CN210466134U

Movatterモバイル変換

Info

Publication number: CN210466134U
Application number: CN201821742077.6U
Authority: CN
Inventors: 何晓龙; 贾骏俊; 王雪松; 蒋宇航; 杨洪
Original assignee: FJ Dynamics Technology Co Ltd
Current assignee: FJ Dynamics Technology Co Ltd
Priority date: 2018-10-25
Filing date: 2018-10-25
Publication date: 2020-05-05
Anticipated expiration: 2028-10-25

Abstract

Description

Automatic driving agricultural machine and power system thereof

Technical Field

The utility model relates to an agricultural machinery especially relates to an automatic drive agricultural machinery and driving system thereof.

Background

In recent years, along with the development of science and technology, the application of the navigation system in agriculture is more and more emphasized by related industries, and particularly in recent two years, the navigation product applied to the agricultural machinery is increased explosively, and the technology is mature.

The existing agricultural machinery is manually operated by a driver, and the position, the speed and the driving direction of the agricultural machinery are usually judged by the sense of the driver when the agricultural machinery works in the field. For a land plot with a large area and a long distance, a driver needs to concentrate in operation engineering and continuously adjust a steering wheel to ensure that the agricultural machinery runs along an ideal route. In busy seasons, night work is often needed, which is difficult to accurately judge and control agricultural machinery to finish agricultural operation strictly according to a preset route only by the judgment of senses and experiences of a driver, and meanwhile, the working strength and the danger coefficient of the driver are increased. The driver only needs to judge by individuals, and the requirement of the agricultural operation is difficult to guarantee, so that the efficiency of agricultural production is influenced.

The existing automatic driving technology is mainly applied to the field of automobiles, and in the field of agricultural machinery, because the environments of running and operation of agricultural machinery are rugged, and operators are required to manually operate according to specific terrains or the production degree of crops, the intelligent degree of the agricultural machinery is not high. Generally, when the existing agricultural machinery works in a relatively severe environment, the working condition is complex and changeable, and the technical level of operators is uneven, so that the working precision is not high, the land utilization rate is low, and the fuel economy and the production efficiency of a tractor in the working process can not be ensured.

Generally, the existing electric agricultural machines such as electric or hybrid agricultural machines use the same motor and/or engine to drive the walking system of the agricultural machine and the working system of the agricultural machine simultaneously. When the existing agricultural machine encounters a complex terrain in the working process, the output power of a motor or an engine is easy to be insufficient, or the walking and working processes of the agricultural machine are not coordinated.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main advantage lies in providing an automatic driving agricultural machinery and driving system thereof, wherein the agricultural machinery can be controlled and driven automatically.

Another advantage of the present invention is to provide an automatic driving agricultural machine and power system thereof, wherein the automatic driving agricultural machine can be driven automatically by remote control mode, so that agricultural machine operators do not carry out agricultural operation than driving agricultural machine in person.

Another advantage of the present invention is to provide an automatic driving agricultural machine and driving system thereof, wherein the automatic driving agricultural machine can be controlled ground automatic driving based on navigation information, carries out agricultural operation, wherein the navigation information can be through long-range received signal information, also can the road information that the automatic driving agricultural machine detected.

Another advantage of the utility model is that an automatic driving agricultural machine and driving system thereof is provided, wherein automatic driving agricultural machine can detect the road conditions information and the crops information of near direction of current agricultural machine host computer to and the control end of information transmission to automatic driving agricultural machine that will detect to the agricultural machine operator is based on the current agricultural machine's of information control that detects travel and operation.

Another advantage of the present invention is to provide an automatic driving agricultural machine and driving system thereof, the operating system of the automatic driving agricultural machine is driven by a motor different from the traveling system, and the operating system is prevented from being interfered by the traveling motor when the agricultural machine travels a complicated road section.

The other advantages and features of the invention will be fully apparent from the following detailed description and realized by means of the instruments and combinations particularly pointed out in the appended claims.

According to the utility model discloses an aspect can realize aforementioned purpose and other purposes and advantage the utility model discloses an automatic drive agricultural machinery, include:

an agricultural machinery host;

the agricultural machine control system automatically controls the operation of the agricultural machine host based on a control signal;

the power supply module is arranged on the agricultural machine host and provides electric energy for the agricultural machine host; and

and the power assembly is electrically connected to the power module and drives the agricultural machine host to operate.

According to some embodiments of the present invention, the autonomous agricultural machine further comprises an operating system, wherein the operating system is provided in the agricultural machine host, and the operating system is drivingly connected to the power assembly and the electric connection to the power module, by the power assembly with the power module drives the operation of the operating system.

According to some embodiments of the utility model, the autopilot agricultural machinery power component further includes a walking motor and a work motor, wherein the walking motor with the work motor electricity respectively connect in power module, wherein the walking motor drive the walking of agricultural machinery host computer, the work motor is used for the drive operating system's work.

According to some embodiments of the present invention, the power module further comprises a power bracket and at least one battery unit, wherein the battery unit is disposed on the power bracket, and the battery unit is electrically connected to the power bracket, and the power bracket supplies electric energy to the battery unit.

According to some embodiments of the present invention, the power bracket further comprises a battery receiving portion and at least one power interface, wherein the battery unit is held in the battery receiving portion, and the battery unit is electrically connected to the power bracket through the power interface.

According to some embodiments of the present invention, the power module further comprises a power distribution device, wherein the power distribution device is connected to the power bracket, through the power distribution device will the electric energy of the battery unit is carried to the agricultural machinery main unit or the operation system.

According to some embodiments of the present invention, the power module further comprises at least one earth leakage protection device, wherein the earth leakage protection device is configured to be connected to the power distribution device, the earth leakage protection device protects the electric equipment of the automatic driving agricultural machinery by preventing the current from being too large.

According to some embodiments of the present invention, the power module further comprises at least one voltage conversion device, wherein the voltage conversion device is connected to the power distribution device, and the voltage of the electric energy is transmitted to the outside by the power distribution device through the voltage conversion device.

According to some embodiments of the utility model, agricultural machinery control system further includes a driving controller and an operating system controller, wherein the driving controller is used for controlling the running state of agricultural machinery host computer, the operating system controller is used for controlling operating system's operating condition.

According to some embodiments of the present invention, the driving controller further comprises a navigation module, wherein the navigation module receives navigation information and guides the automatic driving agricultural machine based on the received navigation information.

According to the utility model discloses a some embodiments, drive the controller and further include a drive analysis module and a drive control module, wherein drive analysis module based on information that detecting system detected with navigation module's navigation information analysis judges the walking route of agricultural machinery host computer, drive control module is used for control advancing of agricultural machinery host computer.

According to some embodiments of the utility model, the autopilot agricultural machinery further still includes a communication device, wherein communication device is used for receiving control signal and with control signal transmission extremely agricultural machinery control system, for the agricultural machinery control system is based on control signal control the operation of agricultural machinery.

According to the utility model discloses a some embodiments, detecting system gathers the operation information of autopilot agricultural machinery and near the road conditions information of agricultural machinery are passed through communication device transmits to operating personnel to supply operating personnel to adjust control based on the information of gathering the operation of autopilot agricultural machinery.

According to the utility model discloses an on the other hand, the utility model discloses a driving system of autopilot agricultural machinery is further provided, is suitable for the drive the agricultural machinery host computer of autopilot agricultural machinery and operating system's operation, include:

the power supply module is used for supplying electric energy to the agricultural machine host and the operating system; and

the power assembly is arranged on the agricultural machine host, the power assembly further comprises a walking motor and a working motor, the walking motor and the working motor are respectively and electrically connected to the power module, the walking motor drives the agricultural machine host to walk, and the working motor is used for driving the operation system to work.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.

Drawings

Fig. 1A is an overall schematic view of an autonomous agricultural machine according to a preferred embodiment of the present invention.

Fig. 1B is an overall schematic view of the automatic driving agricultural machine according to the above preferred embodiment of the present invention.

Fig. 2A is a schematic view of an implementation of the autonomous agricultural machine according to the above preferred embodiment of the present invention.

Fig. 2B is an overall schematic view of an alternative implementation of another autonomous agricultural machine according to the above preferred embodiment of the present invention.

Fig. 3 is a schematic view of the power system of the autonomous agricultural machine according to the above preferred embodiment of the present invention.

Fig. 4 is a schematic structural view of the power module of the automatic driving agricultural machine according to the above preferred embodiment of the present invention.

Fig. 5 is a schematic structural view of a power system of the automatic driving agricultural machine according to the above preferred embodiment of the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

As shown in fig. 1A and 1B, the automatic driving agricultural machine includes an agricultural machinemain body 10, and at least oneoperation system 20, wherein theoperation system 20 is disposed on the agricultural machinemain body 10, and the agricultural machinemain body 10 carries theoperation system 20 and drives theoperation system 20 to work. The agricultural machinerymain machine 10 of the automatic driving agricultural machinery is a vehicle body of the automatic driving agricultural machinery. The automatic driving agricultural machine further comprises an agriculturalmachine control system 30, wherein the agriculturalmachine control system 30 is a central controller arranged on the agricultural machinemain body 10, and the central controller is used for controlling the running state of the agricultural machinemain body 10 and controlling the working state of theoperating system 20 of the current automatic driving agricultural machine.

Accordingly, the agriculturalmachine control system 30 further includes a driving controller 31 and an operating system controller 32, wherein the driving controller 31 is used for controlling the operation state of the agricultural machinemain body 10, such as controlling the walking speed of the agricultural machinemain body 10, controlling the traveling path of the agricultural machine main body, and the like. The operating system controller 32 is used to control the operating state of theoperating system 20, such as the spraying state of the spraying device of the plant protection machine, the magnitude of the spraying output power, and the like.

The automatic driving agricultural machine further comprises apower module 40 and apower assembly 50, wherein thepower module 40 is electrically connected to thepower assembly 50, and thepower assembly 50 provides kinetic energy for the agricultural machinemain machine 10 and theoperating system 20 of the automatic driving agricultural machine. Thepower module 40 of the automatic driving agricultural machine provides electric energy for the mainagricultural machine 10 and other devices or components of theoperating system 20, preferably, thepower module 40 is a power device provided in the mainagricultural machine 10, and thepower module 40 is a dc power source.

The agricultural robot further includes adetection system 60 and acommunication device 70, wherein thedetection system 60 is used for detecting the position information of the agricultural robot, detecting the traffic information of the agricultural robot, and detecting the working status information of the current workingsystem 20. Accordingly, the information detected by thedetection system 60 is transmitted to the agriculturalmachine control system 30, so that the agriculturalmachine control system 30 can determine the current operation of the agricultural machine, the working state of the working system and the like based on the detected information. Thecommunication device 70 is disposed on the agricultural machinerymain machine 10, wherein thecommunication device 70 is used for receiving a control operation signal of the automatic driving agricultural machinery and transmitting information detected by thedetection system 60 to an operation control end of an operator, so that the operator can control or adjust the current operation state of the automatic driving agricultural machinery based on the signal collected by the detection system.

In detail, the agricultural machinerymain body 10 of the automatic driving agricultural machinery further includes amain body support 11, and a travelingsystem 12 provided to themain body support 11 and at least one direction system 13 controlling a direction of the traveling system, and at least onebraking system 14. It can be understood that thewalking system 12 includes at least three wheels and a supporting connecting shaft for connecting and supporting the wheels, wherein the connecting shaft connects the wheels to themain frame support 11, and thewalking system 12 drives the agriculturalmain frame 10 to operate. The direction system 13 is used for controlling the traveling direction of the travelingsystem 12, and further controlling the operation direction of the agriculturalmain machine 10. It will be appreciated that the steering system 13 may be a steering gear controlled by a steering wheel, or may be configured as a steering device controlled by the frame of the agriculturalmachine control system 30. Thebraking system 14 is used for braking the mainagricultural machine 10, wherein thebraking system 14 is provided on the travelingsystem 12 to perform braking control on the main agricultural machine by braking wheels of the traveling system.

It should be noted that the automatic driving agricultural machinery can control the operation of the agricultural machinerymain machine 10 and theoperation system 20 in a remote control mode, and can also control the operation state of the agricultural machinerymain machine 10 and theoperation system 20 of the current automatic driving agricultural machinery in a direct operation mode by an operator. Preferably, the agricultural autonomous machine has an autonomous driving mode and a manual operation mode, and the autonomous driving mode and the manual operation mode of the agricultural autonomous machine can be freely switched by an operator to adapt to different operating driving environments.

The autonomous agricultural machine performs agricultural operations such as fertilizing, spraying pesticides, cultivating, and planting by theoperation system 20 through theoperation system 20. Accordingly, the automatic drivingagricultural machine 20 includes aspraying component 21, wherein thespraying component 21 is disposed on themain frame support 11 of the agricultural machinemain frame 10, and thespraying component 21 can spray water, pesticide, etc. outwards under the supporting action of themain frame support 11.

As shown in fig. 2A, the sprayingassembly 21 further includes at least onespray bar assembly 211, at least onebox 212, and at least onesupply device 213, wherein thesupply device 213 is connected between thespray bar assembly 211 and thebox 212, and thesupply device 213 is used to supply the liquid, such as a liquid medicine, stored in thebox 212 to thespray bar assembly 211. Thespray bar assembly 211 sprays the liquid medicine outwardly under the pressure supplied from thesupply device 213. Preferably, thespray bar assembly 211 is disposed at a front end of themain frame 211 of the agricultural machinerymain frame 10, and thebox body 212 is disposed at a rear end of themain frame 211. More preferably, thesupply device 213 of thespray bar assembly 21 is a water pump, wherein thesupply device 213 pumps the liquid in thetank 212 and sprays the liquid to the outside through thespray bar assembly 211 with a certain water pressure. More preferably, thespray bar assembly 211 of thespray assembly 21 is movably disposed at themain frame bracket 211, so that the autonomous agricultural machine adjusts the operation height and the spray amplitude of thespray bar assembly 211 based on the height of the crops or the actual operation scene.

Accordingly, thespray assembly 21 further comprises at least one spraybar adjustment device 214, wherein the spraybar adjustment device 214 is used to adjust the spray position and spray amplitude of thespray bar assembly 211 of thespray assembly 21. The spraybar adjusting device 214 is movably connected to thespray bar assembly 211 and themain frame support 11 of the agriculturalmain frame 10, wherein the spraybar adjusting device 214 is used for adjusting the open and close state of thespray bar assembly 211 and adjusting the spraying height of thespray bar assembly 211. Preferably, theboom adjustment device 214 is implemented as a hydraulic adjustment device.

As shown in fig. 2B, the workingsystem 20 further includes afertilizer applying device 22, wherein thefertilizer applying device 22 is disposed on themain frame support 11 of the agriculturalmain frame 10. The fertilizingdevice 22 releases liquid or solid fertilizer or solid liquid medicine outwards in a spraying mode. Correspondingly, the fertilizingdevice 22 further comprises abarrel 221 and at least onespraying device 222, wherein thespraying device 222 is communicated with thebarrel 221, and the fertilizer in thebarrel 221 is sprayed to the outside by thespraying device 222. Preferably, thefertilizer application device 22 of theoperating system 20 is mounted at the rear end of themain frame support 11 of the agriculturalmain frame 10, wherein the spraying direction of thespraying device 222 of thefertilizer application device 22 is toward the rear of the agriculturalmain frame 10.

It is worth mentioning that the workingsystem 20 may also be configured as a device for other working functions, such as a cultivator, an agricultural harvesting device, etc., and the type of the workingsystem 20 is merely provided as an example and not a limitation.

Preferably, the automatic driving agricultural machine is an electric plant protection machine, wherein the workingsystem 20 of the automatic driving agricultural machine and the travelingsystem 12 of the agricultural machinemain body 10 are powered by thepower module 40 and thepower assembly 50, or thepower module 40 directly drives the workingsystem 20 to work.

As shown in fig. 3 and 4, thepower module 40 further includes at least onepower bracket 41 and at least onebattery unit 42, wherein thebattery unit 42 is disposed on thepower bracket 41, and thebattery unit 42 is held by thepower bracket 41 on themain frame 11 of the agriculturalmain frame 10. Preferably, thepower bracket 41 of thepower module 40 is disposed above thehost bracket 11. More preferably, thepower module 40 includes twopower brackets 41, and thepower brackets 41 are disposed at the left and right sides above thehost bracket 11. It is worth mentioning that the number of thebattery units 42 of thepower module 40 in the present invention should not be taken as a limitation, wherein the number of thebattery units 42 may be 2, 4, 8 or other numbers. Preferably, thepower module 40 includes 8battery cells 42, and thebattery cells 42 are equally arranged in thepower bracket 41.

It is worth mentioning that thebattery unit 42 of thepower module 40 is a rechargeable battery, such as a lithium battery, a nickel cadmium battery, or a fuel cell. It is to be understood that the type ofbattery cells 42 of thepower module 40 is provided herein by way of example only and not limitation.

It is understood that thebattery cells 42 of thepower module 40 are connected in parallel with each other. Each of thepower holders 41 of thepower module 40 is a battery holding holder, wherein thepower holder 41 further has at least onebattery holding portion 411 and at least onepower interface 412 connected to thebattery holding portion 411, wherein thebattery units 42 of thepower module 40 are held in thebattery holding portions 411, and each of thebattery units 42 transmits power to the outside through thepower interface 412. Preferably, thebattery housing 411 of thepower bracket 41 is a battery housing space in which thebattery unit 42 is held. It is understood that thebattery unit 42 is electrically connected to thepower interface 412 of thepower bracket 41, wherein thepower interface 412 is disposed inside thepower receiving portion 411, and when thebattery unit 42 is disposed in thebattery receiving portion 411, thebattery unit 42 is electrically connected to thepower interface 412.

Preferably, thebattery unit 42 of thepower module 40 is a 42V-58V DC power supply.

Thepower module 40 further includes apower distribution device 43 and at least one earthleakage protection device 44, wherein thepower distribution device 43 is used for distributing the electric energy of thebattery unit 42 to electric devices, such as motors, solenoid valves, etc. Thepower distribution device 43 is disposed on thebattery unit 42 electrically connected to thepower module 40, wherein theleakage protection device 44 is connected to thepower distribution device 43, wherein theleakage protection device 44 is used to prevent a short circuit or an excessive current from occurring in the electric circuit of the agricultural autonomous driving machine, so as to protect the safety of the electric unit in the agricultural autonomous driving machine, and thus protect the safety of the agricultural driving machine. The earthleakage protection device 44 further comprises at least onerelay 441, wherein eachrelay 441 is electrically connected to thepower distribution device 43 and the power utilization unit of the automatic driving agricultural machine.

Thepower module 40 further includes at least onevoltage conversion device 45, wherein thevoltage conversion device 45 is used for converting the power voltage outputted from thebattery unit 42 or thepower distribution device 43 of thepower module 40. It is understood that thevoltage conversion device 45 is a DC-DC converter, wherein thevoltage conversion device 45 converts the power voltage outputted from thebattery unit 42 or thepower distribution device 43 into a voltage suitable for a power-consuming device, such as a voltage used by a lighting device of the automatic agricultural machine. Preferably, thevoltage conversion device 45 is a 42V-12V DC-DC converter.

As shown in fig. 3 and 4, thepower assembly 50 of the automatic driving agricultural machine provides kinetic energy for the mainagricultural machine 10 to drive the operation of the mainagricultural machine 10, wherein thepower assembly 50 also provides suitable kinetic energy for theoperation system 20 to drive the operation of theoperation system 20.

According to the first preferred embodiment of the present invention, the automatic driving agricultural machine is an electric plant protection machine, and correspondingly, thepower assembly 50 further comprises at least one traveling motor 51 and at least one workingmotor 52. The walking motor 51 is used for driving the operation of the agricultural machinerymain body 10, wherein the walking motor 51 is arranged below themain body support 11 of the agricultural machinerymain body 10, and thewalking system 12 is connected to the walking motor 51 in a transmission manner, so that the walking motor 51 transmits kinetic energy to thewalking system 12, and further drives the operation of the agricultural machinerymain body 10. The workingmotor 52 is disposed on themain frame support 11 of the agricultural machinemain frame 10, wherein the workingmotor 52 is used for driving the workingsystem 20 to work, such as driving the fertilizingdevice 22 of the workingsystem 20 to work, or driving other devices of the workingsystem 20 to work.

Thepower assembly 50 is electrically connected to thepower module 40, and thepower module 40 supplies electric power to the walking motor 51 and the workingmotor 52 of thepower assembly 50. It is understood that the walking motor 51 and the workingmotor 52 of thepower assembly 50 are electrically connected to thepower distribution device 43 of thepower module 40 or in series with the earthleakage protection device 44. It is worth mentioning that thepower assembly 50 is supplied with electric energy by thepower distribution device 43 of thepower module 40, and accordingly, the operating voltages of the walking motor 51 and the workingmotor 52 of thepower assembly 50 are the same as the voltage of thebattery unit 42.

As will be understood by those skilled in the art, the walking motor 51 and the workingmotor 52 of thepower assembly 50 are electrically connected to thepower module 40, respectively, and the walking motor 51 and the working motor drive different transmission devices to rotate, respectively. Therefore, the autonomous driving agricultural machine can control the traveling of the agricultural machinemain body 10 and the operating state of the workingsystem 20 through the agriculturalmachine control system 30, respectively. It is understood that the walking motor 51 and the workingmotor 52 of thepower assembly 50 are controlled separately, and the devices driven or driven by the walking motor 51 and the workingmotor 52 are not affected by each other.

As shown in fig. 3 and 4, thedetection system 60 of the agricultural robot is used to detect the position information of the agricultural robot, the operating state information of theoperating system 20, and the like, and the road condition information in the traveling direction of themain machine 10 or in the vicinity thereof. Thedetection system 60 further comprises a positioning detection device 61, wherein the positioning detection device 61 is used for detecting the position of the agricultural machinemain body 10 of the automatic driving agricultural machine, so that the agriculturalmachine control system 30 controls or adjusts the traveling route or direction of the automatic driving agricultural machine based on the position information of the agricultural machinemain body 10.

The workingsystem 20 of the autonomous agricultural machine is driven by thepower module 40 to operate, wherein the sprayrod adjusting device 214 of thespray assembly 21 of the workingsystem 20 drives thespray rod assembly 211 to move through hydraulic driving or pneumatic driving. Accordingly, the sprayrod adjusting device 214 further comprises adriving body 2141 and an electrically controlledswitch 2142 for controlling the drivingbody 2141, wherein the electrically controlledswitch 2142 is used for controlling the extension and contraction of the drivingbody 2141, and thus the movement of thespray rod assembly 211. Accordingly, the electronically controlledswitch 2141 is electrically connected to thepower module 40, and thepower module 40 controls the operating state of the electronically controlledswitch 2141.

Thesupply device 213 of thespray assembly 21 of theoperating system 20 is electrically connected to thepower module 40, thepower module 40 supplies power to thesupply device 213, and controls the operating state of thesupply device 213.

Thedetection system 60 further includes a pressure sensing device 63 and at least one liquid level sensing device 64, wherein the pressure sensing device 63 is disposed between thesupply device 213 and thenozzle assembly 211 and is used for detecting the hydraulic pressure of the liquid medicine supplied from thesupply device 213 to thenozzle assembly 211. The level sensing device 64 is used to detect the level of the liquid in thetank 212, wherein the level sensing device 64 is held in thetank 212. It is understood that the pressure sensing device 63 and the liquid level sensing device 64 of thedetection system 60 are powered by thepower module 40 and operate under the driving of thepower module 40. Preferably, thedetection system 60 is electrically connected to thevoltage conversion device 45.

Thedetection system 60 further comprises at least oneangle sensing device 66, wherein theangle sensing device 66 is used for detecting the unfolding angle of thespray rod assembly 211 and the lifting angle of thespray rod assembly 211, and the unfolding angle of thespray rod assembly 211 detected by theangle sensing device 66 is transmitted to an operation terminal of the automatic driving agricultural machine, so that an operator can timely control the unfolding angle of thespray rod assembly 211 according to the data detected by theangle sensing device 66.

Accordingly, thespraying device 222 of the fertilizingdevice 22 of theoperating system 20 is drivingly connected to the workingmotor 52 of thepower assembly 50, and the workingmotor 52 drives thespraying device 222 to operate, so as to complete the fertilizing operation.

Thedetection system 60 further includes at least oneoperation acquisition device 65, wherein theoperation acquisition device 65 is used for detecting crop information near the automatic driving agricultural machine, such as the plant height of the current crop, the planting distance of the crop, and acquiring the crop information after the automatic driving agricultural machine operates. Thework collecting device 65 is provided to the agricultural machinerymain machine 10, wherein thework collecting device 65 is implemented as a camera or other devices with camera function. Theoperation collecting device 65 collects crop information near themain machine 10 of the automatic driving agricultural machine, and transmits the collected crop information to the control end through thecommunication device 70, so that an operator can detect and observe operation conditions.

The agricultural machinerymain body 10 further comprises alighting system 15, wherein thelighting system 15 is disposed on the main body support of the agricultural machinerymain body 10, wherein thelighting system 15 is electrically connected to thevoltage conversion device 45 of thepower module 40, and thelighting system 15 is provided with suitable electric power by thevoltage conversion device 45.

As shown in fig. 5, thecommunication device 70 of the autonomous agricultural machine is used to receive a control signal, wherein the control signal is used to control the operating state of the agricultural machinemain body 10 or theoperating system 20. Thecommunication device 70 receives signal information from a remote transmission, such as a control signal from a remote control terminal that controls the autonomous agricultural machine. Thecommunication device 70 can also transmit the information detected by thedetection system 60 of the automatic driving agricultural machine to the remote control terminal device of the automatic driving agricultural machine, so that the remote control terminal device can adjust or control the working states of the agricultural machinemain body 10 and the workingsystem 20 of the current automatic driving agricultural machine based on the information detected by thedetection system 60.

The control signal of the remote control terminal received by thecommunication device 70 is transmitted to the agriculturalmachinery control system 30, wherein the driving controller 31 of the agriculturalmachinery control system 30 controls the traveling of the agricultural machinerymain machine 10 based on the control signal, wherein the operating system controller 32 controls the current operating state of theoperating system 20 based on the control signal.

In detail, the driving controller 31 further includes a navigation module 311, a driving analysis module 312 and a driving control module 313, wherein the driving analysis module 312 determines the current vehicle's traveling based on the traveling information and road information of the current agricultural machinery detected by thedetection system 60. The navigation module 311 can receive navigation information of the autonomous agricultural machine, wherein the navigation information is transmitted to the driving analysis module 312, and the driving analysis module 312 analyzes a traveling path or a traveling track of the current autonomous agricultural machine based on the navigation information and information of the agricultural machine detected by thedetection system 60.

The navigation module 311 of the driving controller 31 is a vehicle navigation device disposed on the autonomous agricultural machine, wherein the navigation module 311 receives navigation information of the autonomous agricultural machine based on the position information of theagricultural machine host 10, so that the driving analysis module 312 and the driving control module 313 control the traveling or walking track of theagricultural machine host 10 based on the navigation information. Accordingly, the driving control module 313 is used for controlling the traveling of the agriculturalmain machine 10, such as controlling the walking speed and direction of the agriculturalmain machine 10, and controlling the braking of the agriculturalmain machine 10. The driving control module 313 of the driving controller 31 further includes a direction controller 3131, at least one brake controller 3132, and a speed controller 3133, wherein the direction controller 3131 is used to control the direction system 13 of themain frame 10.

It is worth mentioning that the direction system 13 of the agricultural machinemain body 10 is implemented as a hydraulic drive. Accordingly, the direction controller 3131 is a solenoid valve that controls the hydraulic driving device, wherein the solenoid valve is electrically connected to thepower module 40. The brake controller 3132 is used to control thebrake system 14 of themain farm machinery 10, and the operating state of thebrake system 14 is controlled by the brake controller 3132, so as to drive thebrake system 14 to brake the travelingsystem 12. The speed controller 3133 of the driving controller 31 is used to control the operation speed of the mainagricultural machinery 10, wherein the speed controller 3133 is used to control the output power of the walking motor 51 of thepower assembly 50, when the output power of the walking motor 51 is larger, the faster the rotation speed of the walking motor 51 is, the faster the movement speed of thewalking system 12 driven by the walking motor 51 is, and thus the main agricultural machinery is accelerated to travel.

As shown in fig. 5, the operating system controller 32 is used to control the operation of theoperating system 20. Accordingly, the operation system controller 32 further includes an operation analyzing module 321 and an operation control module 322, wherein the operation analyzing module 321 analyzes whether the operation state of the operation system of the current automatic driving agricultural machine is appropriate based on the data detected by the detectingsystem 60 and the control information received by thecommunication device 70, such as detecting, analyzing and judging whether the spraying pressure of thecurrent spraying assembly 21 is appropriate, the spraying angle and the spraying amount of the pesticide are appropriate, and the like. When the operation analyzing module 321 analyzes that the operation status of theoperation system 20 needs to be adjusted, the operation control module 322 controls the operation status of theoperation system 20, such as controlling the fertilizing amount of the fertilizingdevice 22 of theoperation system 20, controlling and adjusting the spraying amplitude, the spraying pressure, and the like of the spraying device.

As shown in fig. 1A to 5, according to another aspect of the present invention, the present invention further provides a power system for an automatic driving agricultural machine, wherein the power system includes apower module 40 and apower assembly 50. The power system drives the operation of the agricultural machinerymain machine 10 of the automated driving agricultural machinery and drives the operation of theoperation system 20 of the automated driving agricultural machinery. Accordingly, thepower module 40 and thepower assembly 50 are disposed on the agricultural machinerymain machine 10 to drive the operation of the agricultural machinerymain machine 10.

It is worth mentioning that thebattery unit 42 of thepower module 40 is a rechargeable battery, such as a lithium battery.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims

1. An autonomous agricultural machine, comprising:

an agricultural machinery host;

2. The autonomous agricultural machine of claim 1, wherein the autonomous agricultural machine further comprises a work system, wherein the work system is provided to the agricultural machine main body, and the work system is drivingly connected to the power assembly and electrically connected to the power module, and operation of the work system is driven by the power assembly and the power module.

3. The autonomous agricultural machine of claim 2, wherein the power assembly of the autonomous agricultural machine further comprises a travel motor and a work motor, wherein the travel motor and the work motor are electrically connected to the power module, respectively, wherein the travel motor drives travel of the agricultural machine main body, and the work motor is used to drive work of the working system.

4. The autonomous agricultural machine of claim 3, wherein the power module further comprises a power bracket and at least one battery unit, wherein the battery unit is disposed on the power bracket and electrically connected to the battery unit by the power bracket, and power of the battery unit is transmitted to the outside through the power bracket.

5. The autonomous agricultural machine of claim 4, wherein the power bracket further comprises a battery receiving portion and at least one power interface, wherein the battery unit is retained in the battery receiving portion and the battery unit is electrically connected to the power bracket through the power interface.

6. The autonomous agricultural machine of claim 4, wherein the power module further comprises a power distribution device, wherein the power distribution device is connected to the power bracket, and the power of the battery unit is transmitted to the agricultural machine main body or the operating system through the power distribution device.

7. The autonomous agricultural machine of claim 6, wherein the power module further comprises at least one earth leakage protection device, wherein the earth leakage protection device is configured to be connected to the power distribution device, and the earth leakage protection device protects the electric equipment of the autonomous agricultural machine by preventing an excessive current.

8. The autonomous agricultural machine of claim 7, wherein the power module further comprises at least one voltage conversion device, wherein the voltage conversion device is connected to the power distribution device, and the voltage of the power delivered to the outside by the power distribution device is adjusted by the voltage conversion device.

9. The autonomous agricultural machine of any one of claims 2 to 8, wherein the autonomous agricultural machine further comprises a detection system, wherein the detection system is used to detect an operational state of the autonomous agricultural machine and to detect a travel path of the agricultural machine main body, and to detect information of crops near the agricultural machine main body, wherein the information detected by the detection system is transmitted to the agricultural machine control system for the agricultural machine control system to control adjustment of the operational state of the agricultural machine main body or the working system of the autonomous agricultural machine based on the detected information.

10. The autonomous agricultural machine of any one of claims 2 to 8, wherein the agricultural machine control system further comprises a driving controller and an operating system controller, wherein the driving controller is used to control the operating state of the agricultural machine main body, and the operating system controller is used to control the operating state of the operating system.

11. The autonomous agricultural machine of claim 9, wherein the agricultural machine control system further comprises a driving controller and an operating system controller, wherein the driving controller is used to control the operating state of the agricultural machine main body, and the operating system controller is used to control the operating state of the operating system.

12. The autonomous agricultural machine of claim 10, wherein the driving controller further comprises a navigation module, wherein the navigation module receives navigation information and directs the agricultural host of the autonomous agricultural machine to travel based on the received navigation information.

13. The autonomous agricultural machine of claim 11, wherein the driving controller further comprises a navigation module, wherein the navigation module receives navigation information and directs the agricultural host of the autonomous agricultural machine to travel based on the received navigation information.

14. The autonomous agricultural machine of claim 12, wherein the driving controller further comprises a driving analysis module and a driving control module, the autonomous agricultural machine further comprising a detection system, wherein the driving analysis module analyzes and judges a traveling route of the agricultural machine main body based on information detected by the detection system and navigation information of the navigation module, and the driving control module is used for controlling traveling of the agricultural machine main body.

15. The autonomous agricultural machine of claim 13, wherein the driving controller further comprises a driving analysis module and a driving control module, wherein the driving analysis module analyzes and judges a traveling route of the agricultural machine host based on the information detected by the detection system and the navigation information of the navigation module, and the driving control module is used to control the traveling of the agricultural machine host.

16. The autonomous agricultural machine of claim 14, wherein the autonomous agricultural machine further comprises a communication device, wherein the communication device is configured to receive and transmit control signals to the agricultural machine control system for the agricultural machine control system to control operation of the agricultural machine based on the control signals.

17. The autonomous agricultural machine of claim 15, wherein the autonomous agricultural machine further comprises a communication device, wherein the communication device is configured to receive and transmit control signals to the agricultural machine control system for the agricultural machine control system to control operation of the agricultural machine based on the control signals.

18. The agricultural autonomous driving machine of claim 16, wherein the agricultural automatic driving machine comprises a detection system, and the operation information of the agricultural automatic driving machine and the traffic information near the agricultural automatic driving machine collected by the detection system are transmitted to the operator through the communication device, so that the operator can adjust and control the operation of the agricultural automatic driving machine based on the collected information.

19. The agricultural autonomous driving machine of claim 17, wherein the information about the operation of the agricultural autonomous driving machine and the information about the traffic conditions in the vicinity of the agricultural machine collected by the detection system are transmitted to the operator via the communication device, so that the operator can adjust and control the operation of the agricultural autonomous driving machine based on the collected information.

20. A power system of an autonomous agricultural machine, adapted to drive operation of a host and operating system of the autonomous agricultural machine, comprising:

21. The power system according to claim 20, wherein the power module further comprises a power bracket and at least one battery unit, wherein the battery unit is disposed on the power bracket and is electrically connected to the battery unit by the power bracket, and the power of the battery unit is transmitted to the outside through the power bracket.

22. The power system of claim 21, wherein the power bracket further comprises a battery receiving portion and at least one power interface, wherein the battery unit is retained in the battery receiving portion and the battery unit is electrically coupled to the power bracket via the power interface.

23. The power system of claim 22, wherein the power module further comprises a power distribution device, wherein the power distribution device is connected to the power bracket and delivers the power from the battery unit to the farm machine or the work system.

24. The power system according to claim 23 wherein the power module further comprises at least one earth leakage protection device, wherein the earth leakage protection device is configured to be coupled to the power distribution device, the earth leakage protection device protecting electrical equipment of the autonomous agricultural machine by preventing excessive current flow.

25. The power system of claim 24 wherein the power module further comprises at least one voltage conversion device, wherein the voltage conversion device is coupled to the power distribution device, and wherein the voltage conversion device adjusts the voltage at which the power distribution device delivers power to the outside.