CN110254551A - A kind of structure changes plant phenotype detection mobile robot - Google Patents
A kind of structure changes plant phenotype detection mobile robot Download PDFInfo
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- CN110254551A CN110254551A CN201910652557.6A CN201910652557A CN110254551A CN 110254551 A CN110254551 A CN 110254551A CN 201910652557 A CN201910652557 A CN 201910652557A CN 110254551 A CN110254551 A CN 110254551A
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- fixedly mounted
- pedipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of structure changes plant phenotypes to detect mobile robot, belongs to Agricultural Robot technical field of automation equipment.The structure changes robot includes eight side body vehicle bodies, built-in Phenotypic examination storehouse and four pedipulators, and four pedipulators respectively include deformation module, steering module, a power plant module again.Vehicle body and deformation module are rigidly connected, the rigid connection refers to that four symmetry directions of vehicle body are fixedly mounted with by connector and one end housing of deformation module, deformation module and steering module rotation connect, and the rotation connection refers to deformation module shell by being fixedly mounted with steering module flange.Steering module and power plant module rotation connect, and the rotation connection refers to that steering module passes through tapered roller bearing and the coaxially connected power plant module fork of deep groove ball bearing.This structure changes type plant phenotype robot moving platform can adapt to different field ridges spacing and plant height automatically, carry out leg spacing and body height adjustment.
Description
Technical field
The present invention relates to robot automation's equipment technical fields, detect and move more particularly, to a kind of structure changes plant phenotype
Mobile robot.
Background technique
China is a developing large agricultural country, and agricultural problem is be related to China's economic social development basic always
Problem, as most important basic industry in national economy, development and people's lives to economic society play extremely heavy agricultural
The support wanted and guaranteeing role.But with the sharp increase of population, the quickening of urbanization process leads to the requisition to arable land, simultaneously
Crop production reduction caused by climate change causes the abiotic stress and pest disaster got worse to occur, makes the grain in China
Safety is relied solely on traditional breeding method and has been difficult to meet three big main cereal crop (rice, corn by great challenge
And wheat) volume increase demand.
External university, many institutes or correlative study institutes are just in the Phenotypic examination equipment of development of new.BoniRob this
Robot collection sprinkling, fertilising and harvesting are an autonomous agricultural robots, emphasis is independent navigation in one.It is with ground
The agricultural robot roboticist one by one on basis, it can automatically navigate under the tree crown of sorghum or seeding corn and other crops, should
Robot can dispose a manipulator to measure the strength of stem of plant.
Though China achieves no small achievement in the research and development of Agricultural Robot at present, due to outdoor environment complexity, deposit
Uneven road it is smooth, inclination, barrier is indefinite the problems such as, machine task efficiency and precision not enough, existing market
On occur that a robot can be only done a fixed function, detachable, a tractor serves several purposes concept is not deepened also.This
Outside, in face of the farmland of environment complexity, line space, plant height be all it is unfixed, fixed agricultural robot can not
Meet crop field demand.
Summary of the invention
A kind of structure changes plant phenotype provided in an embodiment of the present invention detects mobile robot, can solve in the prior art
Existing machine-wide, height are non-adjustable, i.e., are not suitable for the applicable limitation of a variety of crop field landform.
To achieve the above object, the invention adopts the following technical scheme:
A kind of structure changes plant phenotype detection mobile robot, referring to Fig. 1 to Figure 11, the structure changes robot includes eight
Pedipulator 6 before pedipulator 5, the right side behind side body vehicle body 1, Phenotypic examination storehouse 2, left front pedipulator 3, left back pedipulator 4, the right side.The left side
Pedipulator 6 respectively includes deformation module, steering module, a power before pedipulator 5, the right side behind preceding pedipulator 3, left back pedipulator 4, the right side
Module.Vehicle body and deformation module are rigidly connected, and refer specifically to four symmetry directions of vehicle body by connector and are bolted deformation module
One end housing.Deformation module and steering module choosing rotation connection, refer specifically to deformation module shell and steering module are bolted
Flange.Steering module and power plant module rotation connect, and it is same by tapered roller bearing and deep groove ball bearing to refer specifically to steering module
Axis connection power plant module fork.
A kind of structure changes plant phenotype detects mobile robot, the structure changes robot using industrial personal computer as main control end,
MCU is auxiliary control terminal, and the two is communicated by serial ports.The industrial personal computer control terminal, including control vision camera, steering
Motor module, direct current generator module, GPS module, laser radar, the MCU control terminal, including control deformation module, ultrasonic wave
Module.The steering motor module includes steering motor, steering motor driver, code-disc.The direct current generator module includes straight
Flow brushless motor, DC motor driver, code-disc.The deformation module includes push-rod electric machine, motor driver, hall sensing
Device.
Compared with prior art, the present invention its remarkable advantage:
(1) simple and reliable for structure, it is linked by steel construction connecting rod, guarantees that each section moves robust.
(2) full-automatic, semi-automatic switching remotely freely controls.
(3) basic detection probe, sensor, achievable avoidance, identification path, self-navigation are carried.
(4) platform is multi-functional, can complete the function such as weeding, application, watering, harvesting, Fields detection by carrying correlation module
Energy.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of overall appearance schematic diagram of structure changes plant phenotype detection mobile robot of the present invention.
Fig. 2 is left front pedipulator deformation module appearance diagram.
Fig. 3 is left back pedipulator deformation module appearance diagram.
Fig. 4 is pedipulator deformation module appearance diagram behind the right side.
Fig. 5 is preceding pedipulator deformation module appearance diagram before the right side.
Fig. 6 is the appearance diagram of left front pedipulator steering module and power plant module.
Fig. 7 is the appearance diagram of left back pedipulator steering module and power plant module.
Fig. 8 is the appearance diagram of pedipulator steering module and power plant module behind the right side.
Fig. 9 is the appearance diagram of pedipulator steering module and power plant module before the right side.
Figure 10 is Phenotypic examination storehouse appearance diagram.
Figure 11 is control connection figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of structure changes plant phenotype detection mobile robot of the invention includes vehicle body 1, Phenotypic examination storehouse 2, a left side
Pedipulator 6 before pedipulator 5, the right side behind preceding pedipulator 3, left back pedipulator 4, the right side.
Embodiment one:
In Fig. 1, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the eight sides body vehicle
1 inner hollow of body is coupled with warehouse 21, and preceding left side 15 is fixedly mounted with left front pedipulator 3, preceding right side 16 and machinery before the right side
Leg 6 is fixedly mounted with, and rear left side 17 is fixedly mounted with left back pedipulator 4, and rear right side 18 is fixedly mounted with pedipulator 5 behind the right side；The left front machinery
3 steering module 32 of leg is connect with deformation module 31 by flange 325, the steering motor 321 and power plant module vehicle of steering module 32
Fork 331 is coaxially connected by shaft coupling 322, and fork 331 and deep groove ball bearing 323, tapered roller bearing 324 are coaxially connected；Institute
Left back 4 steering module 42 of pedipulator and deformation module 41 is stated to be fixedly mounted with by flange 425, the steering motor 421 of steering module 42 with
Power plant module fork 441 is connected by shaft coupling 422, and fork 441 is connect with deep groove ball bearing 423, tapered roller bearing 424；
5 steering module 52 of pedipulator is fixedly mounted with deformation module 51 by flange 525 behind the right side, the steering motor 521 of steering module 52
It is connect with power plant module fork 541 by shaft coupling 522, fork 541 and deep groove ball bearing 523, tapered roller bearing 524 connect
It connects, 6 steering module 62 of pedipulator is fixedly mounted with deformation module 61 by flange 625 before the right side, the steering motor of steering module 62
621 are connect with power plant module fork 641 by shaft coupling 622, fork 641 and deep groove ball bearing 623, tapered roller bearing 624
Connection.
In Fig. 2, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the left front machinery
In leg 3, deformation module 31 includes connector 3111, connector 3112, shell 312, shell 313, upper left shaft holder 3141, upper right
Bearing block 3142, lower right bearing block 3143, lower left shaft holder 3144, rotation support round bar 3151, rotation support round bar 3152, rotation
Turn support round bar 3153, rotation support round bar 3154, parallel support square bar 3161, parallel support square bar 3162, upper left flake axis
Hold 3171, bottom right flake bearing 3172, thrust connecting tube 3181, thrust connecting tube 3182, power push-rod 319；The power pushes away
319 head of bar and thrust connecting tube 3181 are fixedly mounted with mounting hole one end, the screwed other end of thrust connecting tube 3181 with
The rotation connection of the outer tooth end of upper left flake bearing 3171, upper left flake bearing 3171 and rotation support 3151 coaxial rotating of round bar connect
It connects, rotation support round bar 3151 is first fixedly mounted with 3161 one end of parallel support square bar, then is connected with upper 3141 coaxial rotating of left shaft holder
It connects, upper left shaft holder 3141 has mounting hole one end to be fixedly mounted with 313 inner face of shell, and 313 top of shell is fixedly mounted with connector 3111, puts down
Row support 3161 other end of square bar is fixedly mounted with rotation support round bar 3152, rotation support 3152 tail end of round bar and upper right bearing block
The connection of 3142 coaxial rotatings, upper right bearing block 3142 have mounting hole one end to be fixedly mounted with 312 inner face of shell, 319 tape code of power push-rod
The tail portion of disk one end is fixedly mounted with thrust connecting tube 3182 with mounting hole one end, and thrust connecting tube 3182 is another with internal thread
End is connected with the rotation of the outer tooth end of bottom right flake bearing 3172, bottom right flake bearing 3172 and rotation support 3153 coaxial rotating of round bar
Connection, rotation support round bar 3153 are first fixedly mounted with 3162 one end of parallel support square bar, then with 3143 coaxial rotating of lower right bearing block
Connection, lower right bearing block 3143 have mounting hole one end to be fixedly mounted with 312 inner face of shell, 3162 other end of parallel support square bar and rotation
Support round bar 3154 is fixedly mounted with, and rotation support 3154 tail end of round bar is connect with lower 3144 coaxial rotating of left shaft holder, lower left shaft holder
3144 have mounting hole one end to be fixedly mounted with 313 inner face of shell, and lower part and the connector 3112 of shell 313 are fixedly mounted with.
In Fig. 3, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the left front machinery
In leg 4, deformation module 41 includes connector 4111, connector 4112, shell 412, shell 413, upper left shaft holder 4141, upper right
Bearing block 4142, lower right bearing block 4143, lower left shaft holder 4144, rotation support round bar 4151, rotation support round bar 4152, rotation
Turn support round bar 4153, rotation support round bar 4154, parallel support square bar 4161, parallel support square bar 4162, upper left flake axis
Hold 4171, bottom right flake bearing 4172, thrust connecting tube 4181, thrust connecting tube 4182, power push-rod 419；The power pushes away
419 head of bar and thrust connecting tube 4181 are fixedly mounted with mounting hole one end, the screwed other end of thrust connecting tube 4181 with
The rotation connection of the outer tooth end of upper left flake bearing 4171, upper left flake bearing 4171 and rotation support 4151 coaxial rotating of round bar connect
It connects, rotation support round bar 4151 is first fixedly mounted with 4161 one end of parallel support square bar, then is connected with upper 4141 coaxial rotating of left shaft holder
It connects, upper left shaft holder 4141 has mounting hole one end to be fixedly mounted with 413 inner face of shell, and 413 top of shell is fixedly mounted with connector 4111, puts down
Row support 4161 other end of square bar is fixedly mounted with rotation support round bar 4152, rotation support 4152 tail end of round bar and upper right bearing block
The connection of 4142 coaxial rotatings, upper right bearing block 4142 have mounting hole one end to be fixedly mounted with 412 inner face of shell, 419 tape code of power push-rod
The tail portion of disk one end is fixedly mounted with thrust connecting tube 4182 with mounting hole one end, and thrust connecting tube 4182 is another with internal thread
End is connected with the rotation of the outer tooth end of bottom right flake bearing 4172, bottom right flake bearing 4172 and rotation support 4153 coaxial rotating of round bar
Connection, rotation support round bar 4153 are first fixedly mounted with 4162 one end of parallel support square bar, then with 4143 coaxial rotating of lower right bearing block
Connection, lower right bearing block 4143 have mounting hole one end to be fixedly mounted with 412 inner face of shell, 4162 other end of parallel support square bar and rotation
Support round bar 4154 is fixedly mounted with, and rotation support 4154 tail end of round bar is connect with lower 4144 coaxial rotating of left shaft holder, lower left shaft holder
4144 have mounting hole one end to be fixedly mounted with 413 inner face of shell, and lower part and the connector 4112 of shell 413 are fixedly mounted with.
In Fig. 4, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the left front machinery
In leg 5, deformation module 51 includes connector 5111, connector 5112, shell 512, shell 513, upper left shaft holder 5141, upper right
Bearing block 5142, lower right bearing block 5143, lower left shaft holder 5144, rotation support round bar 5151, rotation support round bar 5152, rotation
Turn support round bar 5153, rotation support round bar 5154, parallel support square bar 5161, parallel support square bar 5162, upper left flake axis
Hold 5171, bottom right flake bearing 5172, thrust connecting tube 5181, thrust connecting tube 5182, power push-rod 519；The power pushes away
519 head of bar and thrust connecting tube 5181 are fixedly mounted with mounting hole one end, the screwed other end of thrust connecting tube 5181 with
The rotation connection of the outer tooth end of upper left flake bearing 5171, upper left flake bearing 5171 and rotation support 5151 coaxial rotating of round bar connect
It connects, rotation support round bar 5151 is first fixedly mounted with 5161 one end of parallel support square bar, then is connected with upper 5141 coaxial rotating of left shaft holder
It connects, upper left shaft holder 5141 has mounting hole one end to be fixedly mounted with 513 inner face of shell, and 513 top of shell is fixedly mounted with connector 5111, puts down
Row support 5161 other end of square bar is fixedly mounted with rotation support round bar 5152, rotation support 5152 tail end of round bar and upper right bearing block
The connection of 5142 coaxial rotatings, upper right bearing block 5142 have mounting hole one end to be fixedly mounted with 512 inner face of shell, 519 tape code of power push-rod
The tail portion of disk one end is fixedly mounted with thrust connecting tube 5182 with mounting hole one end, and thrust connecting tube 5182 is another with internal thread
End is connected with the rotation of the outer tooth end of bottom right flake bearing 5172, bottom right flake bearing 5172 and rotation support 5153 coaxial rotating of round bar
Connection, rotation support round bar 5153 are first fixedly mounted with 5162 one end of parallel support square bar, then with 5143 coaxial rotating of lower right bearing block
Connection, lower right bearing block 5143 have mounting hole one end to be fixedly mounted with 512 inner face of shell, 5162 other end of parallel support square bar and rotation
Support round bar 5154 is fixedly mounted with, and rotation support 5154 tail end of round bar is connect with lower 5144 coaxial rotating of left shaft holder, lower left shaft holder
5144 have mounting hole one end to be fixedly mounted with 513 inner face of shell, and lower part and the connector 5112 of shell 513 are fixedly mounted with.
In Fig. 5, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the left front machinery
In leg 6, deformation module 61 includes connector 6111, connector 6112, shell 612, shell 613, upper left shaft holder 6141, upper right
Bearing block 6142, lower right bearing block 6143, lower left shaft holder 6144, rotation support round bar 6151, rotation support round bar 6152, rotation
Turn support round bar 6153, rotation support round bar 6154, parallel support square bar 6161, parallel support square bar 6162, upper left flake axis
Hold 6171, bottom right flake bearing 6172, thrust connecting tube 6181, thrust connecting tube 6182, power push-rod 619；The power pushes away
619 head of bar and thrust connecting tube 6181 are fixedly mounted with mounting hole one end, the screwed other end of thrust connecting tube 6181 with
The rotation connection of the outer tooth end of upper left flake bearing 6171, upper left flake bearing 6171 and rotation support 6151 coaxial rotating of round bar connect
It connects, rotation support round bar 6151 is first fixedly mounted with 6161 one end of parallel support square bar, then is connected with upper 6141 coaxial rotating of left shaft holder
It connects, upper left shaft holder 6141 has mounting hole one end to be fixedly mounted with 613 inner face of shell, and 613 top of shell is fixedly mounted with connector 6111, puts down
Row support 6161 other end of square bar is fixedly mounted with rotation support round bar 6152, rotation support 6152 tail end of round bar and upper right bearing block
The connection of 6142 coaxial rotatings, upper right bearing block 6142 have mounting hole one end to be fixedly mounted with 612 inner face of shell, 619 tape code of power push-rod
The tail portion of disk one end is fixedly mounted with thrust connecting tube 6182 with mounting hole one end, and thrust connecting tube 6182 is another with internal thread
End is connected with the rotation of the outer tooth end of bottom right flake bearing 6172, bottom right flake bearing 6172 and rotation support 6153 coaxial rotating of round bar
Connection, rotation support round bar 6153 are first fixedly mounted with 6162 one end of parallel support square bar, then with 6143 coaxial rotating of lower right bearing block
Connection, lower right bearing block 6143 have mounting hole one end to be fixedly mounted with 612 inner face of shell, 6162 other end of parallel support square bar and rotation
Support round bar 6154 is fixedly mounted with, and rotation support 6154 tail end of round bar is connect with lower 6144 coaxial rotating of left shaft holder, lower left shaft holder
6144 have mounting hole one end to be fixedly mounted with 613 inner face of shell, and lower part and the connector 6112 of shell 613 are fixedly mounted with.
In Fig. 6, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, in left front pedipulator 3
The steering module 32 include steering motor 321, shaft coupling 322, deep groove ball bearing 323, tapered roller bearing 324, flange
Disk 325, partition 326；The output shaft of steering motor 321 is coaxially fixedly mounted with 322 one end of shaft coupling, the mounting surface of steering motor 321
It is fixedly mounted with 325 one end of flange, deep groove ball bearing 323 is slidably connected with flange 325, and tapered roller bearing 324 and flange 325 slide
It connects, is fixedly mounted with inside the other end and shell 312 of flange 325, is fixedly mounted with inside partition 326 and shell 312；Power plant module 33 includes
Fork 331, power wheel 332；Fork 331 is coaxially fixedly mounted with power wheel 332.
In Fig. 7, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, behind the right side in pedipulator
Steering module 42 include steering motor 421, shaft coupling 422, deep groove ball bearing 423, tapered roller bearing 424, ring flange
425, partition 426；The output shaft of steering motor 421 is coaxially fixedly mounted with 422 one end of shaft coupling, the mounting surface of steering motor 421 with
425 one end of flange is fixedly mounted with, and deep groove ball bearing 423 is slidably connected with flange 425, and tapered roller bearing 424 and the sliding of flange 425 connect
It connects, is fixedly mounted with inside the other end and shell 412 of flange 425, is fixedly mounted with inside partition 426 and shell 412；Power plant module 43 includes vehicle
Pitch 431, power wheel 432；Fork 431 is coaxially fixedly mounted with power wheel 432.
In fig. 8, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, in left back pedipulator
Steering module 52 include steering motor 521, shaft coupling 522, deep groove ball bearing 523, tapered roller bearing 524, ring flange
525, partition 526；The output shaft of steering motor 521 is coaxially fixedly mounted with 522 one end of shaft coupling, the mounting surface of steering motor 521 with
525 one end of flange is fixedly mounted with, and deep groove ball bearing 523 is slidably connected with flange 525, and tapered roller bearing 524 and the sliding of flange 525 connect
It connects, is fixedly mounted with inside the other end and shell 512 of flange 525, is fixedly mounted with inside partition 526 and shell 512；Power plant module 53 includes vehicle
Pitch 531, power wheel 532；Fork 531 is coaxially fixedly mounted with power wheel 532.
In Fig. 9, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, in left front pedipulator
The steering module 62 include steering motor 621, shaft coupling 622, deep groove ball bearing 623, tapered roller bearing 624, flange
Disk 625, partition 626；The output shaft of steering motor 621 is coaxially fixedly mounted with 622 one end of shaft coupling, the mounting surface of steering motor 621
It is fixedly mounted with 625 one end of flange, deep groove ball bearing 623 is slidably connected with flange 625, and tapered roller bearing 624 and flange 625 slide
It connects, is fixedly mounted with inside the other end and shell 612 of flange 625, is fixedly mounted with inside partition 626 and shell 612；Power plant module 63 includes
Fork 631, power wheel 632；Fork 631 is coaxially fixedly mounted with power wheel 632.
In Figure 10, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, the Phenotypic examination
21 bottom of warehouse in storehouse 2 is fixedly mounted with binocular EO-1 hyperion camera 23, and bottom and the light compensating lamp 22 of warehouse 21 are fixedly mounted with.
In Figure 11, a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, control circuit connects
Socket part point, wherein industrial personal computer and MCU as controlling terminal, vision camera, GPS module, laser radar pass through respectively serial ports and
Industrial personal computer connects the independent navigation to realize robot；Industrial personal computer by 485 buses respectively with right front steering motor driver, the right side
Rear steering motor driver, left front steering motor driver, the connection of left back steering motor driver, wherein right front steering motor drives
Dynamic device is connect with right front steering motor, and right front steering motor is equipped with code-disc 21, and 21 feedback angle information of code-disc is to right front steering electricity
Machine driver, right rear steering motor driver are connect with right rear steering motor, and right rear steering motor is equipped with code-disc 22, and code-disc 22 is anti-
Angle information is presented to right rear steering motor driver, left back steering motor driver is connected with left back steering motor, left back steering
Motor is equipped with code-disc 23, and 23 feedback angle information of code-disc gives left back steering motor driver, left front steering motor driver and a left side
Front steering motor is connected, and left front steering motor is equipped with code-disc 24, and 24 feedback angle information of code-disc gives left front steering motor driver,
Industrial personal computer sends instructions to right front steering motor driver, right rear steering motor driver, left back steering motor driver, left front
Steering motor driver, it is right front steering motor driver, right rear steering motor driver, left back steering motor driver, left front
Steering motor driver controls right front steering motor, right rear steering motor, left back steering motor, left front steering motor respectively and completes
Robot go to action, industrial personal computer by 485 buses respectively with DC motor driver before the right side, it is right after DC motor driver,
Left front DC motor driver, the connection of left back DC motor driver, wherein DC motor driver and direct current before the right side before right
Machine connects, and direct current generator is equipped with code-disc 11 before the right side, and 11 feedback angle information of code-disc gives DC motor driver before the right side, direct current behind the right side
Motor driver is connect with direct current generator behind the right side, and direct current generator is equipped with code-disc 12 behind the right side, after 12 feedback angle information of code-disc is to the right side
DC motor driver, left back DC motor driver are connected with left back direct current generator, and left back direct current generator is equipped with code-disc 13, code
13 feedback angle information of disk gives left back DC motor driver, and left front DC motor driver is connected with left front direct current generator, left
Preceding direct current generator is equipped with code-disc 14, and 14 feedback angle information of code-disc gives left front DC motor driver, and industrial personal computer is sent instructions to
DC motor driver before the right side, it is right after DC motor driver, left back DC motor driver, left front DC motor driver,
DC motor driver, left back DC motor driver, left front DC motor driver divide behind DC motor driver, the right side before the right side
Not Kong Zhi it is right before direct current generator, it is right after direct current generator, left back direct current generator, left front direct current generator complete robot and advance, retreat
Movement, ultrasonic sensor are connect with MCU by I/O mouthfuls, and MCU is connect with industrial personal computer by serial port circuit, realize barrier avoiding function；
Push rod motor driver is connect with MCU by I/O mouthfuls before the right side, and push-rod electric machine directly connects with push rod motor driver before the right side before the right side
It connects, is in addition also connected with Hall sensor 1 between push-rod electric machine and MSU before the right side；Right rear push-rod motor driver and MCU pass through I/
O mouthfuls of connections, right rear push-rod motor are directly connected to right rear push-rod motor driver, in addition between right rear push-rod motor and MSU also
It is connected with Hall sensor 2；Left back push-rod electric machine driver is connect with MCU by I/O mouthfuls, left back push-rod electric machine and left back push rod
Motor driver is directly connected to, and Hall sensor 3 is in addition also connected between left back push-rod electric machine and MSU；Left front push-rod electric machine
Driver is connect with MCU by I/O mouthfuls, and left front push-rod electric machine is directly connected to left front push-rod electric machine driver, in addition left front to push away
Hall sensor 4 is also connected between bar motor and MSU, industrial personal computer sends an instruction to MCU, and MCU is sent after explaining instruction
Signal instruction is to push rod motor driver, right rear push-rod motor driver, left back push-rod electric machine driver, left front push rod electricity before the right side
Machine driver, it is right before push-rod electric machine, right rear push-rod motor, left back push-rod electric machine, left front push-rod electric machine according to signal instruction come complete
At stretching motion.
Claims (8)
1. a kind of structure changes plant phenotype detects mobile robot, it is characterized in that, including eight side body vehicle bodies 1, Phenotypic examination storehouse 2,
Left front pedipulator 3, left back pedipulator 4, it is right after pedipulator 5, it is right before pedipulator 6, the eight sides body vehicle body include leading flank 11, after
Side 12, left side 13, right side 14, preceding left side 15, preceding right side 16, rear left side 17, rear right side 18；The phenotype
Detecting storehouse 2 includes warehouse 21, binocular EO-1 hyperion camera 22, light compensating lamp 23；The left front pedipulator 3 becomes including left front pedipulator
Shape module 31, left front pedipulator steering module 32, left front pedipulator power plant module 33；The left back pedipulator 4 includes left back machine
Tool leg deformation module 41, left back pedipulator steering module 42, left back pedipulator power plant module 43；Pedipulator 5 includes behind the right side
Pedipulator deformation module 51 behind the right side, it is right after pedipulator steering module 52, it is right after pedipulator power plant module 53；Pedipulator before the right side
6 include pedipulator power plant module 63 before pedipulator steering module 62, the right side before pedipulator deformation module 61, the right side before the right side.
2. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, the left front machine
In tool leg 3, left front pedipulator deformation module 31 includes upper right angle rack connector 3111, lower right angle rack connector 3112, a left side
Preceding big wheel leg shell 312, left front small wheel leg shell 313, upper left shaft holder 3141, upper right bearing block 3142, lower right bearing block
3143, lower left shaft holder 3144, left front upper anticlockwise support round bar 3151, left front upper right rotation support round bar 3152, left front lower
Right rotation supports round bar 3153, left front lower anticlockwise to support round bar 3154, upper parallel support square bar 3161, lower parallel support square bar
3162, upper left flake bearing 3171, bottom right flake bearing 3172, head thrust connecting tube 3181, tail portion thrust connecting tube 3182,
Power push-rod 319；319 head of power push-rod is fixedly mounted with head thrust connecting tube 3181 with mounting hole one end, and head pushes away
The screwed other end of power connecting tube 3181 and the rotation of the outer tooth end of upper left flake bearing 3171 connect, upper left flake bearing 3171
It is connect with left front upper anticlockwise support 3151 coaxial rotating of round bar, left front upper anticlockwise supports round bar 3151 first and upper parallel support
3161 one end of square bar is fixedly mounted with, then is connect with upper 3141 coaxial rotating of left shaft holder, upper left shaft holder 3141 have mounting hole one end with
Left front small 313 inner face of wheel leg shell is fixedly mounted with, and left front small 313 top of wheel leg shell is fixedly mounted with upper right angle rack connector 3111, on
3161 other end of parallel support square bar is fixedly mounted with left front upper right rotation support round bar 3152, and left front upper right rotation supports round bar 3152
Tail end is connect with upper right 3142 coaxial rotating of bearing block, and upper right bearing block 3142 has mounting hole one end and left front big wheel leg shell
312 inner faces are fixedly mounted with, and tail portion of the power push-rod 319 with code-disc one end and tail portion thrust connecting tube 3182 are solid with mounting hole one end
Dress, tail portion thrust connecting tube 3182 are connected with the internal thread other end and the rotation of the outer tooth end of bottom right flake bearing 3172, bottom right
Flake bearing 3172 is connect with left front lower right rotation support 3153 coaxial rotating of round bar, and left front lower right rotation support round bar 3153 is first
It is fixedly mounted with lower 3162 one end of parallel support square bar, then is connect with 3143 coaxial rotating of lower right bearing block, lower right bearing block 3143 has
Mounting hole one end is fixedly mounted with left front big 312 inner face of wheel leg shell, lower 3162 other end of parallel support square bar and left front lower anticlockwise
Support round bar 3154 is fixedly mounted with, and left front lower anticlockwise support 3154 tail end of round bar is connect with lower 3144 coaxial rotating of left shaft holder, under
Left shaft holder 3144 has mounting hole one end to be fixedly mounted with left front small 313 inner face of wheel leg shell, the lower part of left front small wheel leg shell 313 with
Lower right angle rack connector 3112 is fixedly mounted with；The left front pedipulator steering module 32 includes steering motor 321, shaft coupling 322, depth
Ditch ball bearing 323, tapered roller bearing 324, ring flange 325, partition 326；The output shaft and shaft coupling 322 of steering motor 321
One end is coaxially fixedly mounted with, and mounting surface and 325 one end of flange of steering motor 321 are fixedly mounted with, and deep groove ball bearing 323 and flange 325 slide
Connection, tapered roller bearing 324 are slidably connected with flange 325, inside the other end of flange 325 and left front big wheel leg shell 312
It is fixedly mounted with, is fixedly mounted with inside partition 326 and left front big wheel leg shell 312；Left front pedipulator power plant module 33 includes fork 331, power
Wheel 332；Fork 331 is coaxially fixedly mounted with power wheel 332.
3. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, the left back machine
In tool leg 4, left back pedipulator deformation module 41 includes upper right angle rack connector 4111, lower right angle rack connector 4112, a left side
Big wheel leg shell 412, left back small wheel leg shell 413, upper left shaft holder 4141, upper right bearing block 4142, lower right bearing block afterwards
4143, lower left shaft holder 4144, left back upper anticlockwise support round bar 4151, left back upper right rotation support round bar 4152, it is left back under
Right rotation supports round bar 4153, left back lower anticlockwise to support round bar 4154, upper parallel support square bar 4161, lower parallel support square bar
4162, upper left flake bearing 4171, bottom right flake bearing 4172, head thrust connecting tube 4181, tail portion thrust connecting tube 4182,
Power push-rod 419；419 head of power push-rod is fixedly mounted with head thrust connecting tube 4181 with mounting hole one end, and head pushes away
The screwed other end of power connecting tube 4181 and the rotation of the outer tooth end of upper left flake bearing 4171 connect, upper left flake bearing 4171
It is connect with left back upper anticlockwise support 4151 coaxial rotating of round bar, left back upper anticlockwise supports round bar 4151 first and upper parallel support
4161 one end of square bar is fixedly mounted with, then is connect with upper 4141 coaxial rotating of left shaft holder, upper left shaft holder 4141 have mounting hole one end with
Left back small 413 inner face of wheel leg shell is fixedly mounted with, and left back small 413 top of wheel leg shell is fixedly mounted with upper right angle rack connector 4111, on
4161 other end of parallel support square bar is fixedly mounted with left back upper right rotation support round bar 4152, and left back upper right rotation supports round bar 4152
Tail end is connect with upper right 4142 coaxial rotating of bearing block, and upper right bearing block 4142 has mounting hole one end and left back big wheel leg shell
412 inner faces are fixedly mounted with, and tail portion of the power push-rod 419 with code-disc one end and tail portion thrust connecting tube 4182 are solid with mounting hole one end
Dress, tail portion thrust connecting tube 4182 are connected with the internal thread other end and the rotation of the outer tooth end of bottom right flake bearing 4172, bottom right
Flake bearing 4172 is connect with left back lower right rotation support 4153 coaxial rotating of round bar, and left back lower right rotation support round bar 4153 is first
It is fixedly mounted with lower 4162 one end of parallel support square bar, then is connect with 4143 coaxial rotating of lower right bearing block, lower right bearing block 4143 has
Mounting hole one end is fixedly mounted with left back big 412 inner face of wheel leg shell, lower 4162 other end of parallel support square bar and left back lower anticlockwise
Support round bar 4154 is fixedly mounted with, and left back lower anticlockwise support 4154 tail end of round bar is connect with lower 4144 coaxial rotating of left shaft holder, under
Left shaft holder 4144 has mounting hole one end to be fixedly mounted with left back small 413 inner face of wheel leg shell, the lower part of left back small wheel leg shell 413 with
Lower right angle rack connector 4112 is fixedly mounted with；The left back pedipulator steering module 42 includes steering motor 421, shaft coupling 422, depth
Ditch ball bearing 423, tapered roller bearing 424, ring flange 425, partition 426；The output shaft and shaft coupling 422 of steering motor 421
One end is coaxially fixedly mounted with, and mounting surface and 425 one end of flange of steering motor 421 are fixedly mounted with, and deep groove ball bearing 423 and flange 425 slide
Connection, tapered roller bearing 424 are slidably connected with flange 425, inside the other end of flange 425 and left back small wheel leg shell 412
It is fixedly mounted with, is fixedly mounted with inside partition 426 and left back small wheel leg shell 412；Left back pedipulator power plant module 43 includes fork 431, power
Wheel 432；Fork 431 is coaxially fixedly mounted with power wheel 432.
4. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, machine behind the right side
In tool leg 5, pedipulator deformation module 51 includes upper right angle rack connector 5111, lower right angle rack connector 5112, the right side behind the right side
Small wheel leg shell 513, upper left shaft holder 5141, upper right bearing block 5142, lower right bearing block behind big wheel leg shell 512, the right side afterwards
5143, lower left shaft holder 5144, it is right after upper anticlockwise support round bar 5151, it is right after upper right rotation support round bar 5152, it is right after under
Right rotation supports lower anticlockwise behind round bar 5153, the right side to support round bar 5154, upper parallel support square bar 5161, lower parallel support square bar
5162, upper left flake bearing 5171, bottom right flake bearing 5172, head thrust connecting tube 5181, tail portion thrust connecting tube 5182,
Power push-rod 519；519 head of power push-rod is fixedly mounted with head thrust connecting tube 5181 with mounting hole one end, and head pushes away
The screwed other end of power connecting tube 5181 and the rotation of the outer tooth end of upper left flake bearing 5171 connect, upper left flake bearing 5171
5151 coaxial rotating of round bar is supported to connect with anticlockwise upper behind the right side, upper anticlockwise supports round bar 5151 first and upper parallel support after right
5161 one end of square bar is fixedly mounted with, then is connect with upper 5141 coaxial rotating of left shaft holder, upper left shaft holder 5141 have mounting hole one end with
Small 513 inner face of wheel leg shell is fixedly mounted with behind the right side, and small 513 top of wheel leg shell is fixedly mounted with upper right angle rack connector 5111 behind the right side, on
5161 other end of parallel support square bar is fixedly mounted with right rotation support round bar 5152 upper behind the right side, upper right rotation support round bar 5152 after right
Tail end is connect with upper right 5142 coaxial rotating of bearing block, and upper right bearing block 5142 has big wheel leg shell behind mounting hole one end and the right side
512 inner faces are fixedly mounted with, and tail portion of the power push-rod 519 with code-disc one end and tail portion thrust connecting tube 5182 are solid with mounting hole one end
Dress, tail portion thrust connecting tube 5182 are connected with the internal thread other end and the rotation of the outer tooth end of bottom right flake bearing 5172, bottom right
Flake bearing 5172 is connect with right rotation support 5153 coaxial rotating of round bar lower behind the right side, and lower right rotation supports round bar 5153 first after right
It is fixedly mounted with lower 5162 one end of parallel support square bar, then is connect with 5143 coaxial rotating of lower right bearing block, lower right bearing block 5143 has
Mounting hole one end is fixedly mounted with 512 inner face of wheel leg shell big behind the right side, lower anticlockwise after lower 5162 other end of parallel support square bar and the right side
Support round bar 5154 is fixedly mounted with, and lower anticlockwise support 5154 tail end of round bar is connect with lower 5144 coaxial rotating of left shaft holder after right, under
Left shaft holder 5144 have mounting hole one end with it is right after small 513 inner face of wheel leg shell be fixedly mounted with, it is right after small wheel leg shell 513 lower part with
Lower right angle rack connector 5112 is fixedly mounted with；Steering module 52 described in pedipulator includes steering motor 521, shaft coupling 522, depth behind the right side
Ditch ball bearing 523, tapered roller bearing 524, ring flange 525, partition 526；The output shaft and shaft coupling 522 of steering motor 521
One end is coaxially fixedly mounted with, and mounting surface and 525 one end of flange of steering motor 521 are fixedly mounted with, and deep groove ball bearing 523 and flange 525 slide
Connection, tapered roller bearing 524 are slidably connected with flange 525, after the other end of flange 525 and the right side inside big wheel leg shell 512
It is fixedly mounted with, is fixedly mounted with inside partition 526 and wheel leg shell 512 big behind the right side；Pedipulator power plant module 53 includes fork 531, power behind the right side
Wheel 532；Fork 531 is coaxially fixedly mounted with power wheel 532.
5. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, machine before the right side
In tool leg 6, pedipulator deformation module 61 includes upper right angle rack connector 6111, lower right angle rack connector 6112, the right side before the right side
Small wheel leg shell 613, upper left shaft holder 6141, upper right bearing block 6142, lower right bearing block before preceding big wheel leg shell 612, the right side
6143, lower left shaft holder 6144, right front upper anticlockwise support round bar 6151, right front upper right rotation support round bar 6152, right front lower
Right rotation supports round bar 6153, right front lower anticlockwise to support round bar 6154, upper parallel support square bar 6161, lower parallel support square bar
6162, upper left flake bearing 6171, bottom right flake bearing 6172, head thrust connecting tube 6181, tail portion thrust connecting tube 6182,
Power push-rod 619；619 head of power push-rod is fixedly mounted with head thrust connecting tube 6181 with mounting hole one end, and head pushes away
The screwed other end of power connecting tube 6181 and the rotation of the outer tooth end of upper left flake bearing 6171 connect, upper left flake bearing 6171
It is connect with right front upper anticlockwise support 6151 coaxial rotating of round bar, right front upper anticlockwise supports round bar 6151 first and upper parallel support
6161 one end of square bar is fixedly mounted with, then is connect with upper 6141 coaxial rotating of left shaft holder, upper left shaft holder 6141 have mounting hole one end with
Big 613 inner face of wheel leg shell is fixedly mounted with before the right side, and big 613 top of wheel leg shell is fixedly mounted with upper right angle rack connector 6111 before right, on
6161 other end of parallel support square bar is fixedly mounted with right front upper right rotation support round bar 6152, and right front upper right rotation supports round bar 6152
Tail end is connect with upper right 6142 coaxial rotating of bearing block, and upper right bearing block 6142 has small wheel leg shell before mounting hole one end and the right side
612 inner faces are fixedly mounted with, and tail portion of the power push-rod 619 with code-disc one end and tail portion thrust connecting tube 6182 are solid with mounting hole one end
Dress, tail portion thrust connecting tube 6182 are connected with the internal thread other end and the rotation of the outer tooth end of bottom right flake bearing 6172, bottom right
Flake bearing 6172 is connect with right front lower right rotation support 6153 coaxial rotating of round bar, and right front lower right rotation support round bar 6153 is first
It is fixedly mounted with lower 6162 one end of parallel support square bar, then is connect with 6143 coaxial rotating of lower right bearing block, lower right bearing block 6143 has
Mounting hole one end is fixedly mounted with small 612 inner face of wheel leg shell before the right side, lower 6162 other end of parallel support square bar and right front lower anticlockwise
Support round bar 6154 is fixedly mounted with, and right front lower anticlockwise support 6154 tail end of round bar is connect with lower 6144 coaxial rotating of left shaft holder, under
Left shaft holder 6144 have mounting hole one end with it is right before big 613 inner face of wheel leg shell be fixedly mounted with, before right the lower part of big wheel leg shell 613 with
Lower right angle rack connector 6112 is fixedly mounted with；Pedipulator steering module 62 includes steering motor 621, shaft coupling 622, depth before the right side
Ditch ball bearing 623, tapered roller bearing 624, ring flange 625, partition 626；The output shaft and shaft coupling 622 of steering motor 621
One end is coaxially fixedly mounted with, and mounting surface and 625 one end of flange of steering motor 621 are fixedly mounted with, and deep groove ball bearing 623 and flange 625 slide
Connection, tapered roller bearing 624 are slidably connected with flange 625, before the other end of flange 625 and the right side inside small wheel leg shell 612
It is fixedly mounted with, is fixedly mounted with inside partition 626 and small wheel leg shell 612 before the right side；Pedipulator power plant module 63 includes fork 631, power before the right side
Wheel 632；Fork 631 is coaxially fixedly mounted with power wheel 632.
6. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, the phenotype inspection
21 bottom of warehouse for surveying storehouse 2 is fixedly mounted with binocular EO-1 hyperion camera 23, and bottom and the light compensating lamp 22 of warehouse 21 are fixedly mounted with.
7. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, it is characterized in that, eight side body
1 inner hollow of car body is coupled with warehouse 21, and preceding left side 15 is fixedly mounted with left front pedipulator 3, preceding right side 16 and machine before the right side
Tool leg 6 is fixedly mounted with, and rear left side 17 is fixedly mounted with left back pedipulator 4, and rear right side 18 is fixedly mounted with pedipulator 5 behind the right side；The left front machine
Tool leg steering module 32 is connect with left front pedipulator deformation module 31 by flange 325, and left front pedipulator steering module 32 turns
To motor 321 and left front pedipulator power plant module fork 331 by shaft coupling 322 coaxially connected, fork 331 and deep groove ball bearing
323, tapered roller bearing 324 is coaxially connected；The left back pedipulator steering module 42 and left back pedipulator deformation module 41 are logical
It crosses flange 425 to be fixedly mounted with, the steering motor 421 of left back pedipulator steering module 42 and left back pedipulator power plant module fork 431 are logical
It is coaxially connected to cross shaft coupling 422, fork 431 and deep groove ball bearing 423, tapered roller bearing 424 are coaxially connected；Machine behind the right side
Tool leg steering module 52 is fixedly mounted with pedipulator deformation module 51 behind the right side by flange 525, and pedipulator steering module 52 turns behind the right side
To motor 521 with it is right after pedipulator power plant module fork 531 by shaft coupling 522 coaxially connected, fork 531 and deep groove ball bearing
523, tapered roller bearing 524 is coaxially connected, and pedipulator steering module 62 and pedipulator deformation module 61 before the right side are logical before the right side
It crosses flange 625 to be fixedly mounted with, the steering motor 621 of pedipulator steering module 62 and pedipulator power plant module fork 631 before the right side are logical before the right side
It is coaxially connected to cross shaft coupling 622, fork 631 and deep groove ball bearing 623, tapered roller bearing 624 are coaxially connected.
8. a kind of structure changes plant phenotype according to claim 1 detects mobile robot, which is characterized in that including industry control
Machine, MCU, vision camera, GPS module, laser radar, right front steering motor driven, the driving of right rear steering motor, left back steering
Motor driven, the driving of left front steering motor, right front steering motor, right rear steering motor, left back steering motor, left front steering electricity
Direct current generator driving, left back direct current generator behind direct current generator driving, the right side before machine, code-disc 11, code-disc 12, code-disc 13, code-disc 14, the right side
Driving, the driving of left front direct current generator, it is right before direct current generator, it is right after direct current generator, left back direct current generator, left front direct current generator, code
Disk 21, code-disc 22, code-disc 23, code-disc 24, ultrasonic sensor, it is right before push rod motor driven, right rear push-rod motor driven, left back
Push-rod electric machine, right rear push-rod motor, left back push-rod electric machine, left front push rod before push-rod electric machine driving, the driving of left front push-rod electric machine, the right side
Motor, Hall sensor 1, Hall sensor 2, Hall sensor 3, Hall sensor 4；The industrial personal computer and MCU are as control
Terminal, vision camera, GPS module, laser radar are connect respectively come for the certainly leading of robot with industrial personal computer by serial ports
Boat；Industrial personal computer by 485 buses respectively with right front steering motor driver, right rear steering motor driver, left front steering motor
The PORT COM connection of driver, left back steering motor driver, the motor port and the right side of the right front steering motor driver
The connection of front steering motor, right front steering motor are equipped with code-disc 21, and 21 feedback angle information of code-disc gives right front steering motor driver,
The motor port of right rear steering motor driver is connect with right rear steering motor, and right rear steering motor is equipped with code-disc 22, code-disc 22
Feedback angle information gives right rear steering motor driver, the motor port of left back steering motor driver and left back steering motor phase
Even, left back steering motor is equipped with code-disc 23, and 23 feedback angle information of code-disc gives left back steering motor driver, left front steering motor
The motor port of driver is connected with left front steering motor, and left front steering motor is equipped with code-disc 24,24 feedback angle information of code-disc
To left front steering motor driver, industrial personal computer sends instructions to right front steering motor driver, right rear steering motor driver, a left side
Rear steering motor driver, left front steering motor driver, right front steering motor driver, right rear steering motor driver, a left side
Rear steering motor driver, left front steering motor driver control right front steering motor, right rear steering motor, left back steering respectively
Motor, left front steering motor complete robot go to action, and industrial personal computer is driven with direct current generator before the right side respectively by 485 buses
The PORT COM connection of DC motor driver, left front DC motor driver, left back DC motor driver, institute behind device, the right side
State before the right side motor port of DC motor driver with it is right before direct current generator connect, it is right before direct current generator equipped with code-disc 11, code-disc
11 feedback angle information give DC motor driver before the right side, the motor port of DC motor driver and direct current generator behind the right side behind the right side
It connects, direct current generator is equipped with code-disc 12 behind the right side, and 12 feedback angle information of code-disc is to DC motor driver behind the right side, left back direct current
The motor port of machine driver is connected with left back direct current generator, and left back direct current generator is equipped with code-disc 13,13 feedback angle of code-disc letter
It ceases to left back DC motor driver, the motor port of left front DC motor driver is connected with left front direct current generator, left front straight
Galvanic electricity machine is equipped with code-disc 14, and 14 feedback angle information of code-disc gives left front DC motor driver, before industrial personal computer sends instructions to the right side
DC motor driver, left back DC motor driver, left front DC motor driver behind DC motor driver, the right side, before right
DC motor driver, left back DC motor driver, left front DC motor driver are controlled respectively behind DC motor driver, the right side
Direct current generator, left back direct current generator, left front direct current generator complete robot advance, backward movement behind direct current generator, the right side before system is right,
Ultrasonic sensor is connect with the I/O of MCU mouth by electric wire respectively, and MCU is connect by electric wire with industrial personal computer serial ports, is used for avoidance
Function；The I/O of push rod motor driver and MCU mouth are connected by electric wire before the right side, and push-rod electric machine drives with push-rod electric machine before the right side before the right side
Dynamic device is directly connected to by electric wire, and Hall sensor 1 is in addition also connected between push-rod electric machine and MCU before the right side；Right rear push-rod electricity
The I/O of machine driver and MCU mouth are connected by electric wire, and right rear push-rod motor is direct by electric wire with right rear push-rod motor driver
Connection, is in addition also connected with Hall sensor 2 between right rear push-rod motor and MSU；The I/ of left back push-rod electric machine driver and MCU
O mouthfuls are connected by electric wire, and left back push-rod electric machine is directly connected to left back push-rod electric machine driver by electric wire, in addition left back push rod
Hall sensor 3 is also connected between motor and MSU；The I/O mouth of left front push-rod electric machine driver and MCU are connected by electric wire,
Left front push-rod electric machine is directly connected to left front push-rod electric machine driver by electric wire, in addition between left front push-rod electric machine and MSU also
It is connected with Hall sensor 4, industrial personal computer sends an instruction to MCU, and MCU sends signal instruction to push rod before the right side after explaining instruction
Motor driver, right rear push-rod motor driver, left back push-rod electric machine driver, left front push-rod electric machine driver, it is right before push rod
Motor, right rear push-rod motor, left back push-rod electric machine, left front push-rod electric machine complete stretching motion according to signal instruction.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| CN111664794A (en) * | 2020-05-11 | 2020-09-15 | 中国水产科学研究院珠江水产研究所 | Device and method for detecting application biomass |
| CN114852205A (en) * | 2021-02-03 | 2022-08-05 | 广东博智林机器人有限公司 | Movable chassis |
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| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
| CN107902006A (en) * | 2017-11-10 | 2018-04-13 | 吉林大学 | The active/passive pose adjustment robot of the full landform of wheel leg type |
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| CN205499108U (en) * | 2016-04-01 | 2016-08-24 | 安徽理工大学 | All direction movement mechanism for service robot |
| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
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| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| CN111664794A (en) * | 2020-05-11 | 2020-09-15 | 中国水产科学研究院珠江水产研究所 | Device and method for detecting application biomass |
| CN114852205A (en) * | 2021-02-03 | 2022-08-05 | 广东博智林机器人有限公司 | Movable chassis |
| CN114852205B (en) * | 2021-02-03 | 2023-04-14 | 广东博智林机器人有限公司 | Mobile chassis |
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