Field facility avoiding device and agricultural machine

Abstract

The embodiment of the utility model provides a field facility avoiding device and an agricultural machine. The field facility avoiding device comprises a sensing module, a carrier driving module and a control module. The sensing module is mounted at the head of a frame of the agricultural machine to detect field facilities; the carrier driving module is used for being installed in a carrier driving loop of the agricultural machine. The control module is used for being in communication connection with the sensing module and the carrier driving module under the condition that the control module is installed on the agricultural machine and controlling the carrier driving module to drive a carrier to ascend or descend according to detection data collected by the sensing module.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, specifically, relate to a field facility avoidance device and agricultural machinery. BACKGROUND

[0002] The agricultural machinery traverses the whole farmland to complete the work during the work in the field. However, the drip irrigation belt network or other agricultural facilities are generally laid in the farmland to meet the planting needs of crops, especially for cotton, pepper or other large-scale crops, the drip irrigation belt network to be laid is more huge. Therefore, in order to avoid the damage of the drip irrigation belt network by the agricultural machinery during the work, the agricultural machinery needs to avoid the drip irrigation belt network during the work.

[0003] In order to realize the automatic avoidance of the agricultural machinery to the field facilities, the related technology configures an image acquisition module on the agricultural machinery in the process of producing the agricultural machinery, and configures the related program in the control program of the agricultural machinery according to the image collected by the image acquisition module to determine whether to lift the carrier. Therefore, if the agricultural machinery needs to have the function of autonomously avoiding the field facilities, the corresponding configuration must be carried out before the agricultural machinery is delivered, which leads to the fact that the operator can only realize the carrier avoidance of the field facilities in a manual control mode when using the existing agricultural machinery without the function of actively avoiding the field facilities, or needs to purchase a new agricultural machinery with the function of actively avoiding the field facilities. It can be seen that the related technology has the problems of the existing agricultural machinery failing to meet the new function needs, the utilization rate being reduced, and the operation cost being increased due to the need to purchase a new agricultural machinery. SUMMARY

[0004] Therefore, in order to at least solve the technical problems of the existing agricultural machinery in the related technology failing to configure the field facility avoidance function, the utilization rate of the existing agricultural machinery being reduced, and the planting cost being increased, the purpose of the utility model is to provide a field facility avoidance device and an agricultural machinery.

[0005] In order to achieve the above purpose, the technical scheme adopted by the embodiments of the utility model is as follows:

[0006] The first aspect of the embodiments of the utility model provides a field facility avoidance device, which comprises:

[0007] A perception module is used to be installed at the head of the frame of the agricultural machinery to detect the field facilities.

[0008] A carrier driving module is used to be installed in the carrier driving circuit of the agricultural machinery.

[0009] A control module is used to be communicatively connected with the perception module and the carrier driving module when being installed on the agricultural machinery, and to control the carrier driving module to drive the carrier to be lifted or lowered according to the detection data collected by the perception module.

[0010] In an optional embodiment, the carrier driving module is an electromagnetic hydraulic valve, an oil inlet of the electromagnetic hydraulic valve is used for being connected with an outlet of a hydraulic pump of the agricultural machine, an oil outlet of the electromagnetic hydraulic valve is used for being connected with an inlet of the hydraulic pump of the agricultural machine, and two working ports of the electromagnetic hydraulic valve are used for being connected with two inlets of a carrier hydraulic rod of the agricultural machine, respectively.

[0011] In an optional embodiment, the field facility avoiding device also comprises:

[0012] The mounting seat is used for assisting the perception module to be mounted on the head of the agricultural machine, the mounting seat comprises two connecting plates and a mounting plate, the two connecting plates are used for being connected to the head of the frame of the agricultural machine, and the mounting plate is connected to at least one connecting plate and is used for mounting the perception module.

[0013] In an optional embodiment, one end of the two connecting plates is connected through a spring clamp, and the other end forms a clamping opening used for clamping the head of the frame of the agricultural machine.

[0014] In an optional embodiment, the mounting seat further comprises a fastener, one end of the two connecting plates forming the clamping opening is further provided with a through hole used for matching the fastener, and the fastener is used for fixing the clamping opening.

[0015] In an optional embodiment, the mounting plate is connected to at least one connecting plate in an inclined manner.

[0016] In an optional embodiment, the mounting support is used for assisting the control module to be mounted in the cockpit of the agricultural machine, the mounting support comprises a support base and a support frame, the support base is used for being mounted on a table top of the cockpit, and the support frame is mounted on the support base and is used for fixing the control module.

[0017] In an optional embodiment, the support frame comprises a support rod and a clamp, the support rod is connected between the support base and the clamp, and the clamp is used for clamping and fixing the control module.

[0018] In an optional embodiment, the control module is communicatively connected to the perception module and the carrier driving module in a wired or wireless manner, respectively; and / or

[0019] The control module further comprises a power management circuit, the power management circuit is used for providing working power for the control module, the perception module and the carrier driving module, a power supply input end of the power management circuit is used for being connected to a power supply output end of a power module of the agricultural machine; and / or

[0020] The control module further comprises a display.

[0021] A second aspect of this utility model is to provide an agricultural machine that includes a field facility avoidance device provided in any of the first aspects above.

[0022] The field facility avoidance device and agricultural machinery provided in any of the above embodiments of this utility model modularize the function of autonomously avoiding field facilities—encapsulating it into an independent control module. Furthermore, a sensing module and a vehicle drive module are additionally configured for communication with the control module. This allows the control module to control the vehicle drive module to raise or lower the vehicle based on detection data collected by the sensing module, when the control module, sensing module, and vehicle drive module are installed in corresponding parts of the agricultural machinery. Therefore, it is unnecessary to pre-configure the autonomous field facility avoidance function on the agricultural machinery before it leaves the factory. Agricultural machinery that does not have this function pre-configured can also possess it by using the field facility avoidance device provided in this utility model embodiment. Operators do not need to purchase new agricultural machinery, significantly improving the utilization rate of existing machinery and saving operating costs.

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This diagram shows a structural block diagram of a field facility avoidance device provided in an embodiment of the present invention;

[0026] Figure 2 This diagram illustrates an application scenario of a field facility avoidance device provided in an embodiment of the present invention.

[0027] Figure 3 A schematic diagram of the structure of a mounting base provided in an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram of another mounting base provided in an embodiment of the present invention is shown.

[0029] Icons: 100 - Field facility avoidance device, 110 - Sensing module, 120 - Vehicle drive module, 130 - Control module, 141 - Two connecting plates, 142 - Mounting plate, 1100 - Power module built into the agricultural machinery, 1200 - Head of the agricultural machinery frame. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of this utility model, it should be noted that when terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are mentioned, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the corresponding drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0034] Furthermore, terms such as "horizontal" and "vertical" do not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" may simply mean that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0035] In this embodiment of the utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0036] To address the technical problem of reduced utilization and increased planting costs of existing agricultural machinery due to the inability to equip it with field facility avoidance capabilities, this invention provides a field facility avoidance device. This device modularizes the autonomous field facility avoidance function into an independent control module. Furthermore, it includes a sensing module and a vehicle drive module for communication with the control module. This allows the control module to control the vehicle drive module to raise or lower the vehicle based on detection data collected by the sensing module, even when the control module, sensing module, and vehicle drive module are installed in the corresponding parts of the agricultural machinery. Therefore, it eliminates the need to pre-configure the autonomous field facility avoidance function before the agricultural machinery leaves the factory. Even agricultural machinery without this pre-configured function can achieve autonomous field facility avoidance by using the field facility avoidance device provided in this invention. This eliminates the need for operators to purchase new machinery, significantly improving the utilization rate of existing machinery and saving operating costs.

[0037] The following combination Figure 1 Please refer to the following description of the embodiments provided in this utility model. Figure 1 , Figure 1 This is a structural block diagram of a field facility avoidance device provided in an embodiment of the present utility model; the field facility avoidance device 100 includes:

[0038] The sensing module 110 is installed on the head of the agricultural machinery frame to detect field facilities;

[0039] Vehicle drive module 120, for installation in the vehicle drive circuit of agricultural machinery; and

[0040] The control module 130 is used to communicate with the sensing module 110 and the vehicle drive module 120 respectively when installed on agricultural machinery, and to control the vehicle drive module 120 to drive the vehicle to lift or lower based on the detection data collected by the sensing module 110.

[0041] In the above, agricultural machinery can be any type of agricultural machinery, such as tractors, tillers, soil turners, unmanned vehicles capable of towing vehicles, or other machinery capable of towing vehicles.

[0042] It is understood that the field facility avoidance device provided in this utility model embodiment can be applied to any type of agricultural machinery to enable agricultural machinery to autonomously avoid field facilities or field obstacles.

[0043] It is worth noting that the field facility avoidance device provided in this embodiment does not involve the improvement of the method, but rather integrates the existing field facility avoidance function in related technologies into the control module 130, so that the field facility avoidance function can be sold as a separate product, independent of the agricultural machinery production stage. This allows the field facility avoidance device provided in this embodiment to be applied to existing agricultural machinery at any time, enabling existing agricultural machinery to also have the field facility avoidance function without damaging the original structure of the agricultural machinery, and without requiring operators to purchase new machinery.

[0044] The following describes the operation process of agricultural machinery using the field facility avoidance device provided in this embodiment of the utility model:

[0045] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario of a field facility avoidance device provided in this embodiment of the present invention. Before agricultural machinery operation, if the field facility avoidance device provided in this embodiment of the present invention is not installed on the agricultural machinery, the installation of the field facility avoidance device provided in this embodiment of the present invention can be completed by following the steps below:

[0046] The sensing module 110 is mounted on the head of the agricultural machinery frame with its sensing end facing the ground. This allows the sensing module 110 to acquire real-time information about the ground conditions in the field during subsequent operations and transmit this information to the control module 130. The control module 130 is mounted in the cab of the agricultural machinery or another suitable location. The vehicle drive module 120 is installed in the vehicle drive circuit of the agricultural machinery, enabling the vehicle drive module 120 to drive the lifting and lowering of the vehicle through this vehicle drive circuit.

[0047] In the above-described configuration, if the sensing module 110, the vehicle drive module 120, and the control module 130 are all equipped with wireless communication modules, then before or after the installation is completed, the sensing module 110 and the vehicle drive module 120 can be paired with the control module 130 to establish a communication connection. This wireless communication connection eliminates the need for wiring, making the installation and use of field facility avoidance devices much more convenient.

[0048] In some scenarios, such as when it is desirable for the sensing module 110, vehicle drive module 120, and control module 130 to communicate independently of a wireless communication network to avoid the instability of the wireless communication network affecting communication reliability, in some embodiments, the control module 130 can be wired to communicate with the sensing module 110 and the vehicle drive module 120 respectively. Based on this, after the above installation is completed, a communication bus can be used to connect the control module 130 and the sensing module 110, as well as the control module 130 and the vehicle drive module 120.

[0049] This completes the installation of the field facility avoidance device on the agricultural machinery. During operation, the sensing module 110 transmits the collected detection data to the control module 130. The control module 130 processes the data using relevant data processing methods to determine if any field facilities are in front of the machinery. If so, the control module 130 controls the vehicle drive module 120 to raise the vehicle and, after avoiding the facilities, lowers it, thus enabling the machinery to autonomously avoid them. If no facilities are present, the control module 130 controls the vehicle drive module 120 to maintain the lowered state of the vehicle.

[0050] In some embodiments, the sensing module 110 may be an image acquisition module, a lidar, or another detection module capable of distinguishing field facilities. As some examples, when the sensing module 110 is an image acquisition module, the image acquisition module may be a narrowband camera, for example, a narrowband camera with a wavelength range of 910 nm to 970 nm.

[0051] In some embodiments, the vehicle drive module 120 is of the same type as the drive module in the vehicle drive circuit of the agricultural machinery. For example, if the vehicle drive of the agricultural machinery is electric, the vehicle drive module 120 can be an electric drive module; or if the vehicle drive of the agricultural machinery is hydraulic, the vehicle drive module 120 can be a hydraulic module.

[0052] The following section uses a hydraulic drive circuit for agricultural machinery as an example to illustrate the structure of the implement drive module 120 and its installation method in the agricultural machinery:

[0053] In this case, the vehicle drive module 120 can be an electromagnetic hydraulic valve. The oil inlet of the electromagnetic hydraulic valve is used to connect with the outlet of the hydraulic pump of the agricultural machinery, the oil outlet of the electromagnetic hydraulic valve is used to connect with the inlet of the hydraulic pump of the agricultural machinery, and the two working ports of the electromagnetic hydraulic valve are used to connect with the two input ports of the vehicle hydraulic rod of the agricultural machinery respectively.

[0054] In some embodiments, to facilitate operators' understanding of the working status of the vehicle drive module 120 and the sensing module 110, the control module 130 may further include a display that can show the working status of the vehicle drive module 120 and the detection data collected by the sensing module 110.

[0055] In some embodiments, for ease of installation of the sensing module 110, please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram of the structure of a mounting base provided in an embodiment of the present utility model. The field facility avoidance device provided in this embodiment of the present utility model may further include:

[0056] A mounting base is provided to assist the sensing module 110 in being installed on the head of an agricultural machine. The mounting base includes two connecting plates 141 and a mounting plate 142. The two connecting plates 141 are used to connect to the head 1200 of the agricultural machine frame. The mounting plate 142 is connected to at least one connecting plate and is used to install the sensing module 110.

[0057] In some examples, the two connecting plates 141 may be provided with at least one fastening hole A1, and the mounting plate 142 may be provided with at least one fastening hole B1 and at least one fastening hole B2 for connecting to the two connecting plates 141, and a fastening hole B3 for connecting to the sensing module 110.

[0058] Therefore, during the installation of the sensing module 110 on the head 1200 of the agricultural machinery frame, the frame of the agricultural machinery can first be clamped using the two connecting plates 141 and fixed using fasteners placed in the fastening holes A1. Then, the mounting plate 142 is installed on one end of one of the connecting plates or one end of both connecting plates using fasteners placed in the fastening holes B1 and / or B2, and then the sensing module 110 is installed on the mounting plate 142.

[0059] In some embodiments, to facilitate the disassembly and installation of the sensing module 110, the present invention also includes... Figure 3 Based on the mounting base shown, a corresponding structure has been added, namely, one end of the two connecting plates is connected by a spring clip, and the other end forms a clamp for clamping the head of the agricultural machinery frame.

[0060] Therefore, by pressing the clamping part with both hands to open the clamp, then aligning the clamp with the frame of the agricultural machinery and releasing the clamping part, the clamp will close and clamp the frame. This allows the sensor module 110 to be installed. Similarly, when it is necessary to remove the sensor module 110, the clamping part can be pressed with both hands to loosen the clamp from the frame, and the mounting base can be removed to remove the sensor module 110.

[0061] Based on the previous embodiment, in order to ensure that the clamp can clamp the frame more firmly and prevent the sensing module 110 from shaking too much or even falling off due to sudden vibration during agricultural machinery operation, in some embodiments, the mounting base also includes a fastener; one end of the two connecting plates forming the clamp is also provided with a through hole for matching the fastener; the fastener is used to fix the clamp.

[0062] Therefore, after clamping the two connecting plates into the frame, fasteners can be passed through the through holes in the two connecting plates and then locked. These fasteners can be snap-fit ​​fasteners or bolt-nut type fasteners.

[0063] In other embodiments, for the same purpose of facilitating the disassembly and installation of the sensing module 110, the sensing module 110 is detachably mounted on the mounting base. The structure for achieving the detachable connection between the sensing module 110 and the mounting base can be any of the following:

[0064] The first method involves providing a sliding groove in one of the sensing module 110 and the mounting base, and a slider matching the sliding groove in the other. The sliding groove includes a locking mechanism for securing the slider. The sliding groove can be open on both sides, or closed on one side and open on the other. When both sides of the sliding groove are open, two locking mechanisms are provided, one for closing each opening. When only one side of the sliding groove is open, one locking mechanism is used to close the opening. This allows the sensing module 110 to be fixed in place after it is installed in the sliding groove, with the locking mechanism closing the opening.

[0065] The second method involves setting a buckle on one of the sensing module 110 and the mounting base, and setting a locking block on the other. Thus, through the cooperation of the buckle and the locking block, the sensing module 110 can be fixedly installed on the mounting base, or the sensing module 110 can be removed from the mounting base.

[0066] In some embodiments, to enable the sensing module 110 to collect data on the field conditions within a certain range in front of the agricultural machinery, so that the control module 130 has more time to process the detected data, and to promptly control the vehicle to lift when it is determined that there are field facilities in front, please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram of another mounting base provided in an embodiment of the present invention. The mounting method of the mounting plate 142 has been adjusted in this embodiment, that is, the mounting plate 142 is inclinedly connected to at least one connecting plate 141.

[0067] Therefore, after installing the sensing module 110 on the mounting plate 142, the sensing end of the sensing module 110 can face the front and lower part of the agricultural machinery, which expands the range of the field area that the sensing module 110 can detect. This ensures that the control module 130 has more time to process data and control the vehicle.

[0068] In some embodiments, to facilitate the installation of the control module 130, the field facility avoidance device provided in this utility model embodiment may further include:

[0069] A mounting bracket is used to assist the control module 130 in being installed in the cab of the agricultural machinery; the mounting bracket includes a support and a bracket; the support is used to be installed on the table surface of the cab; the bracket is installed on the support and is used to fix the control module 130.

[0070] As described above, the support can be fixed to the cab table of the agricultural machinery by screws, magnets, clamps, or double-sided tape, and then the control module 130 can be fixed to the bracket, thereby realizing the quick installation of the control module 130.

[0071] Based on the previous embodiment, in some embodiments, to facilitate the installation of the control module 130, the bracket may include a support rod and a clamp; the support rod is connected between the support and the clamp, and the clamp is used to hold and fix the control module 130.

[0072] In some embodiments, in order to provide power to the control module 130, the sensing module 110 and the vehicle drive module 120, the field facility avoidance device provided in this utility model embodiment may further include a power supply module, which may be a solar power supply module, and the power supply module provides working power to the control module 130, the sensing module 110 and the vehicle drive module 120 respectively.

[0073] In other embodiments, to reduce the power supply cost of the field facility avoidance device, the agricultural machinery's own power module can be used to power the field facility avoidance device. That is, the control module 130 further includes a power management circuit, which provides operating power to the control module 130, the sensing module 110, and the vehicle drive module 120. The power input terminal of the power management circuit is connected to the power output terminal of the agricultural machinery's power module 1100, such as... Figure 2 As shown.

[0074] In addition, this utility model embodiment also provides an agricultural machine, such as... Figure 2 As shown, the agricultural machinery includes the field facility avoidance device in any of the above embodiments. The structure and installation method of the field facility avoidance device can be found in the relevant descriptions above, and will not be repeated here.

[0075] It is worth noting that the technical features or technical solutions in any of the above embodiments of this utility model can be combined or integrated with each other, as long as there is no contradiction in the combination or integration.

[0076] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A field facility avoidance device, characterized in that, include: The sensing module is installed on the head of the agricultural machinery frame to detect field facilities; Vehicle drive module, used for installation in the vehicle drive circuit of agricultural machinery; as well as The control module, when installed on agricultural machinery, is communicatively connected to both the sensing module and the vehicle drive module, and controls the vehicle drive module to raise or lower the vehicle based on the detection data collected by the sensing module.

2. The field facility avoidance device according to claim 1, characterized in that, The vehicle drive module is an electromagnetic hydraulic valve. The oil inlet of the electromagnetic hydraulic valve is connected to the outlet of the hydraulic pump of the agricultural machinery, and the oil outlet of the electromagnetic hydraulic valve is connected to the inlet of the hydraulic pump of the agricultural machinery. The two working ports of the electromagnetic hydraulic valve are respectively connected to the two input ports of the vehicle hydraulic rod of the agricultural machinery.

3. The field facility avoidance device according to claim 1, characterized in that, Also includes: A mounting base is used to assist in installing the sensing module on the head of an agricultural machine; the mounting base includes two connecting plates and a mounting plate; the two connecting plates are used to connect to the head of the agricultural machine frame; the mounting plate is connected to at least one connecting plate for mounting the sensing module.

4. The field facility avoidance device according to claim 3, characterized in that, The two connecting plates are connected at one end by a spring clip, and the other end forms a clamp for clamping the head of the agricultural machinery frame.

5. The field facility avoidance device according to claim 4, characterized in that, The mounting base also includes fasteners; one end of the two connecting plates forming a clamp is also provided with a through hole for matching the fasteners; the fasteners are used to fix the clamp.

6. The field facility avoidance device according to any one of claims 3 to 5, characterized in that, The mounting plate is obliquely connected to at least one connecting plate; and / or, the sensing module is detachably mounted on the mounting base.

7. The field facility avoidance device according to claim 1, characterized in that, Also includes: A mounting bracket is used to assist in installing the control module in the cab of the agricultural machinery; the mounting bracket includes a support and a bracket. The support is used to install on the platform of the cockpit; the bracket is installed on the support and is used to fix the control module.

8. The field facility avoidance device according to claim 7, characterized in that, The bracket includes a support rod and a clamp; the support rod is connected between the support and the clamp, and the clamp is used to hold and fix the control module.

9. The field facility avoidance device according to claim 1, characterized in that, The control module is communicatively connected to the sensing module and the vehicle drive module via wired or wireless means, respectively; and / or The control module also includes a power management circuit, which provides operating power to the control module, the sensing module and the vehicle drive module. The power input terminal of the power management circuit is connected to the power output terminal of the power module of the agricultural machinery. and / or The control module also includes a display.

10. An agricultural machine, characterized in that, Includes the field facility avoidance device as described in any one of claims 1 to 9.

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