2090 results about "Farm machine" patented technology

A route planning system for an agricultural working machine including at least one crop material storage unit for storing quantities of crop material transferable to forage vehicles, has a unit for generating driving routes in a territory based on a defined working width assigned to the agricultural working machine, a unit for reconciling a crop material quantity stored in the crop material storage unit depending on at least one characteristic parameter, and a unit for dynamically adapting the reconciliation to changes in the at least one characteristic parameter.

The invention relates to martensite series wear-resistant steel and a preparation method thereof, belonging to the technical field of wear-resistant steel. The steel comprises the following chemical components: 0.05-0.51wt% of C, 2.0-10wt% of Mn, 0-1.5wt% of Al, 0-1.5wt% of Si, 0-1.5wt% of Cr, 0-1.5wt% of Cu, 0-1.5wt% of Ni and the balance of Fe and inevitable impurities, wherein the Mn / C ratio is not less than 9. Based on this, the following one or more composite elements can be optionally added: 0.02-0.50wt% of Mo, 0.02-0.50wt% of V, 0.02-0.50wt% of Nb, 0.01-0.5wt% of Ti, 0.02-0.50wt% of B and 0.02-0.50wt% of RE. The wear-resistant steel provided by the invention is easy to produce, low in cost and high in performance. The invention is applicable to the technical field of wear-resistant materials for mines, energy, transportation, agricultural machinery, engineering machinery and other industries.

An articulating and locking mechanism of agricultural implement chassis is disclosed, intended for disc harrows and other implements with great working width, which are characterized by articulation to reduce the total width so as to facilitate transportation and storage, constituted of a main structure or chassis (1), central disc gang chassis (2), lateral and articulating disc gang chassis (3), with arrangements of vertical plates or extensions (4 and 5) welded and joined by shafts (6) for articulation by means of hydraulic cylinders (7), equipped with locking mechanism made up of hydraulic cylinders (8), locking and unlocking actuators (9, 9A), locks (12, 12A), coupling shafts (13, 13A) inserted in sleeves (14, 14A) and joined to the vertical closure plates (15) of the inner ends of the articulating chassis (3). Locking flanges (17) welded to the central chassis (2) form a quick closing action with the locks (12, 12A) providing rigidity in the locking between said rigid and articulating chassis during the implement's field operation.

An apparatus and method for automatically swinging a center pivot, towed implement from one side to the other side of a farm machine. The apparatus includes a Global Positioning System for locating the farm machine and sensors and remote controls for various functions of the machine to check and change the status of each machine function. An on-board computer uses the sensors and the GPS and a previously installed program to automatically determine what portion of the field has been worked and to direct the farm machine to swing the implement from one side to the other as required.

A method for defining, using, and adjusting curved swath patterns and a swath generation apparatus implementing said method for use in an automated vehicle guidance system.

The invention provides an agricultural machinery automatic driving control system based on Beidou navigation and a method thereof, and belongs to the technical field of agricultural machinery control. The agricultural machinery automatic driving control system comprises a differential reference station, an automatic driving instrument and a visual sensor. The differential reference station comprises a first measurement antenna which is connected with a first measurement receiver. A transmitting radio is connected on the first measurement receiver. The automatic driving instrument comprises a vehicle-mounted navigator, a vehicle-mounted display controller, an electric steering wheel controller and a guide wheel angle sensor. The vehicle-mounted navigator is connected with the vehicle-mounted display controller. The output ports of the electric steering wheel controller and the guide wheel angle sensor are connected with the vehicle-mounted display controller. The vehicle-mounted display controller comprises a graphic processing module. The visual sensor is connected with the graphic processing module. Obstacle avoidance of the agricultural machinery can be guaranteed through control of the guide wheel angle and omitted cultivation of the agricultural machinery can be reduced so that cultivation quality of the agricultural machinery can be enhanced, and the agricultural machinery automatic driving control system can be used for control work of agricultural machinery automatic driving cultivation.

The invention provides a GNSS / INS / vehicle integrated navigation method for agricultural machinery operation in the technical field of navigation. The method comprises the following steps: S1, inertial navigation calculation is carried out after correction of zero offset of an inertial measurement unit (IMU), and a state transition matrix and a system covariance matrix are calculated through Kalman filtering; S2, whether GNSS information is updated is judged; if the GNSS information is updated, the GNSS information is extrapolated, filtering estimation is carried out by taking the position and speed differences between INS and GNSS as observations, the dynamic condition of the carrier is judged, correction platform error and IMU zero offset error are fed back, and the method returns to S1 for loop execution; or, the current information is the position, speed and attitude information of the carrier; and S3, whether vehicle information is updated is judged; if the vehicle information is updated, the vehicle information is extrapolated, filtering estimation is carried out by taking the speed difference between INS and the vehicle as an observation, and correction platform error and IMU zero offset error are fed back; or, the current information is the position, speed and attitude information of the carrier. The method has high navigation accuracy, and can achieve high navigation accuracy with a low-cost IMU.

The invention provides an acquisition method and apparatus of the operation area of farm machinery. The acquisition method of the operation area of farm machinery includes the steps: receiving the farm machinery operation track data sent from a farm machinery positioning device; based on the operation speed, improving the neighborhood radius determination method of the dbscan clustering algorithm; utilizing the improved dbscan clustering algorithm to filter the road driving point and the field transition point in the farm machinery operation track data; according to the filtered farm machinery operation track data, determining the number of fields operated by the farm machinery; and utilizing the distance method to calculate the area of each field operated by the farm machinery. The acquisition method and apparatus of the operation area of farm machinery can adaptively determine the neighborhood radius according to the operation speed of farm machinery, can effectively segment the adjacent fields operated by the farm machinery, and can improve the accuracy and automation degree for acquisition of the operation area of the farm machinery.

A cooling system for a farm machine comprises a heat exchange assembly (1) having a plurality of radiators (2, 3, 4, 5) arranged one close to the other and so as to be passed through by a same air flow. According to the invention, at least a first radiator (3, 4, 5) can be shifted angularly with respect to a second radiator (2, 3, 4), so as to make cleaning operations for the latter easier.

The invention belongs to the agricultural machinery field and relates to an agricultural mechanical apparatus and system. With the agricultural mechanical apparatus and system adopted, the problem that agricultural machinery cannot perform automatic operation can be solved. According to the agricultural mechanical apparatus and system, electric energy, motors and tracks are adopted to perform automatic operation; operation and work which are required by an operation area can be automatically and orderly completed according to the shape feature of the operation area or / and the crops of the operation area and an operation mode required by the operation area or / and the crops of the operation area; one such agricultural mechanical apparatus can be driven and controlled to complete various operation of the full-process management of plough, farming and harvest of the crops; and one or more agricultural mechanical apparatuses can be driven and controlled to complete various operation of thefull-process management of plough, farming and harvest of the crops.

The invention belongs to the agricultural driving control technical field and relates to a path planning and control method for the unmanned driving of an agricultural machine. The method includes the following steps that: agricultural machine environmental information is obtained through a sensor, so that a U-turn or obstacle avoidance decision is made; if an obstacle avoidance decision is made, an obstacle avoidance path trajectory is planned, an improved shortest tangent method is adopted to calculate a theoretical obstacle avoidance path, and the theoretical obstacle avoidance path is optimized through using a Bezier curve-based path optimization method; if a U-turn decision is made, a U-turn path trajectory is planned, the operation mode of the agricultural machine is inputted, and a U-turn path is selected according to the actual operation mode of the agricultural machine; and in the advancing process of the agricultural machine, the agricultural machine obtains the position information of the agricultural machine through the sensor, a curve tracking method is adopted to obtain the curvature of a curve and the navigation deviation and horizontal deviation of the agricultural machine in real time, and a state feedback controller and an adaptive controller are used in combination to calculate the steering angle of the current front wheel of the machine, so that the steering angle of the agricultural machine can be controlled to realize automatic U-turn or obstacle avoidance. The path planning and control method for the unmanned driving of the agricultural machine of the invention has the advantages of high control precision and strong adaptability.

The invention, which belongs to the technical field of agricultural unmanned driving control, provides a field obstacle avoidance path planning and control method for an unmanned agricultural machine. The method for avoiding an obstacle by an agricultural machine automatically comprises: step one, a sensor is used for obtaining agricultural machine environmental information to make an obstacle-avoiding decision; step two, a theoretical obstacle avoidance path is calculated in an off-line manner by using an improved shortest tangent method; and step three, the theoretical obstacle avoidance path obtained at the step two is optimized by using a Berier-curve-based path optimization method to obtain a practical obstacle avoidance path, a real-time curve curvature and real-time agricultural machine heading deviation and lateral deviation are obtained by using a curve tracking method; and a current front wheel steering angle is calculated by combining a state feedback controller and an adaptive controller, so that the agricultural machine moves along the practical obstacle avoidance path to avoid the obstacle. Therefore, the planned obstacle avoidance path is easy to control; the moving travel is short; and the control precision is high.

The present invention discloses an agricultural machinery automatic navigation control method based on a double-antenna GNSS (Global Navigation Satellite System) and a preview tracking model. According to the method, a clock-shared integrated dual-antenna GNSS receiver supporting multi-satellite system carrier phase difference technique is used for performing positioning and attitude measurement of agricultural machinery; and a piecewise adaptive foresight distance related to speed is adopted as a parameter in a preview tracking model, so that path tracking control can be performed on the agricultural machinery. A positioning board card supporting the multi-satellite system carrier phase difference technique can effectively increase the number of satellites participating in positioning calculation and improve the precision and stability of navigation and positioning; navigation satellite system-based inertial navigation attitude measurement can improve the accuracy and real-time performance of the attitude measurement of the agricultural machinery; the design and simulation of driving behaviors of a user by the preview tracking model algorithm have predictability, and therefore, a path tracking control effect is good, the quickness and stability of the launch of the agricultural machinery and the adaptability of the agricultural machinery to compacted field road conditions can be improved; and the foresight distance is related to speed, and therefore, the control accuracy and stability of an agricultural machinery automatic navigation system in relatively high-speed operation can be improved.

The invention discloses an agricultural machinery obstacle avoidance method based on a deep learning system and relates to the field of agricultural machinery automation. According to the method, theinformation of images is collected, and collected images are recognized based on the deep learning system. After that, an obtained result is matched with a corresponding preset output. The further action is carried out according to the dynamic and static properties of an obstacle. If the obstacle is a dynamic obstacle, the whistling is carried out to remind or decelerate a vehicle until the vehicle is parked for waiting. If the obstacle cannot be removed within a certain period of time, the obstacle is processed according to a static obstacle method. If the obstacle is a static obstacle, the local obstacle avoidance path planning is carried out to obtain an optimal path for the obstacle avoidance of the agricultural machinery. If the obstacle cannot be recognized, the proper processing canbe carried out through a powerful on-line learning system. According to the obstacle avoidance method based on the deep learning system, the agricultural machinery can make an intelligent decision inan unknown work environment. The working efficiency is improved, and the fault tolerance rate of the obstacle avoidance is increased.

The invention discloses a remote detection and maintenance information exchange method for agricultural machinery and relates to a vehicle information exchange method. A management center establishes an agricultural vehicle database, a maintenance vehicle database and an agricultural maintenance and diagnosis database; the agricultural vehicle database contains the data on current operation state which is made a timing collection by each agricultural vehicle and is uploaded through wireless communication; the maintenance vehicle database contains the current position data which is made a timing collection by each agricultural vehicle and is uploaded through wireless communication. The management center receives the help information uploaded by the broken-down agricultural vehicle, stores the help information into the agricultural vehicle database, and inputs the help information into the agricultural maintenance and diagnosis database for treatment to obtain a solving prompt which is sent to the agricultural vehicle for self-maintenance, or a maintenance vehicle is selected to send maintenance instructions through wireless communication, the maintenance vehicle uses the position data of the vehicle and the agricultural vehicle to calculate a simple navigation map to quickly find out the agricultural vehicle to maintain. The invention solves the problems that the communication of three parties is complex and the maintenance vehicle is difficult to reach the maintenance location.

The invention discloses a real-time monitoring system of the tilling depth of agricultural implements and belongs to the technical field of agricultural machinery testing. According to the real-time monitoring system of the tilling depth of agricultural implements, a forward and reverse torsion spring is arranged on a main shaft and can exert a current torque to a wheel carrier, avoid fluctuation of land wheels used for ground copying, enable the land wheels to be closely attached to the ground, and therefore measuring of the tilling depth is more accurate. An angle measuring device is coaxially connected with the main shaft and a tilling depth signal measured can be controlled, converted, alarmed and displayed through an electrical portion composed of an alternating / direct (A / D) switching circuit, a main control system with a microprocessor as a core, a displaying module, a file storage system, an alarming system, an information inputting system and a differential global positioning system. To sum up, by means of the real-time monitoring system and a real-time monitoring method of the tilling depth of the agricultural implements, the tilling depth of operation implements can be monitored in real time, an area with abnormal tilling depth can be cautioned, tilling depth data can be stored at any time, and therefore the real-time monitoring system and the real-time monitoring method of the tilling depth of the agricultural implements lay the foundation for timely adjustment of operators, improvement of operation, and analysis and treatment in lateral period and provide the new system and the new method for development of modern agricultural machinery.

The invention relates to an auxiliary linear tracking control system for operation of a distributed agricultural machine, which comprises a GPS receiver for receiving information on the current operation position coordinate of the agricultural machine, a control terminal for calculating the yawing distance between the agricultural machine and the current operation navigation line according to the position coordinate and transmitting the yawing distance information to a navigation indicating controller, and the navigation indicating controller comprises a two-color light-emitting diode and a plurality of single-color light-emitting diodes and controlling the different light-emitting states of the two-color light-emitting diode and the single-color light-emitting diodes according to the yawing distance. The auxiliary linear tracking control system achieves the linear tracking auxiliary control of a tractor in the operation process based on the digital design of an operation navigation target route of the tractor, the GPS navigation and an embedded control technique, is more precise than conventional tractor operation navigation techniques with a scriber, foam spraying and the like, is not limited by the farmland operating environment, and improves the operation quality and the efficiency.

The invention discloses an intelligent deep-loosening soil preparation operation quality monitoring system which is composed of an electro-hydraulic proportional valve, an oil pump, a controller, a fixing seat, a resistance sensor, an upper pull rod, a deep-tillage sensor bracket, a deep-tillage sensor, a lift cylinder, a lift arm, a deep loosening operation machine and a lower pull rod. Under the action of the controller, deep tillage and cultivation resistance is detected respectively through the deep-tillage sensor and the resistance sensor, and tillage depth measurement and control, operation areas, tillage depth resistance distribution and operation time of a deep loosening soil preparation operation unit are stored and analyzed and emergency situations of blocks, roots and the like are warned in combination of the various functional modules. The intelligent deep-loosening soil preparation operation quality monitoring system is high in automation degree, low in cost and simple in structure, agricultural machinery departments can be assisted in knowing tillage depth resistance distribution and the operation area of the deep tillage area, and support is provided for the operation unit meeting the requirements of deep tillage and operation subsidies with actual operation area.

The invention discloses a corn-soybean strip-shaped compound planting no-tillage fertilization precision seeder and belongs to the technical field of farm machines. The machine includes a suspension machine frame, a rotary tillage system, a power transmission system, a fertilization and ditching system and a sowing and soil covering system. Through an installation mode that reverse-rotation rotarytillage and the inclined and forward arrangement of a drive land wheel is combined, blades thus can cut stubbles forward, the stubble cleaning and soil breaking effects are ensured, the drive wheel thus can always walk on the ground, the occurrence of seedling missing and ridge breaking is avoided, and the seeder has the advantages of being simple in structure, precise in sowing, uniform in quality and the like, Under various kinds of parameters, the plant distance is adjusted and changed, and the minimum plant distance can be adjusted to 6 cm, the application range is wider, and smooth implementation of a high-yield close-planting mode is ensured. The seeder has high adaptability to crops, and is suitable for simultaneous sowing operation of corn, soybeans and other seeds with the shapesimilar to the shape of core or soybeans.

The invention relates to a soil bin test trolley. The soil bin test trolley includes a soil bin system, a test tractor and a double-wheel test device; the front end of the test tractor is provided with the double-wheel test device; and the test tractor and the double-wheel test device perform reciprocating motion along the soil bin system. With the soil bin test trolley of the invention adopted, the stress-strain of a tire and mechanical parameters of agricultural implements such as a plough and a rotary cultivator under different experimental factors can be tested, and the problem of influence of the vibration of traction equipment on measurement results existing in an existing test system can be solved. The soil bin test trolley has the advantages of controllability of test conditions and environmental factors, convenient measurement of test data and parameters, high measurement precision, high test repeatability, high driving ability, accurate and reliable control, flexible and convenient test and coherent data acquisition.

The invention provides a farm machine unmanned navigation method based on farmland environment perception. Particularly, the method comprises the following steps of 1, before operation of the farm machine, performing calibration on a video camera, and performing spatial fusion on a radar and visual information; 2, in farm machine operation, detecting height change between the radar and ground by a first distance detecting device, detecting height change between the image camera and the ground by a second distance detecting device, and performing real-time adjustment on coordinate conversion between the radar and the image camera so that spatial synchronization between the radar and the image camera is realized; 3, resolving received millimeter wave radar data by an industrial control computer, determining an effective target and a most dangerous target, and synchronously acquiring video camera images; and 4, determining the state of the most dangerous target and planning a walking path by the industrial control computer, determining a target type according to the image data of the most dangerous target which is acquired by the radar and the video camera, and making the farm machine act by a navigation box. The arm machine unmanned navigation method has advantages of high data fusion precision and effective accuracy in obstacle identification.

The invention provides a method for obtaining an operation area of an agricultural machine, and the method comprises the steps: S1, classifying the original track points of the agricultural machine according to a moving direction of the agricultural machine, and obtaining a plurality of track point sets; S2, obtaining the operation track points of the agricultural machine according to the mean moving speed of the agricultural machine in the track point sets; S3, gathering the operation track points of the agricultural machine, obtaining a bounding polygon of the operation of the agricultural machine, and generating a buffering region through the bounding polygon; S4, obtaining the operation area of the agricultural machine according to the coordinates of the buffering region. The method provided by the invention effectively eliminates the non-operation track points through calculating the mean moving speed of the agricultural machine in the track point sets, obtains more accurate operation track points of the agricultural machine, obtains the buffering region according to the operation track points of the agricultural machine, obtaining the operation area of the agricultural machine according to the buffering region, improves the obtaining precision of the operation area and the automation degree of the agricultural machine.

A calculation method includes obtaining a temporal sequence of position data representing movement loci of an agricultural machine; extracting from among the obtained sequence of position data, a set of position data representing an interval among the movement loci of the agricultural machine and in which slopes of segments connecting two points represented by consecutive position data among the sequence of position data are consecutively within a given range; and calculating based on the extracted set of position data representing the interval, a length of a work interval of agricultural work performed by the agricultural machine. The calculation method is executed by a computer.

The invention provides an agricultural machinery automatic driving control device based on Beidou navigation, and belongs to the technical field of agricultural machinery control. The agricultural machinery automatic driving control device comprises a differential reference station and an autopilot. The differential reference station is provided with a first measuring receiver which is connected with a first measuring antenna. The first measuring receiver is connected with an emission radio station. The autopilot comprises a vehicle-mounted navigator, a vehicle-mounted display controller, an electric steering wheel controller and a guide wheel controller. The vehicle-mounted navigator is connected with the vehicle-mounted display controller. The steering wheel steering controller is respectively connected with the vehicle-mounted display controller and the guide wheel controller. Agricultural machinery position information and soil cultivation resistance parameters can be acquired, and the measured parameters are stored and cultivation area is automatically planned so that the device can be applied to the control work of an agricultural machinery automatic driving cultivation route.

The invention provides a multi-sensor fusion farmland environment perception method used for a unmanned agricultural machine in an agricultural machine path control technology field. The method comprises the following steps of step1, before an agricultural machine works, calibrating a camera and fusing a radar and visual sense information in space; step2, during agricultural machine working, adjusting a conversion relation of the radar and a camera coordinate in real time so that the radar and a camera realize space synchronization; step3, resolving received millimeter wave radar data by an industrial control computer, determining an effective target, selecting an area which the radar is interested in at a front portion of an agricultural machine working area, determining a most dangerous target and synchronously collecting camera images; and step4, according to radar information, determining a most dangerous target state, and according to most dangerous target image data collected by the radar and the camera, determining a type of the most dangerous target, and making the agricultural machine carry out corresponding motion by a navigation box. Accuracy of data fusion is high and identification accuracy of an obstacle in front of the agricultural machine is increased.

The invention discloses a farmland water, fertilizer and pesticide spraying device which comprises three vertical columns which are respectively erected at two ends of a farmland, steel ropes correspondingly erected among the vertical columns at two ends of the farmland, nozzle hanging racks arranged by taking the erected steep ropes as track in the air, a coil fixing rope pole and a driving motor thereof mounted on the vertical column at one end of the farmland, fixed pulleys mounted on the poles at two ends of the farmland, a coiling rope wound among the fixed pulleys and the coil fixing rope pole, a nozzle row suspended by the nozzle hanging racks, a pressure container arranged beside the farmland, and a water conveying hose for connecting the nozzle row and the pressure container. By adopting an overhead track structure, not only is the area of the farmland not occupied and is agriculture machine farming facilitated, but also irrigation, fertilization and pesticide spraying are not limited by the landform of the farmland; the heights of nozzles can be adjusted, thereby being applicable to requirements of crops of different heights when sprinkling irrigation, fertilization spraying and pesticide spraying are performed; the capital construction is generally not affected by the landform of the farmland, and moreover the device is simple to operate, uniform in irrigation, fertilization and pesticide spraying, good in effect and high in efficiency.

The combined farm machine for harvesting corn and seeding wheat includes one tractor, one corn ear picking mechanism, one corn stalk crushing mechanism below the corn ear picking mechanism, one wheat no-tillage seeding mechanism and one chemical spraying mechanism comprising one tank, one pump, one hose and one nozzle connected together. The present invention has the corn ear picking mechanism, the corn stalk crushing mechanism, the wheat no-tillage seeding mechanism and the chemical spraying mechanism arranged reasonably on one tractor to complete the corresponding jobs simultaneously. The sprayed chemical can speed the rotting of the stalk.

A farming machine including a number of treatment mechanisms treats plants according to a treatment plan as the farming machine moves through the field. The control system of the farming machine executes a plant identification model configured to identify plants in the field for treatment. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. To generate a treatment map, the farming machine captures an image of plants, processes the image to identify plants, and generates a treatment map. The plant identification model can be a convolutional neural network having an input layer, an identification layer, and an output layer. The input layer has the dimensionality of the image, the identification layer has a greatly reduced dimensionality, and the output layer has the dimensionality of the treatment mechanisms.

The invention relates to a Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering. The Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering includes the steps: a) acquiring positioning data; b) establishing a state observation equation with a rough error; c) establishing state estimation; d) solving an observation value variance matrix; e) acquiring adaptive filtering solution; f) estimating an error variance matrix; g) performing robust adaption filtering. The Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering has the advantages that the Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering is obviously superior to a least square methodand a Kalman filtering method, and has a certain degree of improvement compared with the extended Kalman filtering method, and the error precision is about 5cm, thus satisfying the accuracy requirement for automatic driving of agricultural machinery, being able to be combined with a high-performance controller to effectively control the steering and speed of agricultural machinery, and being ableto achieve the aim of autonomous positioning, automatic track tracking and automatic driving of the agricultural machinery.