CN110750090A - Remote control articulated wheel type mountain agricultural robot - Google Patents

Remote control articulated wheel type mountain agricultural robot Download PDF

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Publication number
CN110750090A
CN110750090A CN201811651303.4A CN201811651303A CN110750090A CN 110750090 A CN110750090 A CN 110750090A CN 201811651303 A CN201811651303 A CN 201811651303A CN 110750090 A CN110750090 A CN 110750090A
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CN
China
Prior art keywords
driving motor
motor bridge
steering
remote control
robot
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811651303.4A
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Chinese (zh)
Inventor
高巧明
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Guangxi University of Science and Technology
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Guangxi University of Science and Technology
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Publication date
Application filed by Guangxi University of Science and Technology filed Critical Guangxi University of Science and Technology
Priority to CN201811651303.4A priority Critical patent/CN110750090A/en
Publication of CN110750090A publication Critical patent/CN110750090A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

A remote control articulated wheel type mountain agricultural robot is characterized in that a front driving motor bridge and a rear driving motor bridge are respectively provided with respective driving motors and are connected into a whole through a steering waist twisting device, and a visual identification device, an ultrasonic sensing device, a hydraulic pump station, an electronic controller and a front battery are arranged on the front driving motor bridge; the rear driving motor bridge is provided with a rear battery and a hydraulic suspension PTO module; the hydraulic oil cylinder drives the steering waist-twisting device to realize waist-bending steering; and the electronic controller is used for controlling the front driving motor bridge, the rear driving motor bridge and the hydraulic suspension PTO module to work. The robot has the advantages that the robot adopts four-wheel drive, can travel and operate along a preset track according to instructions, realizes steering and all-wheel landing, can transmit road conditions, surrounding images, postures and position information to a main control computer through a remote control device through WIFI (wireless fidelity), is controlled by an operator through the remote control device, is convenient to install and maintain, runs reliably, and is suitable for automatic operation of hilly mountain farmland.

Description

Remote control articulated wheel type mountain agricultural robot
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a remote control articulated wheel type mountain land agricultural robot.
Background
The chassis of the prior agricultural machine is basically the chassis of an automobile structure, the passing is realized by the elastic return distance of a spring steel plate when passing through a concave-convex ground, once the concave-convex distance is larger than the elastic return distance of the spring steel plate, wheels are suspended and cannot normally pass, so the prior agricultural machine is not suitable for being used on the terrain in mountainous areas, even if the agricultural machine is driven by an engine, a long shaft is required to transmit power to another driving wheel, and the whole mechanical structure is similar to the structure of an automobile and cannot be suitable for the terrain with large concave-convex areas.
Disclosure of Invention
The invention aims to provide a remote control articulated wheel type mountain agricultural robot which drives a motor bridge in four wheels, can run and operate along a preset track according to instructions, can realize steering and all-wheel landing through an articulated device, can transmit road condition, surrounding images, postures and position information to a main control computer through a remote control device, can send instructions to the robot through the remote control device by an operator, and can transmit the instructions to various execution elements through a receiver.
The solution of the invention is such that:
a remote control articulated wheel type mountain land agricultural robot comprises a front driving motor bridge and a rear driving motor bridge, wherein the front driving motor bridge and the rear driving motor bridge are respectively provided with a respective driving motor, and the front driving motor bridge and the rear driving motor bridge are connected into an articulated structure through a steering waist twisting device, so that the front driving motor bridge and the rear driving motor bridge form a four-wheel driving structure; the front end of the front driving motor bridge is provided with a remote control system comprising a visual recognition device and an ultrasonic sensing device, and the front driving motor bridge is also provided with a hydraulic pump station, an electronic controller and a front battery; the rear driving motor bridge is provided with a rear battery and a hydraulic suspension PTO module; the hydraulic pump station provides power for the hydraulic oil cylinder, the hydraulic oil cylinder is connected with the steering waist-twisting device, and the hydraulic oil cylinder drives the steering waist-twisting device to realize articulated steering; the electronic controller is used for controlling the front driving motor bridge, the rear driving motor bridge and the hydraulic suspension PTO module to work; the front battery and the rear battery are connected with each other, and the power management system is used for uniformly controlling all electric elements of the whole vehicle.
The more specific technical scheme also comprises the following steps: the waist twisting device comprises a front machine body, a rear machine body and a hydraulic oil cylinder, wherein the front machine body and the rear machine body are connected into a whole through a hinge, and the front machine body and the rear machine body are segregated through the telescopic use of the hydraulic oil cylinder by a hinge mechanism to realize steering; the rear machine body is internally provided with a roller, the roller is connected with a rear drive axle to form a rotating structure, and the rotation is automatically realized according to the height of a walking terrain, so that the four wheels are ensured to land on the ground in the driving process.
Further: the remote control system is used for transmitting road condition, surrounding images, postures and position information to the main control computer through WIFI, an operator sends an instruction to the robot through the remote control device, and the receiver transmits the instruction to each execution element.
The invention has the advantages that the front and rear driving motor bridges carry out four-wheel driving, can run and operate along a preset track according to instructions, can realize steering and all-wheel landing through the hinge device, can transmit road condition, surrounding images, postures and position information to the main control computer through the remote control device, can transmit instructions to the robot through the remote control device by an operator, and can transmit the instructions to each execution element through the receiver. The most important advantage is that the machine type is used for automatic operation of hilly and mountain farmlands, the burden of farmers is reduced, and one person can realize multi-station control.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the operation of the drive system of the present invention.
Fig. 3 is a plan view of the structure shown in fig. 1 in a state of deflecting and turning the whole machine.
Fig. 4 is a rear view of the structure shown in fig. 1 in a state where the four wheels are torsionally held on the ground.
Fig. 5 is a schematic structural view of the waist twisting device 6.
Fig. 6 is a top view of fig. 5.
Detailed Description
As shown in fig. 1, the present invention includes a front driving motor bridge 3 and a rear driving motor bridge 8, wherein the front driving motor bridge 3 and the rear driving motor bridge 8 are respectively installed with respective driving motors, and the front driving motor bridge 3 and the rear driving motor bridge 8 are connected as a hinge structure by a steering waist twisting device 6, so that the front driving motor bridge and the rear driving motor bridge form a four-wheel driving structure; a remote control system 2 comprising a visual recognition device 1 and an ultrasonic sensing device 10 is arranged at the front end of the front driving motor bridge 3, and a hydraulic pump station 11, an electronic controller 4 and a front battery 5 are also arranged on the front driving motor bridge 3; the rear driving motor bridge 8 is provided with a rear battery 7 and a hydraulic suspension PTO module 9; the hydraulic pump station 11 provides power for a hydraulic oil cylinder, the hydraulic oil cylinder is connected with the steering waist-twisting device 6, and the hydraulic oil cylinder drives the steering waist-twisting device 6 to realize articulated steering; the electronic controller 4 is used for controlling the front driving motor bridge 3, the rear driving motor bridge 8 and the hydraulic suspension PTO module 9 to work; the front battery 5 and the rear battery 7 are connected with each other, and the power management system is used for uniformly controlling all electric elements of the whole vehicle.
The front drive axle and the rear drive axle are hinged through the waist twisting structure, and the front drive axle and the rear drive axle respectively use the front battery and the rear battery as power to uniformly control all electrical elements of the whole vehicle by using a power management system, so that steering and all-wheel landing are realized; the robot can transmit road condition, surrounding images, postures and position information to the main control computer through the remote control system through WIFI, an operator sends an instruction to the robot through the remote control device, and the receiver transmits the instruction to each execution element.
The waist twisting device 6 comprises a front body 12, a rear body 13 and a hydraulic oil cylinder 14, wherein the front body 12 and the rear body 13 are connected into a whole through a hinge, and the front body and the rear body are segregated to realize steering through the telescopic use of the hydraulic oil cylinder 14 by a hinge mechanism, as shown in fig. 3; the rear body 13 is internally provided with a roller which is connected with a rear drive axle to form a rotating structure, and the roller can automatically realize torsion according to the height of a walking terrain, so that four wheels can land on the ground in the driving process, as shown in fig. 4.
The hydraulic suspension PTO module 9 is of a detachable structure, is connected through a bolt and is provided with an electric and hydraulic quick connector, and when different modules are replaced, replacement of operation modules (the hydraulic suspension PTO module, the pesticide spraying module and the like) is realized through bolt installation and recombination of the quick connectors.
As shown in fig. 2, the electric driving principle of the whole machine of the present invention is as follows:
the remote control system 2 can receive the control instruction of the main control computer and simultaneously return data collected by the vision system and the ultrasonic system so that an operator can judge to carry out the next operation. The driver controls the speed and the running direction of the whole vehicle through the operating handle, corresponding instructions are sent to the front axle and the rear axle to operate after forward, backward and speed instructions are received through the remote control device, and after a turning instruction is received, the hydraulic pump station is started to drive the steering oil cylinder in the steering waist twisting device to stretch and retract, so that the front body and the rear body deflect to realize steering; when receiving an instruction of lifting or descending the hydraulic suspension PTO module, the hydraulic pump station works to drive the hydraulic suspension to execute corresponding action, and when receiving power output provided by the hydraulic suspension PTO module, the motor in the module works to provide power output with set rotating speed.
The electric drive system is the heart of an electric vehicle, which comprises by function: the electric control and the mechanical transmission are two parts.
When the whole machine works, the electric motor converts the electric energy of the power battery into mechanical energy, the front and rear driving motors sequentially and directly transmit the output power to the driving wheel, the hydraulic pump station drives the steering oil cylinder of the steering waist twisting device to realize waist bending steering when the steering is needed, and the electronic controller instructs the PTO motor to work to provide power when the PTO module outputs the power.
In the whole machine advancing process, when a driver rotates the accelerating handle, the electronic controller can send out a corresponding control signal according to the rotating angle of the handle to control the electronic controller, and then the electronic controller adjusts the energy flow between the power battery and the motor according to the received signal, so that the driver can adjust the output rotating speed of each motor by rotating the accelerating handle.
Matching of electric motors
The matching of the motor types requires that the motor for the electric vehicle can be started and accelerated frequently and has overload capacity more than 1 time at least. The DC series motor has the biggest characteristics of good control performance and low cost. In addition, since the dc series motor has excellent electromagnetic torque and control characteristics, and the torque-speed characteristics thereof are in an inverse relationship, it is widely used in the field of driving of conventional low-speed electric vehicles. Considering that the machine is in a low-speed forward state when working, the direct current series excitation motor is finally selected as the prime motor of the machine in combination with cost factors.

Claims (3)

1. The utility model provides a wheel-type mountain region agricultural robot is articulated in remote control, includes preceding driving motor bridge (3), back driving motor bridge (8), its characterized in that: the front driving motor bridge (3) and the rear driving motor bridge (8) are respectively provided with a driving motor, and the front driving motor bridge (3) and the rear driving motor bridge (8) are connected into a hinged structure through a steering waist twisting device (6), so that the front driving motor bridge and the rear driving motor bridge form a four-wheel driving structure; a remote control system comprising a visual recognition device (1) and an ultrasonic sensing device (10) is installed at the front end of the front driving motor bridge (3), and a hydraulic pump station (11), an electronic controller (4) and a front battery (5) are also installed on the front driving motor bridge (3); the rear driving motor bridge (8) is provided with a rear battery (7) and a hydraulic suspension PTO module (9); the hydraulic pump station (11) provides power for a hydraulic oil cylinder, the hydraulic oil cylinder is connected with the steering waist twisting device (6), and the hydraulic oil cylinder drives the steering waist twisting device (6) to realize waist bending steering; the electronic controller (4) is used for controlling the front driving motor bridge (3), the rear driving motor bridge (8) and the hydraulic suspension PTO module (9) to work; the front battery (5) and the rear battery (7) are connected with each other, and the power management system is used for uniformly controlling all electric elements of the whole vehicle.
2. The remote controlled articulated wheeled mountain farming robot of claim 1, wherein: the waist twisting device (6) comprises a front body (12), a rear body (13) and a hydraulic oil cylinder (14), wherein the front body (12) and the rear body (13) are connected into a whole through a hinge, and the front body and the rear body are segregated to realize steering through the telescopic action of the hydraulic oil cylinder (14) by a hinge mechanism; the rear machine body (13) is internally provided with a roller, the roller is connected with a rear drive axle to form a rotating structure, and the rotation is automatically realized according to the height of a walking terrain, so that four wheels are ensured to land on the ground in the running process.
3. The remote controlled articulated wheeled mountain farming robot of claim 1, wherein: the remote control system is used for transmitting road condition, surrounding images, postures and position information to the main control computer through WIFI, an operator sends an instruction to the robot through the remote control device, and the receiver transmits the instruction to each execution element.
CN201811651303.4A 2018-12-31 2018-12-31 Remote control articulated wheel type mountain agricultural robot Pending CN110750090A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811651303.4A CN110750090A (en) 2018-12-31 2018-12-31 Remote control articulated wheel type mountain agricultural robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811651303.4A CN110750090A (en) 2018-12-31 2018-12-31 Remote control articulated wheel type mountain agricultural robot

Publications (1)

Publication Number Publication Date
CN110750090A true CN110750090A (en) 2020-02-04

Family

ID=69275670

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811651303.4A Pending CN110750090A (en) 2018-12-31 2018-12-31 Remote control articulated wheel type mountain agricultural robot

Country Status (1)

Country Link
CN (1) CN110750090A (en)

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