CN110203274A - The automatic steering system and its method of automatic harvester - Google Patents
The automatic steering system and its method of automatic harvester Download PDFInfo
- Publication number
- CN110203274A CN110203274A CN201910280832.6A CN201910280832A CN110203274A CN 110203274 A CN110203274 A CN 110203274A CN 201910280832 A CN201910280832 A CN 201910280832A CN 110203274 A CN110203274 A CN 110203274A
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- Prior art keywords
- oil
- steering
- chamber
- automatic
- hydraulic
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of self-steering method of automatic harvester, and the hydraulic oil including step (A) hydraulic pump is output to a reversal valve；(B) first coil of Xiang Suoshu reversal valve or the second coil input an electric signal, synchronous to input the electric signal to a tertiary coil of a hydraulic control device；(C) hydraulic oil enters the steering cylinder by the reversal valve；And (D) control inputs the electric signal size of the tertiary coil, to control the pressure difference of the steering cylinder, to realize the electrodeless control for turning to the automatic harvester.
Description
Technical field
The present invention relates to the automatic steering systems and its side of a kind of automatic harvester more particularly to a kind of automatic harvester
Method, intelligently to automatically control the automatic harvester steering and electrodeless adjustment.
Background technique
With advances in technology with development, agricultural is also relatively constantly progressive and develops now.In the back of agricultural modernization
Under scape, there are more and more agricultural machinery to be used substitution artificial, it may be said that modern agriculture is had been extricated from over only by manpower
The behindhand type of farming, agricultural now nearly all fully rely on agricultural equipment from sowing, plant protection to links such as harvestings
It completes, it may be said that modern agriculture has come into mechanical times.It further says, mechanization of agriculture is through advanced agricultural
Machinery improves the condition of agricultural production, is the labor for replacing people heavy using the farm machinery for certain cultivation movement for imitating the mankind
It is dynamic, and replaced using farm machinery and be not suitable for human work's environment, the production technology level and economy of agricultural will be improved in this way
Benefit.It should be understood that the means with agricultural production are continuously increased, agriculture machinery industry also shows good ecology potential
Head, and personal benefit is brought to peasant.In other words, modern agricultural is raised labour productivity, and economic development is pushed to rise
Certain effect is arrived.
So development and improvement for agricultural machinery, and make one kind that agricultural and economic development are constantly progressive now
Means.Well known, agricultural machinery is generally walked or is operated all on the farmland of out-of-flatness or field, and is applied on agricultural machinery at present
Steering mode mostly utilizes a manually handle machinery stay rod, to realize left and right turn, such peasant, agricultural machinery operator or driving
Member needs that many energy and physical efficiency is spent to manipulate the manually handle machinery stay rod, to realize the left and right turn of agricultural machinery.In this way
Mode of operation can not reach the electrodeless adjustment of steering angle, biggish impact and unstability will be generated when turning to, and
And further influence the service life of whole agricultural machinery and related elements.In addition, in harvester now, since peasant, agricultural machinery are grasped
Author or driver are typically all to be sitting in mobility operation on harvester, and harvester is all the farmland or field uplink in out-of-flatness
Walk, thus people need to usually endure it is strong jolt, so harvester also develops to the direction of unmanned plane or automatic Pilot now,
In traveling or operation, how auto-steering is harvester development now and an improvement wherein element in need of consideration in the middle.
Summary of the invention
An advantage of the present invention is that it provides the automatic steering system and its method of a kind of automatic harvester, wherein using
Really to realize the unmanned technology of the automatic harvester or reduce operator's manipulation strength, and described in guarantee
Smoothness of the automatic harvester when turning to and impact when reducing steering operation, while the element for improving complete machine uses the longevity
Life.
An advantage of the present invention is that it provides the automatic steering system and its method of a kind of automatic harvester, wherein leading to
It crosses hydraulic control and realizes the automatic harvester in the stepless time adjustment of left and right turn and steering angle, so that the automatic harvester
The more steady and smooth in traveling and steering.
An advantage of the present invention is that it provides the automatic steering system and its method of a kind of automatic harvester, wherein can
The requirement of operator's professional skill, energy and physical efficiency is reduced, and makes operator more comfortable.In other words, when the automatic receipts
When cutting mill is embodied as unmanned plane, automatic Pilot or remote control, due to automatic steering system of the present invention can make it is described automatic
Harvester steering more steady and smooth, with the attached low various requirement to operator.
An advantage of the present invention is that it provides the automatic steering system and its method of a kind of automatic harvester, wherein leading to
Crossing automatic harvester described in remote control makes its smoothly auto-steering.
An advantage of the present invention is that it provides the automatic steering system and its method of a kind of automatic harvester, wherein adopting
Steering angle is controlled by measuring and controlling related flow and pressure with hydraulic and solenoid valve.
Another advantage of the present invention is that it provides one kind and is suitable for, and wherein this does not need accurate component and complicated knot
Structure, manufacturing process is simple, low in cost.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
According to the present invention, the automatic steering system of the present invention of foregoing purpose and other purposes and advantage can be realized, be applicable in
In automatic harvester, including a controller, a reversal valve, a steering cylinder and a hydraulic control device.The reversal valve connects
Connect the controller.The steering cylinder connects the reversal valve and the controller.Described in the hydraulic control device connection
Reversal valve and the steering cylinder, wherein the controller will reach the reversal valve and the hydraulic control under a steering order
Device, so that the steering cylinder carries out the steering operation of electrodeless adjustment.
An embodiment according to the present invention, the automatic steering system further include the telecommunications control dress for connecting the controller
It sets, the steering order is transmitted to the controller.
An embodiment according to the present invention, the telecommunications control device are embodied as a remote manipulator, pass through a radio
Signal assigns the steering order of left and right turn or steering angle to the controller.
An embodiment according to the present invention, the remote manipulator are embodied as Smartphone, tablet computer or other action
Device.
An embodiment according to the present invention, the telecommunications control device are embodied as an electrical linear handle, pass through a telecommunications
The steering order of left and right turn or steering angle number is assigned to the controller.
An embodiment according to the present invention, the automatic steering system further include connecting the controller and the reversal valve
One hydraulic pump, wherein the controller assigns hydraulic control instruction to the hydraulic pump, the hydraulic pump is defeated by a hydraulic oil
Enter to the reversal valve.
An embodiment according to the present invention, the reversal valve have a first coil and one second coil, the hydraulic control
Device has a tertiary coil, wherein the controller is separately connected the first coil, second coil and the third
Coil, to input an electric signal respectively.
An embodiment according to the present invention, the steering cylinder include an at least oil cylinder comprising an oil cylinder ontology, a piston
And two piston rod so that the oil cylinder ontology is divided into one first oil pocket wherein the piston is set in the oil cylinder ontology
Room and one second oil-in chamber, two piston rods are separately connected the two sides of the piston, wherein the first valve port of the reversal valve
It is connected to the hydraulic pump, the second valve port of the reversal valve is connected to first oil-in chamber, the third valve of the reversal valve
Mouth is connected to second oil-in chamber, and first oil-in chamber and second oil-in chamber are connected to the hydraulic control dress
It sets.
An embodiment according to the present invention, the steering cylinder include two oil cylinders, wherein including an oil cylinder sheet per the oil cylinder
Body, a piston and a piston rod make first oil cylinder wherein the first piston is set in the first oil cylinder ontology
Ontology, which is divided into one first, has bar oil-in chamber without bar oil-in chamber and one first, and the First piston bar, which is located at described first, bar oil pocket
Room makes the second oil cylinder ontology be divided into one second without bar wherein the second piston is set in the second oil cylinder ontology
Oil-in chamber and one second has bar oil-in chamber, and the second piston bar, which is located at described second, bar oil-in chamber, wherein the reversal valve
The first valve port be connected to the hydraulic pump, the second valve port of the reversal valve is connected to described first without bar oil-in chamber, described
The third valve port of reversal valve is connected to described second without bar oil-in chamber, and described first has bar oil-in chamber and described second to have bar oil pocket
Room is connected to the hydraulic control device.
An embodiment according to the present invention, the hydraulic control device are embodied as a proportioning valve.
An embodiment according to the present invention, the openings of sizes of the proportioning valve will control the pressure difference of the steering cylinder.
In addition, to meet object above and other objects of the present invention and advantage of the invention, the present invention provides one certainly
Dynamic harvester includes above-mentioned automatic steering system, a mobile devices, an acting device, a driving device and a control device,
The wherein automatic steering system, the mobile devices, the acting device and the driving device are respectively connected to described
Control device.
An embodiment according to the present invention, the automatic harvester include the traveling path planning for connecting the control device
System, wherein the automatic steering system cooperates the driving path of the driving path planning system, to carry out nothing in motion
The steering operation that pole is adjusted.
In addition, the present invention also provides one to meet object above and other objects of the present invention and advantage of the invention
The self-steering method of automatic harvester, comprising the following steps:
(A) hydraulic oil of a hydraulic pump is output to a reversal valve；
(B) first coil of Xiang Suoshu reversal valve or the second coil input an electric signal, synchronous to fill to a hydraulic control
The tertiary coil set inputs the electric signal；
(C) hydraulic oil enters the steering cylinder by the reversal valve；
(D) control inputs the electric signal size of the tertiary coil, to control the pressure difference of the steering cylinder, with
Realize the electrodeless control for turning to the automatic harvester.
A method according to the present invention, the hydraulic oil pass through the first valve port to the second valve port or the first valve of the reversal valve
Mouth arrives third valve port, to control the left and right turn of the automatic harvester.
A method according to the present invention, the hydraulic control device connect one first oil-in chamber and one of the steering cylinder
Two oil-in chambers, to adjust the pressure difference of the steering cylinder.
A method according to the present invention, the hydraulic control device connect the steering cylinder one first have bar oil-in chamber and
One second has bar oil-in chamber, to adjust the pressure difference of the steering cylinder.
A method according to the present invention, when the automatic harvester right turn, the hydraulic oil enters the steering cylinder
One first without bar oil-in chamber, to push a first piston of the steering cylinder and position is driven to have bar oil-in chamber described first
One First piston bar of the steering cylinder is mobile, at the same the hydraulic oil for having bar oil-in chamber described first will enter it is described hydraulic
Control device.
A method according to the present invention, when the automatic harvester left steering, the hydraulic oil enters the steering cylinder
One second without bar oil-in chamber, to push a second piston of the steering cylinder and position is driven to have bar oil-in chamber described second
One second piston bar of the steering cylinder is mobile, at the same the hydraulic oil for having bar oil-in chamber described second will enter it is described hydraulic
Control device.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the logic signal of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Figure.
Fig. 2 is the logic of the further automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Schematic diagram, wherein illustrating that telecommunications control device is embodied as a remote manipulator.
Fig. 3 is the logic of the further automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Schematic diagram, wherein illustrating that telecommunications control device is embodied as an electrical linear handle.
Fig. 4 is cuing open for the reversal valve of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Depending on schematic diagram.
Fig. 5 is the principle signal of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Figure.
Fig. 6 is the principle signal of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Figure, wherein illustrating the structure of steering cylinder.
Fig. 7 is the principle signal of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Figure, wherein illustrating the structure of another steering cylinder.
Fig. 8 is the principle signal of the automatic steering system of automatic harvester according to a preferred embodiment of the present invention
Figure, wherein illustrating the structure of another steering cylinder and the structure of another hydraulic control device.
Fig. 9 is the logical schematic of automatic harvester according to a preferred embodiment of the present invention.
Figure 10 is the logical schematic of automatic harvester according to a preferred embodiment of the present invention, wherein explanation includes
One driving path programming system.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
As shown in Figures 1 to 6, be first preferred embodiment according to the present invention an automatic harvester auto-steering
System and method with electrodeless adjustment automatically control the left and right turn and steering angle of the automatic harvester 1.Further
It says, impact of the automatic harvester 1 when turning to will be slowed down by the automatic steering system 100, make the automatic harvesting
Machine 1 is more preferably steady when turning to, while reducing the abrasion of the element of the automatic harvester 1 and increasing the automatic harvester 1
Each element service life.
According to an embodiment of the invention, the automatic steering system 100 include a controller 10, a reversal valve 20, one turn
To oil cylinder 30 and a hydraulic control device 40.The controller 10 is separately connected the reversal valve 20 and the hydraulic control
Device 40, wherein the reversal valve 20 and the hydraulic control device 40 can be controlled respectively by the controller 10, more to hold
Easily manipulate the automatic harvester 1.The reversal valve 20 connects the steering cylinder 30, makes institute to control the steering cylinder 30
Automatic harvester 1 is stated to be turned to.The hydraulic control device 40 connects the steering cylinder 30, to control the steering cylinder
30 return pressure makes the left and right turn of the automatic harvester 1 and steering angle can reach electrodeless adjustment.The steering cylinder
The 30 connection controllers 10, return the controller 10 for 30 state of steering cylinder immediately.
According to an embodiment of the invention, the automatic steering system 100 further includes a telecommunications control device 50, institute is connected
Controller 10 is stated, to assign a steering order to the controller 10.It further says, the telecommunications control device 50 is to nothing
Line or wiredly telecommunications control the automatic harvester 1 and carry out electrodeless steering.It is worth mentioning, the telecommunications control device 50
When being embodied as a remote manipulator 51, it is wirelessly connected the controller 10, it is wireless with pass through the remote manipulator 51 one
Electric signal assigns the steering order of left and right turn or steering angle to the controller 10, wherein the controller 10 is according to institute
Steering order is stated to be controlled to the reversal valve 20 and the hydraulic control device 40 respectively, and make the steering cylinder 30 into
Row actuation.In other words, the steering cylinder 30 will carry out the operation of electrodeless adjustment.It is worth mentioning, the remote manipulator 51
With an action application, with controller 10 described in wireless control.In other words, the mobile applications formula is installed on described remote
Journey remote controler 51, to run on it and for assigning instruction to the controller 10.It should be understood that the remote manipulator
51 it is implementable be Smartphone, tablet computer or other running gears, this is not limitation of the invention.In addition, the telecommunications
It is an electrical linear handle 52 that control device 50 is also implementable, is electrically connected the controller 10, to pass through the electric wire
Property handle 52 an electric signal steering order of left and right turn or steering angle is assigned to the controller 10, wherein described
The steering order is assigned and controls the reversal valve 20 and the hydraulic control device 40 by controller 10, and makes described change
The actuation of the steering cylinder 30 is controlled respectively to valve 20 and the hydraulic control device 40, so that the steering cylinder 30 carries out
The steering operation of electrodeless adjustment.
According to an embodiment of the invention, the automatic steering system 100 further includes a hydraulic pump 60, the commutation is connected
Valve 20, to provide hydraulic oil for the reversal valve 20.That is, the hydraulic oil of the hydraulic pump 60 enters the reversal valve
20, entering the steering cylinder 30 via the reversal valve 20, so that 30 actuation of the steering cylinder.In addition, the control
Device 10 connects the hydraulic pump 60, to assign a liquid to the hydraulic pump 60 after receiving the steering order from the controller 10
Press control instruction.It should be understood that the controller 10 will be respectively to the reversal valve 20, institute after receiving the steering order
It states hydraulic control device 40 and the hydraulic pump 60 assigns operational order, so that the reversal valve 20, the hydraulic control dress
After setting 40 and the operating of 60 relative engagement of the hydraulic pump, so that the automatic harvester 1 is reached stable electrodeless adjustment and turn to.
According to an embodiment of the invention, the reversal valve 20 is embodied as a solenoid directional control valve comprising an ontology 21, one is sliding
Axis 22, wherein the ontology has multiple valve ports 211.The slide-bar 22 moves in ontology 21, to be opened and closed the different valves
Mouth 211.It further says, is embodied as four valve ports 211 in the present embodiment, is respectively defined as the first valve port for convenience of description
P, the second valve port A, third valve port B and the 4th valve port T.When the slide-bar 22 moves in ontology 21, make corresponding each valve
211 conducting of mouth or closing carry out actuation further to control the steering cylinder 30.It further says, the controller 10
After assigning the hydraulic control instruction to the hydraulic pump 60, the hydraulic oil of the hydraulic pump 60 will enter into the reversal valve
20.In addition, the reversal valve 20 also has a first coil YV01 and one second coil YV02.The hydraulic control device 40 is real
Shi Weiyi proportioning valve has a tertiary coil YV03.The controller 10 is separately connected the first coil YV01, described
The two coil YV02 and tertiary coil YV03, to input a telecommunications to the first coil YV01 or described second coil YV02
Number.Particularly, the electric signal synchronizes the tertiary coil YV03 for being input to the hydraulic control device 40.It is worth mentioning
, the hydraulic control device 40 is embodied as a kind of proportioning valve, on usual pressure valve, flow valve and direction valve, uses ratio
Electromagnet substitutes original control section, by input electric signal continuously, pari passu to the pressure of oil stream, flow or side
To progress far distance control.In other words, the proportioning valve one has pressure compensation performance, and output pressure and flow can not be by negative
Carry the influence of variation.
According to an embodiment of the invention, the steering cylinder 30 includes an at least oil cylinder 31 and a sensor 32.The biography
Sensor 32 connects the oil cylinder 31 and the controller 10.As shown in fig. 6, the oil cylinder 31 includes an oil cylinder ontology 311, one is living
Plug 312 and two piston rods 313.The oil cylinder ontology 311 has one first oil-in chamber 3111 and one second oil-in chamber 3112,
Described in piston 312 be set in the oil cylinder ontology 311, divide the oil cylinder ontology 311 for first oil-in chamber 3111
With second oil-in chamber 3112.Two piston rods 313 are connected in the two sides of the piston 312, i.e., two work
Stopper rod 313 is located at first oil-in chamber 3111 and second oil-in chamber 3112.It is worth mentioning, first valve port
P is connected to the hydraulic pump 60.The second valve port A is connected to first oil-in chamber 3111.The third valve port B is connected to
Second oil-in chamber 3112.
According to an embodiment of the invention, when the automatic steering system 100 executes the automatic harvester 1 right-hand bend, institute
It states controller 10 and assigns the hydraulic control instruction to the hydraulic pump 60, instructed for right-hand rotation hydraulic control, the controller
10 input to the first coil YV01 of the reversal valve 20 and the tertiary coil YV03 of the hydraulic control device 40
The electric signal.In other words, after the hydraulic pump 60 receives the hydraulic control instruction, the hydraulic pump 60 is exported described
Hydraulic oil is input to the reversal valve 20 by piping connection.Meanwhile that the first coil YV01 is obtained is electric for the electric signal,
And the electric signal is given to the hydraulic control device 40 and controls the tertiary coil YV03, and the hydraulic oil described in this way passes through institute
The first valve port P of reversal valve 20 is stated to the second valve port A, and the hydraulic oil is made to enter first oil-in chamber
3111, to push the piston 312 and drive position mobile in the piston rod 313 of second oil-in chamber 3112, while
The hydraulic oil of second oil-in chamber 3112 will enter the hydraulic control device 40, at this moment by inputting the tertiary coil
The electric signal of YV03 is to control the pressure difference of second oil-in chamber 3112, to realize the stop place of the piston 312,
To realize the electrodeless control of steering angle.
According to an embodiment of the invention, when the automatic steering system 100 executes the automatic harvester 1 left-hand bend, institute
It states controller 10 and assigns the hydraulic control instruction to the hydraulic pump 60, instructed for left-hand rotation hydraulic control, the controller
10 input to the second coil YV02 of the reversal valve 20 and the tertiary coil YV03 of the hydraulic control device 40
The electric signal.In other words, after the hydraulic pump 60 receives the hydraulic control instruction, the hydraulic pump 60 is exported described
Hydraulic oil is input to the reversal valve 20 by piping connection.Meanwhile that the second coil YV02 is obtained is electric for the electric signal,
And the electric signal is given to the hydraulic control device 40 and controls the tertiary coil YV03, and the hydraulic oil described in this way passes through institute
The first valve port P of reversal valve 20 is stated to the third valve port B, and the hydraulic oil is made to enter second oil-in chamber
3112, to push the piston 312 and drive position mobile in the piston rod 313 of first oil-in chamber 3111, while
The hydraulic oil of first oil-in chamber 3111 will enter the hydraulic control device 40, at this moment by inputting the tertiary coil
The electric signal of YV03 is to control the pressure difference of first oil-in chamber 3111, to realize the stop place of the piston 312,
To realize the electrodeless control of steering angle.
In an embodiment of the present invention, steering direction is controlled by then passing through reversal valve 20, therefore only needed by described
Remote manipulator 51 or the electrical linear handle 52 control the gain and loss of second coil of the first coil YV01 or described YV02
Electricity can be operated, and generally speaking, the automatic steering system 100 of the invention executes the difficulty that can reduce operation, more
Add laborsaving.In particular, stopping being by changing the liquid in a certain position in the piston 312 for controlling the steering cylinder 30
The electrodeless control of the input signal of pressure control device 40, thus it is more steady, impact will not be generated, is improved each hydraulic in the present invention
The service life of component.
It as shown in Figure 7 and Figure 8, is an embodiment variant of heretofore described steering cylinder 30, wherein described include
Two oil cylinders 31.Further, Fig. 8 is the embodiment of different hydraulic control devices 40.It is worth mentioning, is wrapped per the oil cylinder 31
Include an at least oil cylinder ontology 311, a piston 312 and a piston rod 313.For convenience of description, two oil cylinders are defined respectively
For the first oil cylinder 31A and the second oil cylinder 31B.The first oil cylinder 31A includes one first oil cylinder ontology 311A, a first piston
A 312A and First piston bar 313A, wherein the second oil cylinder 31B includes one second oil cylinder ontology 311B, a second piston
A 312B and second piston bar 313B.The first oil cylinder ontology 311A has one first without bar oil-in chamber 3111A and 1 the
One has bar oil-in chamber 3112A, wherein the first piston 312A is set in the first oil cylinder ontology 311A, makes described first
Oil cylinder ontology 311A points have bar oil-in chamber 3112A without bar oil-in chamber 3111A and described first for described first.The first piston
Bar 313A, which is located at described first, bar oil-in chamber 3112A.The second oil cylinder ontology 311B is with one second without bar oil-in chamber
3111B and 1 second has bar oil-in chamber 3112B, wherein the second piston 312B is set to the second oil cylinder ontology 311B
It is interior, make the second oil cylinder ontology 311B points to have bar oil-in chamber without bar oil-in chamber 3111B and described second for described second
3112B.The second piston bar 313B, which is located at described second, bar oil-in chamber 3112B.It is worth mentioning, the first valve port P
It is connected to the hydraulic pump 60.The second valve port A is connected to described first without bar oil-in chamber 3111A.The third valve port B connects
Described second is connected to without bar oil-in chamber 3111B.
Therefore, in the variant embodiment of the steering cylinder 30, the automatic steering system 100 executes the automatic receipts
When cutting mill 1 is turned right, it is right-hand rotation hydraulic control that the controller 10, which assigns the hydraulic control instruction to the hydraulic pump 60,
Instruction, the first coil YV01 from the controller 10 to the reversal valve 20 and the hydraulic control device 40 described the
Three-winding YV03 inputs the electric signal.The hydraulic oil described in this way is by the first valve port P of the reversal valve 20 described in
Second valve port A, and the hydraulic oil is made to enter described first without bar oil-in chamber 3111A, to push the first piston 312A simultaneously
It drives position to have the First piston bar 313A of bar oil-in chamber 3112A mobile described first, while having bar oily described first
The hydraulic oil of chamber 3112A will enter the hydraulic control device 40, at this moment input the tertiary coil YV03's by changing
The size of the electric signal is to control the described first pressure difference for having bar oil-in chamber 3112A, to realize the First piston bar
The stop place of 313A, to realize the electrodeless control of steering angle.
Likewise, the automatic steering system 100 executes described automatic in the variant embodiment of the steering cylinder 30
When harvester 1 turns left, the controller 10 assigns the hydraulic control instruction to the hydraulic pump 60, for hydraulic control of turning left
System instructs, described in the second coil YV02 and the hydraulic control device 40 of the controller 10 to the reversal valve 20
Tertiary coil YV03 inputs the electric signal.The hydraulic oil described in this way passes through the first valve port P of the reversal valve 20 to institute
Third valve port B is stated, and the hydraulic oil is made to enter described second without bar oil-in chamber 3111B, to push the second piston 312B
And position is driven to have the second piston bar 313B of bar oil-in chamber 3112B mobile described second, while having bar described second
The hydraulic oil of oil-in chamber 3112B will enter the hydraulic control device 40, at this moment input the tertiary coil YV03 by changing
The electric signal size to control the described second pressure difference for having bar oil-in chamber 3112B, to realize the second piston bar
The stop place of 313B, to realize the electrodeless control of steering angle.
It is worth mentioning, as shown in figure 9, the automatic harvester 1 includes the automatic steering system 100, a control dress
Set 200, a driving device 300, a mobile devices 400 and an acting device 500.The automatic steering system 100, it is described
Driving device 300, the mobile devices 400, the acting device 500 are separately connected the control device 200.It is understood that
, the control device 200 is the central control system of the automatic harvester 1, for gathering in automatically described in integral traffic control
Every device of machine 1.The driving device 300 is separately connected the acting device 500, the mobile devices 400 and the control
Device 200 processed, and power is provided for it, drive each component to carry out corresponding operation by the control of the control device 200.
It is worth mentioning, the implementable driving for fuel oil, electric power or oil electricity mixing of the driving device 300, this is not limit of the invention
System.The mobile devices 400 are for driving the automatic harvester 1 to walk, wherein can be crawler travel or two-wheel running
Or four-wheel walking.The acting device 500 seems harvesting, rice transplanting, transplanting, plant protection etc. for carrying out various operation operations.It is described
Automatic steering system 100 is for providing electrodeless steering.In addition, the automatic harvester 1 it is implementable for harvester, rice transplanter,
Fog machine, tree-remover etc., this is not limitation of the invention.
In addition, as shown in Figure 10, the automatic harvester may also include a traveling path planning system 600, institute is connected
Control device 200 is stated, for providing planning path.It is worth mentioning, the driving path planning system 600 is for planning
The case where driving path of the automatic harvester 1, wherein the planning of driving path allows for various farmlands or field, and
Consider the mode of various agricultural operations.It further says, the driving path planning system 600 is planning the driving path
When, be size, shape, the property according to farmland or field, and according to harvesting, rice transplanting, protect plants, transplant, dig, site preparation etc. respectively
Kind operation mode is planned, to reach the optimal driving path.In other words, the driving path planning system 600 is suitable
For the automatic harvester 1, synchronously to plan 1 driving path of automatic harvester in advance or in traveling.It is worth one
It mentions, the automatic steering system 100, which will can allow, to carry out in the driving path planning system 600 using that is, in planning
Steering and steering angle are learnt in driving path, therefore in the automatic harvester 1 traveling and when need to turn to, the control dress
200 controllers 10 that will directly control the automatic steering system 100 are set, so that the automatic harvester 1 can carry out nothing
The operation of the steering of pole.
The present invention also provides the self-steering method of an automatic harvester will be set forth.The automatic harvester it is automatic
Forward method the following steps are included:
(A) hydraulic oil of a hydraulic pump 60 is output to a reversal valve 20；
(B) a first coil YV01 or the second coil YV02 for Xiang Suoshu reversal valve 20 inputs an electric signal, synchronous to one
One tertiary coil YV03 of hydraulic control device 40 inputs the electric signal；
(C) hydraulic oil enters the steering cylinder 30 by the reversal valve 20；
(D) control inputs the electric signal size of the tertiary coil YV03, to control the pressure of the steering cylinder 30
Power is poor, to realize the electrodeless control for turning to the automatic harvester 1.
In above-mentioned rapid step, the hydraulic oil passes through the first valve port P of the reversal valve 20 to the second valve port A or the first valve
Mouth P to third valve port B, to control the left and right turn of the automatic harvester 1.
In above-mentioned rapid step, the openings of sizes of the hydraulic control device 40 will control the pressure of the steering cylinder 30
Difference.
In above-mentioned rapid step, when carrying out right turn, the hydraulic oil enters one first without bar oil-in chamber 3111A, to push
One first piston 312A simultaneously drives position to have the First piston bar 313A of bar oil-in chamber 3112A mobile one first, while
Described first has the hydraulic oil of bar oil-in chamber 3112A that will enter the hydraulic control device 40.
In above-mentioned rapid step, when carrying out left steering, the hydraulic oil enters one second without bar oil-in chamber 3111B, to push
One second piston 312B simultaneously drives position to have the second piston bar 313B of bar oil-in chamber 3112B mobile one second, while
Described second has the hydraulic oil of bar oil-in chamber 3112B that will enter the hydraulic control device 40.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.
The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention is opened up in embodiment
Show and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. the self-steering method of an automatic harvester, which comprises the following steps:
(A) hydraulic oil of a hydraulic pump is output to a reversal valve；
(B) first coil of Xiang Suoshu reversal valve or the second coil input an electric signal, synchronous to a hydraulic control device
One tertiary coil inputs the electric signal；
(C) hydraulic oil enters the steering cylinder by the reversal valve；And
(D) control inputs the electric signal size of the tertiary coil, to control the pressure difference of the steering cylinder, to realize
Turn to the electrodeless control of the automatic harvester.
2. the self-steering method according to claim 1, wherein the hydraulic oil passes through the first valve port of the reversal valve
To the second valve port or the first valve port to third valve port, to control the left and right turn of the automatic harvester.
3. the self-steering method according to claim 1, wherein the hydraulic control device connects the steering cylinder
One first oil-in chamber and one second oil-in chamber, to adjust the pressure difference of the steering cylinder.
4. the self-steering method according to claim 1, wherein the hydraulic control device connects the steering cylinder
One first has bar oil-in chamber and one second to have bar oil-in chamber, to adjust the pressure difference of the steering cylinder.
5. the self-steering method according to claim 4, wherein when the automatic harvester right turn, the hydraulic oil into
Enter the one first of the steering cylinder without bar oil-in chamber, to push a first piston of the steering cylinder and drive position described
First has a First piston bar of the steering cylinder of bar oil-in chamber mobile, while having the hydraulic of bar oil-in chamber described first
Oil will enter the hydraulic control device.
6. the self-steering method according to claim 4, wherein when the automatic harvester left steering, the hydraulic oil into
Enter the one second of the steering cylinder without bar oil-in chamber, to push a second piston of the steering cylinder and drive position described
Second has a second piston bar of the steering cylinder of bar oil-in chamber mobile, while having the hydraulic of bar oil-in chamber described second
Oil will enter the hydraulic control device.
7. an automatic steering system is suitable for automatic harvester characterized by comprising
One controller；
One reversal valve connects the controller；
One steering cylinder connects the reversal valve and the controller；And
One hydraulic control device connects the reversal valve and the steering cylinder, wherein the controller is by a steering order
Under reach the reversal valve and the hydraulic control device so that the steering cylinder carry out electrodeless adjustment steering operation.
8. automatic steering system according to claim 7, wherein further include the telecommunications control device for connecting the controller,
The steering order is transmitted to the controller.
9. automatic steering system according to claim 8, wherein the telecommunications control device is embodied as a remote manipulator,
The steering order of left and right turn or steering angle is assigned to the controller by a radio signal.
10. automatic steering system according to claim 9, wherein the remote manipulator is embodied as Smartphone, plate
Computer or other running gears.
11. automatic steering system according to claim 8, wherein the telecommunications control device is embodied as an electrical linear hand
Handle assigns the steering order of left and right turn or steering angle by an electric signal to the controller.
12. automatic steering system according to claim 7, wherein further including connect the controller and the reversal valve one
Hydraulic pump, wherein the controller assigns hydraulic control instruction to the hydraulic pump, the hydraulic pump inputs a hydraulic oil
To the reversal valve.
13. automatic steering system according to claim 8, wherein further including connect the controller and the reversal valve one
Hydraulic pump, wherein the controller assigns hydraulic control instruction to the hydraulic pump, the hydraulic pump inputs a hydraulic oil
To the reversal valve.
14. automatic steering system according to claim 7, wherein the reversal valve has a first coil and one second line
Circle, the hydraulic control device has a tertiary coil, wherein the controller is separately connected the first coil, described second
Coil and the tertiary coil, to input an electric signal respectively.
15. 2 or 13 automatic steering system according to claim 1, wherein the steering cylinder includes an at least oil cylinder,
Including an oil cylinder ontology, a piston and two piston rods make the oil cylinder wherein the piston is set in the oil cylinder ontology
Ontology is divided into one first oil-in chamber and one second oil-in chamber, and two piston rods are separately connected the two sides of the piston, wherein
First valve port of the reversal valve is connected to the hydraulic pump, and the second valve port of the reversal valve is connected to first oil pocket
Room, the third valve port of the reversal valve are connected to second oil-in chamber, first oil-in chamber and second oil-in chamber point
It is not connected to the hydraulic control device.
16. 2 or 13 automatic steering system according to claim 1, wherein the steering cylinder includes two oil cylinders, wherein often
The oil cylinder includes an oil cylinder ontology, a piston and a piston rod, wherein the first piston is set to first oil cylinder
In ontology, so that the first oil cylinder ontology is divided into one first has bar oil-in chamber, the first piston without bar oil-in chamber and one first
Bar, which is located at described first, bar oil-in chamber, wherein the second piston is set in the second oil cylinder ontology, makes described second
Oil cylinder ontology, which is divided into one second, has bar oil-in chamber without bar oil-in chamber and one second, and the second piston bar, which is located at described second, bar
Oil-in chamber, wherein the first valve port of the reversal valve is connected to the hydraulic pump, the second valve port of the reversal valve is connected to institute
First is stated without bar oil-in chamber, the third valve port of the reversal valve is connected to described second without bar oil-in chamber, and described first has bar oily
Chamber and described second has bar oil-in chamber to be connected to the hydraulic control device.
17. automatic steering system according to claim 7, wherein the hydraulic control device is embodied as a proportioning valve.
18. 7 automatic steering system according to claim 1, wherein the openings of sizes of the proportioning valve will control the steering
The pressure difference of oil cylinder.
19. an automatic harvester characterized by comprising
The automatic steering system of any claims in above-mentioned 7th to the 18th；
One mobile devices；
One acting device；
One driving device；And
One control device, wherein the automatic steering system, the mobile devices, the acting device and the driving device
It is respectively connected to the control device.
20. 9 automatic harvester according to claim 1 comprising connect a traveling path planning system of the control device
System, wherein the automatic steering system cooperates the driving path of the driving path planning system, it is electrodeless to carry out in motion
The steering operation of adjusting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280832.6A CN110203274A (en) | 2019-04-09 | 2019-04-09 | The automatic steering system and its method of automatic harvester |
| PCT/CN2019/106976 WO2020206939A1 (en) | 2019-04-09 | 2019-09-20 | Automatic steering system and method for automatic harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280832.6A CN110203274A (en) | 2019-04-09 | 2019-04-09 | The automatic steering system and its method of automatic harvester |
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| CN110203274A true CN110203274A (en) | 2019-09-06 |
Family
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| CN201910280832.6A Pending CN110203274A (en) | 2019-04-09 | 2019-04-09 | The automatic steering system and its method of automatic harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020206939A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Automatic steering system and method for automatic harvester |
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