CN111085981B - Rail-mounted agricultural robot walking control method and system and robot - Google Patents
Rail-mounted agricultural robot walking control method and system and robot Download PDFInfo
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Abstract
A walking control method of a rail-mounted agricultural robot comprises the following steps: the robot is hung on the magnetic conduction track; the robot operates along the magnetic conduction rail under the action of electromagnetic force and the magnetic conduction rail; and stopping acting on the electromagnetic force on the magnetic conduction track, and making the robot stand on the magnetic conduction track. The robot is driven to operate by taking the electromagnetic force as power, so that compared with the traditional motor driving, the noise is lower, and meanwhile, the loss of motion energy is reduced by adopting an electromagnetic driving mode. Through hoisting the robot on the magnetic conduction track, compare in the mode of setting up in the magnetic conduction track top, can make the robot fix more succinctly and firm.
Description
Technical Field
The invention belongs to the field of agricultural robots, and particularly relates to a method and a system for controlling the walking of a rail-mounted agricultural robot and the robot.
Background
In modern agricultural bases at home and abroad, an unmanned aerial vehicle is generally adopted for monitoring crops planted outdoors in large areas. But modern green house is because the structure is complicated, and the environment seals, and the great scheduling problem of unmanned aerial vehicle noise generally adopts video camera to gather the image. Because the monitoring range of a single camera is limited, a large number of cameras are needed to cover all crop growing areas. A large number of cameras need to be provided with a large number of disk arrays and video servers, and equipment cost, construction cost and maintenance cost are high. At present, the mode of adopting magnetic conduction rail type agricultural robot to patrol has started to be a main research direction, but at present, the operation of the robot is all carried out through the transmission of a motor, and the mode not only has large noise but also has high power consumption.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a rail-mounted agricultural robot walking control method which is simple in process and solves the problems of high movement noise and high movement energy consumption. The invention also provides a robot walking control system and an agricultural robot.
According to the first aspect of the invention, the walking control method of the rail-mounted agricultural robot comprises the following steps: the robot is hung on the magnetic conduction track; the robot acts with the magnetic conduction rail through electromagnetic force to enable the robot to move along the magnetic conduction rail; stopping acting on the electromagnetic force on the magnetic conduction track, and enabling the robot to be static on the magnetic conduction track.
The walking control method of the rail-mounted agricultural robot provided by the embodiment of the invention at least has the following technical effects: the robot is driven to operate by the electromagnetic force as power, so that compared with the traditional motor driving, the noise is smaller, and meanwhile, the loss of motion energy is reduced by adopting an electromagnetic driving mode. Through hoisting the robot on the magnetic conduction track, compare in the mode of setting up in the magnetic conduction track top, can make the robot fix more succinctly and firm.
According to some embodiments of the invention, the electromagnetic force is generated by a solenoid dc coil, the solenoid dc coil and the magnetically conductive track having an angle θ.
According to some embodiments of the invention, the robot further interacts with the magnetically conductive track by a braking electromagnetic force generated by a braking solenoid dc coil, the braking electromagnetic force having a component force on the magnetically conductive track opposite to the component force of the electromagnetic force.
According to some embodiments of the invention, the robot is stationary on the magnetically conductive track, stopping naturally by inertial motion or stopping braking by the electromagnetic force.
The robot walking control system according to the embodiment of the second aspect of the invention comprises a walking mechanism, a shell, a control unit, a solenoid type direct current coil, a braking solenoid type direct current coil and a storage battery, wherein the control unit, the solenoid type direct current coil, the braking solenoid type direct current coil and the storage battery are arranged on the shell; the walking mechanism is used for being movably connected with the magnetic conduction track; the shell is arranged below the magnetic conduction rail and connected with the travelling mechanism; the storage battery, the solenoid type direct current coil and the braking solenoid type direct current coil are electrically connected with the control unit.
The robot walking control system provided by the embodiment of the invention at least has the following technical effects: electromagnetic force and braking electromagnetic force can be generated between the robot and the magnetic conduction track through the solenoid type direct current coil and the braking solenoid type direct current coil, forward and reverse movement of the robot is controlled through the electromagnetic force and the braking electromagnetic force, and meanwhile, the forward and reverse braking capacity is achieved. The robot can let the operation of robot break away from the restriction of cable through built-in battery, fills electric pile through setting up simultaneously, also can make things convenient for the robot to carry out the electric quantity and supply.
According to some embodiments of the present invention, the robot walking control system further includes a distance sensor electrically connected to the control unit, and the distance sensor is configured to detect a distance to the charging pile.
According to some embodiments of the present invention, the robot walking control system further includes two charging ports respectively connected to the storage battery, where the two charging ports are a male plug and a female plug respectively; the male plug is used for connecting a charging pile.
According to a third aspect of the present invention, an agricultural robot comprises any one of the above walking control systems and an image acquisition module arranged on the walking control system, wherein the image acquisition module is connected with the control unit. The walking control system is hoisted on the magnetic conduction track.
According to the agricultural robot of the embodiment of the invention, at least the following technical effects are achieved: the movement and braking along the track in the opposite direction can be realized by the walking control system. The real-time collection of the production condition of the crops can be realized through the image collection module.
According to some embodiments of the invention, the magnetically conductive tracks are installed by means of mounting posts in the structure of the booth itself.
According to some embodiments of the invention, the charging post is disposed on the mounting post.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an exploded view of an electromagnetic force of an embodiment of the present invention;
FIG. 2 is a diagrammatic front view of a robot of an embodiment of the present invention;
FIG. 3 is a diagrammatic cross-sectional view of a robot of an embodiment of the present invention;
FIG. 4 is a block diagram of a robot configuration according to an embodiment of the present invention;
fig. 5 is a schematic view of the overall structure of the embodiment of the present invention.
Reference numerals:
a magnetic conductive track 100,
A charging pile 200,
A traveling mechanism 310, a housing 320, an image acquisition module 330, a control unit 340, a solenoid type DC coil 350, a brake solenoid type DC coil 360, a distance sensor 370, a charging port 380,
The upright 400 is installed.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, if there are first, second, third, fourth, etc. described only for the purpose of distinguishing technical features, they are not to be interpreted as indicating or implying relative importance or implying number of indicated technical features or implying precedence of indicated technical features.
In the description of the present invention, unless otherwise explicitly defined, terms such as arrangement, connection and the like should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
A method for controlling the walking of a rail-mounted agricultural robot according to an embodiment of the first aspect of the present invention will be described below with reference to fig. 1 to 3.
The walking control method of the rail-mounted agricultural robot according to the embodiment of the invention comprises the following steps: the robot is hung on the magnetic conduction track; the robot operates along the magnetic conduction rail under the action of electromagnetic force and the magnetic conduction rail; and stopping acting on the electromagnetic force on the magnetic conduction track, and making the robot stand on the magnetic conduction track.
Referring to fig. 1 to 3, the robot is installed just below the magnetic conductive track in a hoisting manner. The running gear of the robot is arranged in the magnetic conduction track. The hoisting mode can be more stable relative to the mode of installing above the magnetic conduction track, and a plurality of auxiliary stable structures can be reduced. The robot is driven by an electromagnetic force F. The electromagnetic force F is generated through a solenoid type direct current coil arranged inside the robot, when the solenoid type direct current coil is electrified, interaction is generated between the solenoid type direct current coil and a magnetic conduction track, and then the robot is driven to walk through the electromagnetic force F. When the component force of the electromagnetic force F in the track direction is larger than the friction force F between the robot and the magnetic conductive track, the robot starts to walk and performs accelerated motion. When the component force of the electromagnetic force F in the moving direction is equal to the friction force F, if the robot has already started moving, the uniform linear motion is maintained. When the electromagnetic force is stopped, the robot loses power and stops after inertial movement for a certain distance. The key point of the motion of the robot is the control of electromagnetic force, and under the normal condition, the direction of driving electromagnetic force can be controlled to point to the obliquely upper direction, so that the friction force f can be reduced on one hand, and the component force in the motion direction can be generated on the other hand, so that the walking of the robot can save energy more; when the reverse operation is needed, the braking effect can be realized by reversing the direction of the electromagnetic force. The solenoid type direct current coil mainly adopts a 24V solenoid type direct current coil. The magnitude of the electromagnetic force generated by the solenoid-type dc coil can be expressed as:
in the formula (1), mu0The magnetic permeability of air, S the cross-sectional area, and B the magnetic field strength. Take a solenoid type dc coil with current carrying I as an example. In the tube thereofThe magnetic field B can be expressed as:
in the formula (2), n is the number of turns per unit length. By bringing formula (2) into formula (1), it is possible to obtain:
from equation (3), it can be seen that the magnitude of the electromagnetic force F is proportional to the square of the current when the solenoid-type dc coil is selected. When the solenoid type direct current coil is electrified, attraction force is generated on the magnetic conduction tracks under the action of a magnetic field, the magnetic conduction tracks are fixed, the action of the force is mutual, the magnetic conduction tracks generate attraction force with the same size and the opposite directions on the robot, and the attraction force can be regarded as electromagnetic force F. Referring to fig. 1, the angle between the direction of the electromagnetic force and the orbit is θ, and the electromagnetic force F is decomposed into forces in the vertical direction and the horizontal direction, so that the robot can be moved when F · sin θ > F. When the robot needs to be stopped, the electromagnetic force F can be stopped by only stopping the energization of the solenoid type direct current coil, and the robot can be stopped under the action of the friction force F. If the electromagnetic force is reversed, the stopping of the robot is accelerated.
According to the method for controlling the walking of the rail-mounted agricultural robot, the robot is driven to operate by taking the electromagnetic force as the power, compared with the traditional motor driving method, the noise is lower, and meanwhile, the loss of motion energy is reduced by adopting the electromagnetic driving method. Through hoisting the robot on the magnetic conduction track, compare in the mode of setting up in the magnetic conduction track top, can make the robot fix more succinctly and firm.
In some embodiments of the invention, the electromagnetic force is generated by a solenoid dc coil, the solenoid dc coil and the magnetically conductive track being at an angle θ. The solenoid dc coil needs to be installed with attention to the installation direction, and the determination of the θ angle usually needs to take into account factors such as actual friction force and weight of the robot, so that the robot can operate more energy-saving and the reaction time is faster.
In some embodiments of the invention, the robot further interacts with the magnetically conductive track by a braking electromagnetic force generated by a braking solenoid dc coil, the braking electromagnetic force having a component force on the magnetically conductive track opposite to the component force of the electromagnetic force. The braking electromagnetic force and the electromagnetic force are adopted to work in a matched mode, and the running efficiency of the robot can be improved. And through the cooperative use of the braking electromagnetic force and the electromagnetic force, the robot can more easily and conveniently realize the forward and backward running and braking of the robot along the track.
In some embodiments of the invention, the robot is stationary on the magnetically conductive track, either naturally stopped by inertial motion or braked to stop by electromagnetic force. In practical use, the stopping mode needs to be selected according to actual conditions. Under the condition of large friction force or low running speed of the robot, the inertial motion can be directly selected to stop, and the braking is carried out by the aid of the friction force. In some situations where the operation is fast or emergency, the braking needs to be assisted by electromagnetic force. In addition, braking through the braking electromagnetic force can also play a better braking effect. The braking can be carried out by combining the braking electromagnetic force and the electromagnetic force.
In some embodiments of the invention, a course of motion of the robot generally endeavors to include several phases: the electromagnetic force F drives the robot to perform accelerated motion for a duration t 0; after the acceleration is finished, the size of the electromagnetic force F is quickly reduced within the time duration of t1, so that the component force of the electromagnetic force F in the direction of the magnetic conduction track is equal to the friction force F between the robot and the magnetic conduction track, and the robot enters a state of constant-speed operation; the electromagnetic force is stopped when the target position is reached, the deceleration is started and the movement is stopped, and the duration is t 3. The image acquisition is mainly performed in the time period t3, and the image acquisition is preferably performed after the robot is completely stopped, so that the acquired image can be ensured to be clear. In practical situations, in order to accelerate the robot to a proper speed and then perform uniform motion, the acceleration duration t0 should be properly not too long, and t1 should be as short as possible. After the adjustment of the time periods t0 and t1, the robot enters a constant speed state, the constant speed walking time is t2, and the robot is mainly used for enabling the robot to walk to the position close to the target position, then stopping the electromagnetic force, or braking while stopping the electromagnetic force.
The robot walking control system according to the second aspect of the embodiment of the present invention comprises a walking mechanism 310, a housing 320, and a control unit 340, a solenoid type dc coil 350, a braking solenoid type dc coil 360, a storage battery, which are disposed on the housing 320; the traveling mechanism 310 is used for movably connecting the magnetic conductive track 100; the shell 320 is arranged below the magnetic conduction rail 100 and connected with the traveling mechanism 310; the battery, the solenoid-type dc coil 350, and the braking solenoid-type dc coil 360 are all electrically connected to the control unit 340.
Referring to fig. 2 to 5, the robot walking control system is suspended on the magnetic conductive track 100, and when the robot does not have electricity, the robot walks to the position of the charging pile 200 for charging. The traveling mechanism 310 is mainly used for being assembled with the magnetic conductive track 100 and can move along the direction of the magnetic conductive track 100. In some embodiments, the running mechanism 310 employs a silent nylon pulley, which can reduce the resistance on one hand and further reduce the noise on the other hand. The solenoid type dc coil 350 and the braking solenoid type dc coil 360 can generate electromagnetic force F and braking electromagnetic force under the control of the control unit 340, so as to provide walking power for the robot walking control system. The storage battery is used as an important source of electric energy supply and is a power source of the whole robot walking control system. The controller can adopt PLC as a core control device, specifically adopts Mitsubishi 5U series PLC, and can adopt FX5U-32MT/ES in specific model.
According to the robot walking control system, electromagnetic force and braking electromagnetic force can be generated between the robot and the magnetic conduction track through the solenoid type direct current coil and the braking solenoid type direct current coil, forward and reverse movement of the robot is controlled through the electromagnetic force and the braking electromagnetic force, and meanwhile, the robot walking control system has forward and reverse braking capabilities. The robot can let the operation of robot break away from the restriction of cable through built-in battery, fills electric pile through setting up simultaneously, also can make things convenient for the robot to carry out the electric quantity and supply.
In some embodiments of the present invention, the robot walking control system further includes a distance sensor 370 electrically connected to the control unit 340, wherein the distance sensor 370 is configured to detect a distance to the charging pile 200. The distance sensor 370 is used to detect a distance to the charging pile 200 or other robot. Through detecting and fill distance between electric pile 200, can in time slow down, avoid filling electric pile 200's in-process because the braking is untimely in the operation, caused the unnecessary damage. Meanwhile, in actual production, the number of robots is usually multiple, and it is more necessary to use the distance sensor 370 to avoid collision between multiple robots. The distance sensor 370 generally employs an ultrasonic distance sensor 370, and the ultrasonic distance sensor 370 has the characteristics of high accuracy, low cost, stable performance, and the like. In addition, the distance sensor 370 may also be a laser distance measuring sensor, but the cost may be increased compared to an ultrasonic sensor. The ultrasonic sensor is an ultrasonic proximity switch, specifically UM18-211126111 of Jiamei company.
In some embodiments of the present invention, the robot walking control system further includes two charging ports 380 respectively connected to the storage battery, where the two charging ports 380 are a male plug and a female plug respectively; the male plug is used for connecting the charging pile 200. Through the design, the requirements of different forms of charging piles 200 can be met, and meanwhile, the electric energy exchange among a plurality of robots can be realized. In the case of many robots, some robots may not be able to approach the charging pile 200, and thus need to be charged through other charging piles.
An agricultural robot according to a third aspect of the present invention comprises any one of the above walking control systems and an image acquisition module 330 disposed on the walking control system, wherein the image acquisition module 330 is connected with a control unit 340; the walking control system is hung on the magnetic conduction track 100.
Referring to fig. 2 to 5, the image capturing module 330 is mainly used for capturing image information of crops, and capturing images after the robot runs for a certain period of time each time. The collected images can be directly stored in the image collection module 330 for later unified processing, or can be shared by using an intelligent camera with higher performance through a network, so that the processing work of the images can be directly completed. The acquisition work for the image is mainly completed within the time period t 3. In addition, the growth cycle of the crop is long, and therefore, the moving speed of the robot is not required to be fast. And then by adopting an electromagnetic driving mode, the noise generated by the robot can be further reduced. The image acquisition module 330 adopts OpenMV, specifically the model is OpenMV 4H 7.
According to the robot walking control system, the robot walking control system can realize the reverse movement and braking along the track. The real-time collection of the production condition of the crops can be realized through the image collection module.
In some embodiments of the invention, the magnetically conductive track 100 is mounted by means of mounting posts 400 in the structure of the booth itself. In practical situations, agricultural robots are mostly used for greenhouse cultivation or part of large farms. In the case of greenhouse planting, the magnetically conductive track 100 is usually installed directly through the installation posts 400 in the structure of the greenhouse itself, and is not installed again separately. Of course, the mounting arrangement can be made separately, and a new mounting stud 400 can be rearranged, with only a slight increase in cost.
In some embodiments of the present invention, charging post 200 is disposed on mounting post 400. Charging post 200 may be installed individually. Direct compounding onto mounting stud 400 may provide further cost savings while also facilitating ease of management.
In some embodiments of the present invention, the robot further comprises a wireless communication module electrically connected to the control unit 340. Through setting up wireless communication module, can change the operation process of robot through the mode of remote control on the one hand, on the other hand also is convenient for the robot timely with data transmission to the control center who gathers. In addition, it is also convenient to realize uniform control when having a plurality of robots. The wireless communication module can adopt a Z i gBee module, a Bluetooth module or a network module. The control center also adopts PLC as a control component, and can also directly adopt a computer as the control component.
In some embodiments of the present invention, there is a farm or a greenhouse consisting of a plurality of robots, and when the number of the robots increases or the robots are far from a control center, information transmission through a communication repeater is also required. Usually, there are multiple communication relays, and each communication relay is used for assisting multiple robots to perform data interaction with the control center. When the crop area of a farm or a greenhouse is large, the control center is difficult to control the remote end through self wireless signals, and the robot is difficult to independently transmit data back to the control center. The addition of a proper amount of communication repeaters for signal enhancement can make the use range of a single robot larger.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the embodiments, and those skilled in the art will understand that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A walking control method of a rail-mounted agricultural robot is characterized by comprising the following steps:
the robot is hung on the magnetic conduction track;
two ends of a shell of the robot are respectively provided with a solenoid type direct current coil and a braking solenoid type direct current coil; the solenoid type direct current coil and the braking solenoid type direct current coil are used for generating electromagnetic force and braking electromagnetic force under the assistance of the magnetic conduction track;
the robot acts with the magnetic conduction rail through electromagnetic force to enable the robot to move along the magnetic conduction rail;
stopping acting on the electromagnetic force on the magnetic conduction track, and enabling the robot to be static on the magnetic conduction track;
the robot also acts on the magnetic conduction rail through braking electromagnetic force, and the component force directions of the braking electromagnetic force and the electromagnetic force on the magnetic conduction rail are opposite.
2. The method for controlling the walking of the rail-mounted agricultural robot as claimed in claim 1, wherein the electromagnetic force is generated by a solenoid-type direct current coil, and an included angle between the solenoid-type direct current coil and the magnetic conductive rail is θ.
3. The method according to claim 1, wherein the robot is stopped naturally by inertial motion or stopped by braking by the electromagnetic force while being stationary on the magnetically conductive track.
4. The robot walking control system is characterized by comprising a walking mechanism (310), a shell (320), a control unit (340) arranged on the shell (320), a solenoid type direct current coil (350), a braking solenoid type direct current coil (360) and a storage battery;
the walking mechanism (310) is movably connected with the magnetic conduction track (100);
the shell (320) is arranged below the magnetic conduction track (100) and is connected with the travelling mechanism (310);
the solenoid type direct current coil (350) and the braking solenoid type direct current coil (360) are respectively arranged at two ends of the shell (320) and are electrically connected with the control unit (340), and the solenoid type direct current coil (350) and the braking solenoid type direct current coil (360) are used for generating electromagnetic force and braking electromagnetic force under the assistance of the magnetic conduction rail (100);
the storage battery is electrically connected with the control unit (340), the solenoid type direct current coil (350) and the braking solenoid type direct current coil (360) respectively and used for providing a working power supply;
the charging device also comprises two charging ports (380) which are respectively connected with the storage battery, wherein the two charging ports (380) are respectively a male plug and a female plug; the male plug is used for connecting a charging pile (200).
5. The walking control system of claim 4, further comprising a distance sensor (370) electrically connected to the control unit (340), wherein the distance sensor (370) is configured to detect a distance to a charging pile (200).
6. An agricultural robot comprising a walking control system according to any one of claims 4 to 5 and an image acquisition module (330) arranged on the walking control system, the image acquisition module (330) being connected to the control unit (340); the walking control system is hung on the magnetic conduction track (100); the magnetic conduction rail (100) is installed through an installation upright post (400) in the structure of the greenhouse.
7. An agricultural robot according to claim 6, characterized in that the charging post (200) is arranged on the mounting post (400).
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| CN109202856A (en) * | 2018-10-12 | 2019-01-15 | 苗广厚 | A kind of corrugated guardrail Detecting Robot for highway |
| CN210476999U (en) * | 2019-09-06 | 2020-05-08 | 扬州工业职业技术学院 | Hoisting structure of inspection robot |
| CN210551183U (en) * | 2019-09-06 | 2020-05-19 | 扬州工业职业技术学院 | Agricultural inspection robot system |
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Effective date of registration: 20231121 Address after: Room 501-411, Building D, Zhigu Technology Complex, No. 186 Yangzijiang Middle Road, Yangzhou Economic Development Zone, Jiangsu Province, 225000 Patentee after: Jiangsu Leicester Smart Technology Co.,Ltd. Address before: 225127 No. 199, Yang Hua Xi Road, Yangzhou, Jiangsu Patentee before: YANGZHOU POLYTECHNIC INSTITUTE |