Novel intelligent agricultural machine

Abstract

The utility model discloses a novel intelligent agricultural machine. The novel intelligent agricultural machine comprises a computer; the millimeter radar wave sensor system, the ultrasonic radar sensor system, the high-precision GNSS sensor system, the IMU sensor system, the laser radar wave sensor system and the video binocular recognition system are respectively arranged on the double-motor engine agricultural machine and are respectively connected with the computer; the USB data exchange card is connected with the computer; and the switching circuit is respectively connected with the USB data exchange card and the double-motor engine agricultural machine, and is used for controlling the transmission of signals, so that the agricultural machine can advance, retreat, steer and adjust the advancing speed according to the judgment instruction of the computer.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent agricultural machinery technical field, especially a novel intelligent agricultural machinery. BACKGROUND

[0002] With the continuous progress of science and technology and the development requirement of agricultural unmanned aerial vehicle industry, agricultural intelligent agricultural machinery technology plays a vital role in modern agriculture. The traditional mechanical application completely depends on manual operation, and the labor intensity is high, the driving skill requirement is high, the operation quality cannot be guaranteed, especially for sowing, ditching and other operations with high straightness and joint line precision requirements, the quality and efficiency cannot be guaranteed. The advancement of agricultural intelligent agricultural machinery technology not only improves the agricultural production efficiency, but also reduces the labor intensity of farmers, improves the agricultural production environment, and provides strong support for sustainable development of agriculture.

[0003] At present, the unmanned agricultural machinery in the whole country can only engage in straight-line uniform operation in the field when automatically operating, cannot automatically turn, and needs human intervention. UTILITARY MODEL CONTENT

[0004] In view of the above technical problems, the utility model provides a novel intelligent agricultural machinery.

[0005] In order to realize the above purpose, the technical scheme of the utility model is as follows:

[0006] A novel intelligent agricultural machinery comprises:

[0007] A computer;

[0008] A millimeter radar wave sensor system, an ultrasonic radar sensor system, a high-precision GNSS sensor system, an IMU sensor system, a laser radar wave sensor system and a video binocular recognition system are arranged on the double-motor engine agricultural machinery respectively and connected with the computer;

[0009] A USB data exchange card is connected with the computer;

[0010] An adapter circuit is connected with the USB data exchange card and the double-motor engine agricultural machinery respectively, used for transmitting control signals, so that the agricultural machinery can advance, retreat, turn and adjust the advancing speed according to the judgment instruction of the computer.

[0011] The utility model further comprises a driving warning system arranged on the double-motor engine agricultural machinery and connected with the adapter circuit.

[0012] The utility model further comprises a remote control system connected with the adapter circuit, used for remote control of the double-motor engine agricultural machinery.

[0013] The adapter circuit comprises:

[0014] Stabilized 12V power supply circuit, with power supply connection;

[0015] System standby power supply circuit, with power supply connection;

[0016] The agricultural machine driving and steering control circuit is connected with the remote control system, the USB data exchange card and the double-motor engine agricultural machine respectively.

[0017] The agricultural machine speed control circuit is connected with the remote control system, the USB data exchange card and the double-motor engine agricultural machine respectively.

[0018] The driving warning system control circuit is connected with the driving warning system respectively.

[0019] The utility model also includes six hall sensors which are arranged on the left motor and the right motor of the double-motor engine agricultural machine and are connected with the USB data exchange card and are used for detecting the speed of the left and right motors.

[0020] The utility model discloses a millimeter radar wave sensor system is connected with computer, can accurate measurement in the distance between surrounding objects, speed and angle under the bad weather condition in the distance, ultrasonic wave radar sensor system is connected with computer, can measure the distance of near distance object, high accuracy GNSS sensor system and IMU sensor system are connected with computer, and through high frequency global positioning and inertial update data, the man-machine integration intelligent agricultural machine is completed self -positioning, laser radar wave sensor system is connected with computer, completes drawing map, positioning and avoiding barrier, video binocular recognition system is connected with computer, is the supplement of laser radar wave sensor system in the field use is not ideal, binocular recognition system covers different visual angle and distance range, ensures stable operation under various complex environment, USB data exchange card is connected with computer, completes the exchange of various data, the connection of USB data exchange card and switching circuit carries out various control signals, switching circuit and double-motor engine agricultural machine's connection completes the driving control of agricultural machine, switching circuit and remote control system connect, for the control agricultural machine under complex environment condition, switching circuit and warning driving system connect, completes the driving of the animal in the field work environment. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the principle drawing of the utility model,

[0022] Figure 2 It is the system control principle drawing of the utility model,

[0023] Figure 3 It is the switching circuit and agricultural machine connection principle drawing of the utility model,

[0024] Figure 4The switching circuit, the USB data exchange card and the double-motor engine agricultural machine control logical relationship diagram are the utility model.

[0025] Figure 5 The switching circuit principle diagram is the utility model. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantage of the utility model more clear and explicit, the utility model is further explained in detail below in combination with specific implementation manners.It should be understood that these descriptions are only exemplary, and the scope of the utility model is not limited to this.In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0027] As shown in Figure 1 and Figure 3 A new intelligent agricultural machine, comprising: a computer 8;Millimeter radar wave sensor system 1, ultrasonic radar sensor system 2, high-precision GNSS sensor system 3, IMU sensor system 4, laser radar wave sensor system 5, video binocular recognition system 6 are respectively arranged on double-motor engine agricultural machine 12, and are connected with computer 8 respectively;USB data exchange card 10 is connected with computer 8;Switching circuit 11 is connected with USB data exchange card 10 and double-motor engine agricultural machine 12 respectively, for the transmission of control signal, so that the agricultural machine can advance, retreat, steering and the adjustment of advancing speed according to the judgment instruction of computer 8.The utility model also includes the warning system 7 of driving away, and is arranged on double-motor engine agricultural machine 12, and is connected with switching circuit 11.The utility model also includes remote control system 9 and switching circuit 11 connection, for the remote control of double-motor engine agricultural machine 12.The utility model also includes six hall sensors, which are respectively arranged on the left motor and right motor of double-motor engine agricultural machine 12, and are connected with USB data exchange card 10, for the speed detection of left and right motor.

[0028] As shown in Figure 5 Switching circuit 11, comprising: voltage stabilizing 12V power supply circuit 114 is connected with power supply;System standby power supply circuit 113 is connected with power supply;Agricultural machine advancing steering control circuit 112 is connected with remote control system 9 and USB data exchange card 10 and double-motor engine agricultural machine 12 respectively;Agricultural machine speed control circuit 121 is connected with remote control system 9 and USB data exchange card 10 and double-motor engine agricultural machine 12 respectively;Driving away warning system control circuit 115 is connected with driving away warning system 7 respectively.

[0029] Specifically, as shown in Figure 2As shown, the utility model can get the real -time output of the obstacle information (obstacle type, confidence rate, width, distance, etc.) of the target detection algorithm of the comprehensive detection of various sensors, the real -time output of high -precision position information of the positioning and navigation system, combine path planning algorithm, design intelligent decision scheme, output intelligent control strategy, then according to the computer and USB data acquisition card and switching circuit board control logic, accurate realization agricultural machine's intelligent control (forward, backward, steering, position correction, emergency stop etc.). The lateral control method derived from the pure path tracking control algorithm design of this fuzzy control. The algorithm has the advantages of good robustness to the outside world, no requirement for path conditions, strict line speed according to the heading, and the angular velocity will not oscillate, and has good tracking effect in straight line segment, and is suitable for low-speed tracking scene. The agricultural machine operation speed is slow, and the tracking effect of the straight operation segment is required to be higher, and the tracking precision of the turning non-operation segment is required to be relatively low. Therefore, according to the actual operation demand of the agricultural machine, the pure tracking control algorithm is selected as the path tracking control algorithm, and the fuzzy control theory is combined to adjust in real time according to the current lateral deviation and heading deviation of the vehicle, so that the optimal control of the agricultural machine is realized.

[0030] As Figure 3 The USB data exchange card 10 transmits the control agricultural machine posture signal to the switching circuit, and after identification, drives the left motor of the agricultural machine to start (0-5V linear acceleration motion) and the right motor to start (0-5V linear acceleration motion). The motion control is that the left motor forward control signal is high, and the left motor backward control signal is low. The right motor forward control signal is high, and the right motor backward control signal is low. When encountering too bad environment state, manual intervention of the agricultural machine is required, remote control is started, and manual operation is carried out.

[0031] As Figure 4 As shown, it is a switching circuit 11, USB data exchange card 10 and agricultural machine control logic relationship connection diagram; the forward, forward left turn, forward right turn of the agricultural machine correspond to the 11, 11, 01, 11, 10 of the L, R motor direction signal respectively. The backward, backward left turn, backward right turn of the agricultural machine correspond to the 00, 00, 10, 00, 01 of the L, R motor direction signal respectively. The speed of the left and right motors is linear motion between 0-1, 0 is the output motor signal 0V, the motor starts, 1 is the output motor signal power voltage, and the motor speed is maximum. The speed of the left and right motors is detected by three Hall sensors of the left motor and the right motor respectively, and the signal is transmitted to the whole switching circuit and the USB card. The obstacle avoidance and emergency stop signal is also processed by the whole switching circuit.

[0032] As Figure 5As shown, CZ10125 input DC60V voltage, connected to the first pin of IC1, IC1 in the figure is 12V switching regulator chip, L1 energy storage inductor, D9 rectifier diode, C8 and C7 are filter capacitors, constitute a 12V power supply circuit 114. Connected to the diode D8, to power the entire switching circuit. CZ9126 12V voltage connected to D7, also to power the entire switching circuit, as a backup power supply circuit 113. In the figure 11.5V voltage connected to the bypass capacitor C5 and energy storage capacitor C6, input to the first pin of linear voltage regulator IC2, through IC2 to 6V Vcc voltage, to power the entire switching circuit integrated circuit chip.

[0033] The connector socket CZ1124, CZ2123, CZ3122 input agricultural machine travel state control signal. 0 voltage agricultural machine for backward operation, high level agricultural machine for forward operation.

[0034] The third pin of CZ2123 is the remote control right motor control signal, connected to the 7th pin of IC3A voltage comparator chip and the pull-down resistor R1, the voltage of the 7th pin is greater than that of the 6th pin, the 1st pin outputs high level, connected to the R3 pull-up resistor, diode D3 is turned on, and high level is output.

[0035] The second pin of CZ2123 is the remote control left motor control signal, connected to the 5th pin of IC3B voltage comparator chip and the pull-down resistor R4, the voltage of the 5th pin is greater than that of the 4th pin, the 2nd pin outputs high level, connected to the R6 pull-up resistor, diode D4 is turned on, and high level is output.

[0036] The third pin of CZ3122 is the computer right motor control signal, connected to the 9th pin of IC3C voltage comparator chip and the pull-down resistor R8, the voltage of the 9th pin is greater than that of the 8th pin, the 14th pin outputs high level, connected to the R93 pull-up resistor, diode D5 is turned on, and high level is output.

[0037] The second pin of CZ3122 is the computer left motor control signal, connected to the 11th pin of IC3D voltage comparator chip and the pull-down resistor R11, the voltage of the 11th pin is greater than that of the 10th pin, the 13th pin outputs high level, connected to the R12 pull-up resistor, diode D6 is turned on, and high level is output.

[0038] The third pin of CZ1124 connected diode D1 and the second pin connected diode D2 are inverse input control signals, which are system backup input terminals 111.

[0039] The negative poles of diodes D1, D4 and D6 are connected together to form a left motor control signal of the agricultural machine in the running state, connected to the 4th pin of IC6B electronic switch chip, and after the control is turned on, output from the 3rd pin to the potentiometer W4 for adjustment, and the adjusted signal is output to the 4th pin of CZ1 1241 to complete the left motor control of the agricultural machine.

[0040] The negative poles of diodes D2, D3 and D5 are connected together to form a right motor control signal of the agricultural machine in the running state, connected to the 1st pin of IC6A electronic switch chip, and after the control is turned on, output from the 2nd pin to the potentiometer W3 for adjustment, and the adjusted signal is output to the 5th pin of CZ1 1241 to complete the right motor control of the agricultural machine.

[0041] The connector sockets CZ4 120 and CZ5 119 in the figure input the agricultural machine running speed control signal. The 0 voltage stops the agricultural machine motor from running, and the highest level is the maximum speed of the agricultural machine motor.

[0042] The 3rd pin of CZ4 120 is a remote control right motor speed control signal, connected to the 3rd pin of IC4A operational amplifier chip and the pull-down resistor R14, and the resistors R15 and R16 are chip amplification multiple resistors. The signal is loaded and matched through the resistor R17, transmitted to the diode D10, and the right motor speed control signal is output.

[0043] The 2nd pin of CZ4 120 is a remote control left motor speed control signal, connected to the 5th pin of IC4B operational amplifier chip and the pull-down resistor R19, and the resistors R20 and R21 are chip amplification multiple resistors. The signal is loaded and matched through the resistor R22, transmitted to the diode D11, and the left motor speed control signal is output.

[0044] The 3rd pin of CZ5 119 is a remote computer right motor speed control signal, connected to the 10th pin of IC4C operational amplifier chip and the pull-down resistor R23, and the resistors R24 and R25 are chip amplification multiple resistors. The signal is loaded and matched through the resistor R26, transmitted to the diode D12, and the right motor speed control signal is output.

[0045] The 2nd pin of CZ5 119 is a computer left motor speed control signal, connected to the 12th pin of IC4D operational amplifier chip and the pull-down resistor R27, and the resistors R28 and R29 are chip amplification multiple resistors. The signal is loaded and matched through the resistor R30, transmitted to the diode D13, and the left motor speed control signal is output.

[0046] The negative pole of diode D10, D12 and pull-down resistor R18 are connected together to form the right motor speed control signal of the agricultural machine, which is connected to the 11th pin of IC6D electronic switch chip. After the control is turned on, the signal is output from the 11th pin to the potentiometer W1 for adjustment. The adjusted signal is output to the 3rd pin of CZ11241 to complete the right motor speed control of the agricultural machine.

[0047] The negative pole of diode D11, D13 and pull-down resistor R31 are connected together to form the left motor speed control signal of the agricultural machine, which is connected to the 8th pin of IC6C electronic switch chip. After the control is turned on, the signal is output from the 9th pin to the potentiometer W2 for adjustment. The adjusted signal is output to the 2nd pin of CZ11241 to complete the left motor speed control of the agricultural machine.

[0048] In the figure, the connectors CZ6116, CZ7117 are the input signal of the biological barrier emergency stop sensor, and the bypass capacitors C13, C15 and energy storage filter capacitors C14, C16 provide power for the sensor. The positive pole of diode D14, D15 and pull-up resistor R32 are connected together. When the sensor collects the signal, it is input to the 9th pin of voltage comparator chip IC5C. The voltage of 9th pin is less than that of 8th pin, and the 14th pin and pull-up resistor R23 output low level. Diode D16 is turned on, the delay capacitor C17 is discharged instantly, and the resistor R23 and the potentiometer W5 are connected together as the delay time length adjustment device. The 11th pin of IC5D is low level. The voltage of 11th pin is less than that of 10th pin, and the 13th pin and pull-up resistor R35 output low level.

[0049] When the 13th pin of IC5D outputs low level, the 6th pin of IC5A connected together is also low level. The voltage of 6th pin is less than that of 7th pin, and the 1st pin and pull-up resistor R39 output high level. Diode D18 is turned on, and the resistor R40 limits the current to drive the transistor Q1 to operate. The relay J1 is attracted, and the CZ11242 provides power for the driving warning system to complete the driving function of the biological.

[0050] When the 13th pin of IC5D outputs low level, the 5th, 6th, 12th and 13th pins of IC6 connected together are also low level. The electronic switches in the IC6 electronic switch chip are all closed, which makes the agricultural machine control state signal interrupted, and the agricultural machine stops running immediately to realize the emergency stop function.

[0051] When the 1st pin of IC5A is high level, the 5th pin of IC5B connected together is also high level. The voltage of 5th pin is higher than that of 4th pin, and the 2nd pin and pull-up resistor R36 output high level. Diode D17 is turned on, and the 1st pin of CZ8118 feeds back the emergency stop signal to the computer.

[0052] Pin 2 of CZ8 118 in the diagram is used by the computer to calculate the result on-site. When a driving signal needs to be output, it drives transistor Q1 through diode D19 and current-limiting resistor R41, which in turn activates relay J1 to supply power to the driving system and complete another function of driving away organisms.

[0053] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A new type of intelligent agricultural machinery, characterized in that, include: Computer (8); The millimeter radar wave sensor system (1), ultrasonic radar sensor system (2), high-precision GNSS sensor system (3), IMU sensor system (4), laser radar wave sensor system (5), and video binocular recognition system (6) are respectively installed on the dual-motor engine agricultural machinery (12) and are respectively connected to the computer (8); USB data exchange card (10), connected to computer (8); The adapter circuit (11) is connected to the USB data exchange card (10) and the dual-motor engine farm (12) respectively, and is used to control the transmission of signals so that the farm can adjust its forward, backward, turning and travel speed according to the judgment instructions of the computer (8).

2. The novel intelligent agricultural machinery according to claim 1, characterized in that, It also includes a scare warning system (7), which is installed on the dual-motor engine agricultural machine (12) and connected to the adapter circuit (11).

3. The novel intelligent agricultural machinery according to claim 2, characterized in that: It also includes a remote control system (9) connected to a converter circuit (11) for remote control of a dual-motor engine agricultural machine (12).

4. A novel intelligent agricultural machine according to claim 3, characterized in that, The adapter circuit (11) includes: A regulated 12V power supply circuit (114) is connected to the power supply. The system backup power supply circuit (113) is connected to the power supply. The agricultural machinery travel and steering control circuit (112) is connected to the remote control system (9), the USB data exchange card (10), and the dual-motor engine agricultural machinery (12), respectively; The agricultural machinery speed control circuit (121) is connected to the remote control system (9), the USB data exchange card (10), and the dual-motor engine agricultural machinery (12), respectively. The control circuit (115) of the eviction warning system is connected to the eviction warning system (7).

5. A novel intelligent agricultural machine according to claim 1, characterized in that, It also includes six Hall sensors, which are respectively installed on the left and right motors of the dual-motor engine agricultural machine (12) and connected to the USB data exchange card (10) for detecting the speed of the left and right motors.

Images