an opening, the linear motor two (41) is fixedly installed on the inner side wall of the basket body of the barrier basket (4), the linear motor two (41) is arranged along the horizontal direction, the slide plate two of the linear motor two (41) moves along the horizontal direction during operation, the cleaning push plate (42) is slidably inserted in the inner side of the barrier basket (4), the plate surface of the cleaning push plate (42) is parallel to the opening of the barrier basket (4), and the side of the cleaning push plate (42) is fixedly connected with the slide plate two.

4. The agricultural machinery visual recognition obstacle avoidance device according to claim 1 or 3, characterized in that: The agricultural machinery visual identification obstacle avoidance device further comprises a hydraulic support rod (8), a hinged seat one is fixedly arranged on the front end surface of the tractor (7), a hinged seat two is fixedly arranged on the bottom surface of the mounting frame (1), the base end of the hydraulic support rod (8) is hingedly installed on the hinged seat one, the telescopic end of the hydraulic support rod (8) is hingedly rod-shaped on the hinged seat two, and the hydraulic support rod (8) is drivingly connected with the hydraulic system of the tractor (7).

5. The agricultural machinery visual identification obstacle avoidance device according to claim 4, characterized in that: The lifting seat (3) is drivingly connected with the hydraulic system of the tractor (7), and the hydraulic system drives the lifting seat (3) to elongate downward or retract upward.

6. The agricultural machinery visual identification obstacle avoidance device according to claim 5, characterized in that: The control circuit is fixedly arranged on the mounting frame (1), the signal transmission circuit is arranged between the control circuit and the monitoring camera (5), and the control circuit is controlly connected with the linear motor one (2), the lifting seat (3), the drive motor, the linear motor two (41) and the hydraulic support rod (8) through the control circuit.

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