CN113068461B - Intelligent robot capable of performing soil operation and control method thereof - Google Patents
Intelligent robot capable of performing soil operation and control method thereof Download PDFInfo
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- CN113068461B CN113068461B CN202110300089.3A CN202110300089A CN113068461B CN 113068461 B CN113068461 B CN 113068461B CN 202110300089 A CN202110300089 A CN 202110300089A CN 113068461 B CN113068461 B CN 113068461B
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- 239000002689 soil Substances 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 31
- 210000000078 claw Anatomy 0.000 claims description 23
- 230000001681 protective effect Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000003971 tillage Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004134 energy conservation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000009313 farming Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/02—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses an intelligent robot capable of performing soil operation and a control method thereof. The invention adopts the power unit driven by the motor, is provided with the auxiliary power system for improving the efficiency and power, identifies the working area through the detection mechanism, processes the identified information by the control mainboard and independently formulates the operation steps and paths, and the tillage part has the lifting function and is beneficial to energy conservation. Meanwhile, the equipment can be controlled by a remote end through wireless signals. Meanwhile, the intelligent robot provided by the invention can automatically compile cultivation paths and identify obstacles, and has outstanding advantages in small plots with high automation and intelligence degrees and large machinery incapable of working. The invention greatly releases the constraint of farmer cultivated machinery without complex operation.
Description
Technical Field
The invention relates to the field of agriculture, in particular to a soil cultivation device of intelligent agricultural production equipment, and specifically relates to an intelligent robot capable of performing soil operation and a control method thereof.
Background
At present, agricultural machinery, especially large-scale machinery and appliances are more and more widely used, so that the farming burden of farmers is greatly reduced, but manpower resources are still indispensable important links in the using process, and the requirements on the number of personnel and the quality of the personnel are higher.
With the development of scientific technology, the development of intelligent technology is changing day by day, especially the application of 5G communication technology in intelligent machinery is more and more mature, the application in the agricultural field is more and more extensive, the application of intelligent machinery in the agricultural field greatly improves the efficiency of agricultural production, and reduces the burden of farmers.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent robot capable of performing soil operation and a control method thereof, the intelligent robot is soil cultivation mechanical equipment which can autonomously process information under various complex conditions and is highly intelligent, has small volume, simple operation, stable working performance, wide application occasions, capability of autonomously working according to field conditions, high unmanned and intelligent degree, greatly relieves the burden of farmers, can perform remote operation, is small-sized, avoids soil plowing caused during mechanical operation, and solves the problem of repeated damage of the existing large-sized machinery to soil.
The technical scheme adopted by the invention is as follows by combining the attached drawings:
as one aspect of the present invention, an intelligent robot capable of performing soil operations is provided, which includes a top protection cover 1, an operation and energy module 3, a driving wheel set 4, a cultivating component 5, an auxiliary power wheel set 6, and a frame assembly 7, wherein four driving wheel sets 4 are installed at four corners of the bottom of the frame assembly 7 for driving the intelligent robot to walk and steer; the two auxiliary power wheel sets 6 are arranged at the bottom of the frame component 7 and are respectively positioned at the left side and the right side for assisting the intelligent robot to walk linearly; the cultivating component 5 can be rotatably arranged in the middle of the frame component 7, when the intelligent robot works, the cultivating component 5 falls down to work the soil, and after the work is finished, the cultivating component 5 is retracted; the bottom of the operation and energy module 3 is fixed on the frame assembly 7, the rear end of the operation and energy module 3 is provided with a battery assembly 8, the front end of the operation and energy module is provided with a control mainboard 9, an industrial personal computer 10 and a wire connector 11, and the control mainboard is in signal connection with the control mainboard 9 and the industrial personal computer; the bottom of a top protective cover 1 is fixed on an operation and energy module 3, a detection mechanism 2 is installed at the front end of the top protective cover 1, a wireless receiving device 101 is installed at the rear end of the top protective cover 1, and a detection real-time signal processing unit 102 and a wireless signal processing unit 103 are arranged inside the top protective cover 1;
The cultivating component 5 comprises a subsoiling claw 501, a fixed shaft 502, an anti-rotation locking plate 503, a locking mechanism and a subsoiling driving component 510, wherein the subsoiling claw 501 is fixedly installed on the fixed shaft 502, two ends of the fixed shaft 502 are respectively and rotatably connected to the frame component 7, the anti-rotation locking plate 503 is installed at one end of the fixed shaft 502 and is locked or unlocked through the locking mechanism, and the subsoiling driving component 510 is installed at the other end of the fixed shaft 502 and is used for driving the fixed shaft 502 to rotate.
Further, the subsoiling driving member 510 includes a worm and gear motor 513, a transmission gear 512 and a sensor 511, an output shaft of the worm and gear motor 513 is connected to the fixed shaft 502 through the transmission gear 512, when the subsoiling claw 501 rotates clockwise during operation, the worm and gear motor 513 drives the fixed shaft 502 to rotate through the transmission gear 512 during rotation, and the sensor 511 detects whether the subsoiling claw is in place.
Further, the locking mechanism comprises a locking piece 504, a mounting rack 505, an optical coupling baffle 506, a detection sensor 507 and an electromagnet 508; before the fixed shaft 502 rotates, the electromagnet 508 drives the locking piece 504 and the optocoupler catch 506 to move, whether the optocoupler catch 506 is in place is detected through the detection sensor 507, and after the deep loosening claw 501 rotates in place, the electromagnet 508 releases, and the locking piece 504 locks the anti-rotation locking piece 503.
Further, the driving wheel set 4 includes a fixing plate, a walking driving assembly, an angle driving assembly and a walking wheel 406, the walking driving assembly and the angle driving assembly are both installed on the fixing plate, the walking wheel 406 is connected with the walking driving assembly and the angle driving assembly and is located below the fixing plate, the walking driving assembly is used for driving the walking wheel 406 to advance and perform motion feedback control, and the angle driving assembly is used for controlling the rotation angle of the walking wheel 406.
Further, the walking drive assembly comprises a drive motor 401, a first gear 402, a transmission shaft 403, a second gear 404, a third gear 405, a fourth gear 402, a belt 407, a coupler 408 and an encoder 409. An output shaft of the driving motor 401 is connected with a first gear 402, the first gear 402 is connected with a second gear 404 through a transmission shaft 403, the second gear 404 is in meshing transmission with a third gear 405, and the third gear 405 is coaxially fixed with a travelling wheel 406; the output shaft of the driving motor 401 is connected with the input shaft of the encoder 409 through a belt 407 and a coupling 408.
Further, angle drive assembly is including turning to driving motor 410, No. four gears 411, driving belt 413, walking wheel mounting bracket 414, angle encoder 412, turns to driving motor 410 output shaft and connects No. four gears 411, and No. four gears 411 and angle encoder 412 coaxial coupling turn to driving motor 410 output shaft and connect walking wheel mounting bracket 414 through driving belt 413 simultaneously, and walking wheel 406 is installed on walking wheel mounting bracket 414.
Further, the auxiliary power wheel set 6 comprises a linear driving motor 601, a connecting piece 602, a connecting plate 604, an input gear 603, an output gear 605, a linear wheel 606 and a fixing frame 607; the linear driving motor 601 is fixed with a connecting plate 604 through a connecting piece 602, the connecting plate 604 is installed on a fixing frame 607, and the fixing frame 607 is fixed between the two steel plates 703 at the front end and the rear end on the same side of the frame component 7; an output shaft of the linear driving motor 601 is connected with an input gear 603, the input gear 603 is in meshed transmission with an output gear 605, and the output gear 605 is in coaxial transmission with the linear wheel 606.
As another aspect of the present invention, there is provided a method for controlling an intelligent robot capable of performing soil working, the method including the steps of:
after the intelligent robot for soil operation arrives at a working field, the existing map can be directly loaded, and a working path is set according to the map; secondly, the detection mechanism 2 scans a working area, and sets a working route through the operation of a program built in the robot;
when the robot enters a working state, the robot starts the deep loosening driving part 510 of the cultivating part 5 at a working starting point position, drives the deep loosening claw 501 to rotate to a falling state, and locks the position of the deep loosening claw by a locking part;
In the process of soil operation of the robot, the detection mechanism 2 is always in a working state, scanning is carried out on the front of the working path, so that front obstacles and other emergencies are avoided, if the front obstacles appear, the path is optimized, and then the robot returns to the original route to continue working until preset work is finished.
The invention has the following beneficial effects:
1. the working principle of the intelligent robot capable of carrying out soil operation is as follows: the intelligent robot starts to work after arriving at a working area, firstly, if a land parcel is an existing map, the map is loaded in equipment, and a path is planned according to the map; secondly, planning a path on site, scanning a working area by a detection mechanism, and planning the working path by the control system according to a scanning result through a built-in algorithm. During working, working speed is set according to information fed back by the subsoiling component, a working path is scanned in real time, and conditions in front of work are fed back.
2. The intelligent robot capable of performing soil operation can independently complete certain work according to a built-in program and a scanning result, and the intelligent degree is high.
3. The intelligent robot capable of carrying out soil operation is small and exquisite in structure and flexible in action, can avoid damage to the cultivation field, and cannot form the problems caused by the prior large-scale cultivation machines such as plowing soil layers and the like.
4. The intelligent robot tillage part capable of performing soil operation can rotate, fall down during work, withdraw during non-work, and can detect soil compactness, water content and the like through a sensor installed on the intelligent robot tillage part.
5. The intelligent robot driving wheel capable of performing soil operation is of a universal structure, each wheel can be driven independently, and an auxiliary driving device is arranged.
6. The intelligent robot capable of performing soil operation can receive and send signals, and the field condition is fed back to the control room for remote control.
Drawings
FIG. 1: the general schematic diagram of the intelligent robot capable of performing soil operation.
FIG. 2: the upper unit schematic diagram of the intelligent robot capable of performing soil operation.
FIG. 3: the intelligent robot can be used for soil operation.
FIG. 4: a schematic diagram of a bottom unit of an intelligent robot capable of performing soil operations.
FIG. 5: schematic diagram of an intelligent robot chassis capable of performing soil operation.
FIG. 6: a schematic diagram A of an intelligent robot tillage component capable of soil operation.
FIG. 7: a schematic diagram of an intelligent robot tillage component locking mechanism.
FIG. 8: and a schematic diagram B of an intelligent robot tillage component capable of performing soil operation.
FIG. 9: intelligent robot drive wheel subassembly schematic diagram.
FIG. 10: schematic diagram of a linear walking auxiliary system of an intelligent robot.
FIG. 11: and the intelligent robot work flow diagram.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention relates to an intelligent robot capable of performing soil operation, and the detailed structure and the working flow are shown in figures 1 to 11.
As shown in fig. 1, the figure shows an intelligent robot capable of performing soil operation, and the robot is structurally divided into three major parts, namely an upper unit module i, a middle unit module ii and a lower unit module iii in sequence.
The upper unit module I is located on the upper portion of the intelligent robot and comprises a top protection cover 1, the structure shape of the upper unit module I is a triangular roof type, a detection mechanism 2 is installed at the triangular front end of the top protection cover 1, a wireless receiving device 101 is installed at the triangular rear end of the top protection cover 1, and a detection real-time signal processing unit 102 and a wireless signal processing unit 103 are arranged inside the top protection cover 1.
The middle unit module II is positioned in the middle of the intelligent robot, the safety and the stability of the position are good, therefore, the middle unit module II comprises an operation and energy module 3, the top of the operation and energy module 3 is connected with the top protective cover 1, and the bottom of the operation and energy module 3 is fixed on a frame component 7 of the lower unit module III. The rear end of the operation and energy module 3 is provided with a battery assembly 8, and the front end is provided with a control mainboard 9, an industrial personal computer 10 and a wire connector 11, so that the interference of a battery on a circuit board and signals can be prevented.
The lower unit module III is positioned at the bottom of the intelligent robot and comprises a driving wheel set 4, a cultivating component 5, an auxiliary power wheel set 6, a frame assembly 7 and the like, wherein the component driving wheel set 4, the cultivating component 5 and the auxiliary power wheel set 6 are all installed and fixed on the frame assembly 7. The driving wheel sets 4 are arranged at four corners at the bottom of the frame component 7, the auxiliary power wheel sets 6 are arranged in the middle of the frame component 7, and the cultivating component 5 is arranged in the middle of the inner part of the frame at a front position. When the equipment works, the cultivating component 5 falls down to operate soil, soil information and a subsoiling effect can be collected during operation, and when the equipment finishes working, the cultivating component 5 is retracted to be separated from the soil so as to be economical in energy.
Examples
An intelligent robot capable of performing soil operation comprises a top protective cover 1, an operation and energy module 3, driving wheel sets 4, a cultivation part 5, an auxiliary power wheel set 6 and a frame assembly 7, wherein the four driving wheel sets 4 are arranged at four corners of the bottom of the frame assembly 7 and used for driving the intelligent robot to walk and steer; the two auxiliary power wheel sets 6 are arranged at the bottom of the frame component 7 and are respectively positioned at the left side and the right side for assisting the intelligent robot to walk linearly; the cultivating component 5 can be rotatably arranged in the middle of the frame component 7, when the intelligent robot works, the cultivating component 5 falls down to work the soil, and after the work is finished, the cultivating component 5 is retracted; the bottom of the operation and energy module 3 is fixed on the frame assembly 7, the rear end of the operation and energy module 3 is provided with a battery assembly 8, the front end of the operation and energy module is provided with a control mainboard 9, an industrial personal computer 10 and a wire connector 11, and the control mainboard is in signal connection with the control mainboard 9 and the industrial personal computer; the bottom of the top protection cover 1 is fixed on the operation and energy module 3, the detection mechanism 2 is installed at the front end of the top protection cover 1, the wireless receiving device 101 is installed at the rear end of the top protection cover 1, and the detection real-time signal processing unit 102 and the wireless signal processing unit 103 are arranged inside the top protection cover 1.
As shown in fig. 2, the top protective cover 1 installed on the upper unit i has a structure of a triangular roof type, and the structure is stable, is not easy to deform, and can effectively prevent rain and dust; the detection mechanism 2 is installed at the front end of the top protection cover 1, so that the working area and the front situation in the working process can be better detected, the wireless receiving device 101 is installed at the rear end of the top protection cover 1, and the detection real-time signal processing unit 102 and the wireless signal processing unit 103 are installed inside the protection cover.
As shown in figure 3, the middle unit module II comprises an operation and energy module 3, the upper side of the operation and energy module is connected with the top protection cover 1, the lower side of the operation and energy module is fixed on the frame component 7, and therefore the safety is good and the stability is high. Battery pack 8 includes a plurality of batteries 801 and the interface that charges, battery 801 installs in operation and energy module 3 rear end, original paper 802 is the interface that charges, control mainboard 9, industrial computer 10 and connector 11 etc. install the front end at operation and energy module 3, control panel 9 and industrial computer 10 signal connection, control mainboard 9 handles all information that the robot received, and with the result transmission to industrial computer 10 in, issue relevant order to each part through the industrial computer.
As shown in fig. 4, the lower unit module iii is composed of a driving wheel set 4, a cultivating member 5, an auxiliary power wheel set 6, a frame assembly 7, and the like. The frame component 7 is a main body, the driving wheel sets 4 are installed on the frame component 4, wherein the driving wheel sets 4 are installed at four corners of the frame component 7, each driving wheel set 4 can be independently controlled, the auxiliary power wheel set 6 is installed in the middle of the frame component 7 and can provide auxiliary power when a robot works, the cultivating component 5 is installed in the middle of the inside of the frame at a front position, as shown in fig. 4, the cultivating component is withdrawn when not working, resistance when moving forwards is reduced, the cultivating component falls when working and is locked by the locking mechanism.
As shown in fig. 5, the frame assembly 7 is formed by welding a transverse square steel 701 and a longitudinal square steel 702 into a frame, and is reinforced by welding steel plates 703 at two ends of the bottom of the frame, and at the same time, the steel plates 703 can be used for installing the driving wheel set 4 as an installation plate of the driving wheel set.
As shown in fig. 6,7 and 8, the tilling part 5 is composed of subsoiling claws 501, a fixed shaft 502, anti-rotation locking plates 503, a locking mechanism and a subsoiling driving part 510. The sub-soiling claw 501 is fixedly mounted on the fixed shaft 502, two ends of the fixed shaft 502 are respectively rotatably connected to the frame assembly 7, the anti-rotation locking plate 503 is mounted at one end of the fixed shaft 502 and locked or unlocked by the locking mechanism, and the sub-soiling driving member 510 is mounted at the other end of the fixed shaft 502 for driving the fixed shaft 502 to rotate.
The subsoiling driving member 510 comprises a worm and gear motor 513, a transmission gear 512 and a sensor 511, wherein an output shaft of the worm and gear motor 513 is connected with the fixed shaft 502 through the transmission gear 512, and the sensor 511 is used for detecting the rotating position of the fixed shaft 502.
The subsoiling claw 501 is a workpiece, and is an earth-penetrating part of the robot; in operation, the sub-soiling claw 501 rotates clockwise as shown in fig. 4, and when rotated, the worm gear motor 513 drives the fixed shaft 502 to rotate via the transmission gear 512, and the sensor 511 detects whether the sub-soiling claw is in place.
The locking mechanism comprises a locking piece 504, a mounting rack 505, an optical coupling baffle 506, a detection sensor 507, an electromagnet 508 and the like. Before the fixed shaft 502 rotates, the locking mechanism starts to work, the electromagnet 508 drives the locking piece 504 and the optocoupler catch 506 to move, the optocoupler catch 506 is detected by the detection sensor 507 to judge whether the locking piece is in place, after the deep loosening claw 501 rotates in place, the electromagnet 508 releases, and at the moment, the locking piece 504 locks the anti-rotation locking piece 503.
As shown in fig. 9, the driving wheel set 4 includes a fixing plate, a walking driving assembly, an angle driving assembly and a walking wheel 406, the walking driving assembly and the angle driving assembly are both mounted on the fixing plate, the walking wheel 406 is connected with the walking driving assembly and the angle driving assembly and is located below the fixing plate, the walking driving assembly is used for driving the walking wheel 406 to advance and perform motion feedback control, and the angle driving assembly is used for controlling the rotation angle of the walking wheel 406.
The walking driving component comprises a driving motor 401, a first gear 402, a transmission shaft 403, a second gear 404, a third gear 405, a fourth gear 402, a belt 407, a coupler 408 and an encoder 409. An output shaft of the driving motor 401 is connected with a first gear 402, the first gear 402 is connected with a second gear 404 through a transmission shaft 403, the second gear 404 is in meshing transmission with a third gear 405, and the third gear 405 is coaxially fixed with a travelling wheel 406; the output shaft of the driving motor 401 is connected with the input shaft of the encoder 409 through a belt 407 and a coupling 408.
The working principle of the driving wheel set 4 during forward running is as follows: the driving motor 401 drives the first gear 402 to move, power is transmitted to the second gear 404 through the transmission shaft 403, then the third gear 405 fixed with the traveling wheel 406 is driven to move, the traveling wheel 406 is driven to start to move, meanwhile, when the driving motor 401 drives the first gear 402 to move, the encoder 409 is driven to move through the transmission parts such as the belt 407 and the coupling 408, and feedback and control of movement can be achieved.
The angle drive assembly comprises a steering drive motor 410, a fourth gear 411, a transmission belt 413, a walking wheel mounting frame 414 and an angle encoder 412, the steering drive motor 410 is connected with the fourth gear 411 in an output shaft mode, the fourth gear 411 is coaxially connected with the angle encoder 412, the output shaft of the steering drive motor 410 is connected with the walking wheel mounting frame 414 through the transmission belt 413, and the walking wheels 406 are mounted on the walking wheel mounting frame 414.
The working principle of the driving wheel set 4 during steering is as follows: turn to driving motor 410 and drive fourth gear 411 and rotate, drive walking wheel mounting bracket 414 through driving belt 413 and rotate, realize promptly that walking wheel 406 turns to, will rotate simultaneously and transmit angle encoder 412, steerable turned angle through gear 411.
The fixing plate comprises a first fixing plate 415 and a second fixing plate 416, the second fixing plate 416 is fixed above the first fixing plate 415 through a stud, the driving motor 401, the steering driving motor 410, the encoder 409 and the angle encoder 412 are all installed on the second fixing plate 416, and the protective cover 417 is buckled on the first fixing plate 415 and protects the components in the first fixing plate 415.
As shown in fig. 10, when the sub-soiling claw 501 enters the ground, the intelligent robot needs a large amount of power to move forward, and according to the situation of the embodiment, in order to ensure sufficient power for the intelligent robot to move forward, an auxiliary power wheel set 6 is added for assisting the robot to move linearly. The auxiliary power wheel set 6 comprises a linear driving motor 601, a connecting piece 602, a connecting plate 604, an input gear 603, an output gear 605, a linear wheel 606 and a fixing frame 607; the linear driving motor 601 is fixed with a connecting plate 604 through a connecting piece 602, the connecting plate 604 is installed on a fixing frame 607, and the fixing frame 607 is fixed between the two steel plates 703 at the front end and the rear end on the same side of the frame component 7; an output shaft of the linear driving motor 601 is connected with an input gear 603, the input gear 603 is in meshed transmission with an output gear 605, and the output gear 605 is in coaxial transmission with the linear wheel 606.
The working principle of the auxiliary power wheel set 6 is as follows: the linear driving motor 601 moves along with the driving wheel set 4, and when the linear driving motor 601 moves, the input gear 603 and the output gear 605 drive the linear wheel 606 to move.
The invention relates to a control method of an intelligent robot capable of performing soil operation, which comprises the following steps:
after the intelligent robot for soil operation arrives at a working field, a working area is scanned by the detection mechanism 2, a working route is set through program operation built in the robot, and then the intelligent robot enters a working state. In the process of working soil, the robot is always in a working state by the detection mechanism 2, the front of the working path is scanned to avoid obstacles in front and other emergencies, if the obstacles appear in front, the path is optimized, the obstacles are bypassed, the situation is sent to a remote control center, and the robot can be controlled by the remote control center in real time in the working process.
A plurality of intelligent robots can be networked to work, when the plurality of intelligent robots work, the intelligent robots are automatically distributed according to the equal distance of the area, if the working area is S, the intelligent robots are N, each working area is S/N, and the intelligent robots are distributed at equal distance in the working process.
In conclusion, the intelligent robot has high intelligent degree, can greatly relieve the working strength of farmers, improve the farming efficiency, reduce the burden of the farmers, solve the problem that the prior large farming machine damages soil and plows the soil layer, and fundamentally solve the soil problems such as plowing the soil layer and the like caused by the farming machine.
As shown in fig. 11, the flow of the intelligent robot work is as follows: the intelligent robot can transmit corresponding working commands to the wireless signal receiving device through the external control unit and the wireless signal control equipment, then a control main board of the intelligent robot processes the working commands, a working walking path is planned according to a working area and a set subsoiling distance, the intelligent robot enters a working state, the specific work is as above, in the working process of the intelligent robot, a detection mechanism works in the whole process, when an obstacle and other emergency situations are detected, the robot pauses, a working route is optimized, the intelligent robot returns to an original fixed route to continue working after bypassing the obstacle, and the preset work is completed;
the intelligent robot can also directly complete work by combining a built-in program through a detection mechanism, the work flow is that the detection mechanism scans data and feeds the data back to the control main board for processing, then the robot plans a work walking path according to a scanning work area and a set subsoiling distance, the intelligent robot enters a work state, the specific work is as above, in the work process of the intelligent robot, the detection mechanism works in the whole course, when an obstacle and other emergency conditions are detected, the robot pauses, a work route is optimized, the robot returns to an original route after bypassing the obstacle and continues to work until the preset work is completed.
In the two working states, the external command has the highest priority, can issue a command to the robot at any time and has the priority execution right.
In conclusion, unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art. The use of the word "comprise" or "comprises", and the like, in the context of this application, is intended to mean that the elements or items listed before that word, in addition to those listed after that word, do not exclude other elements or items. In the above description, the terms "upper", "lower", "left", "right", and the like describing a position merely indicate a relative positional relationship, and when an absolute position of an object to be described is changed, the relative positional relationship may also be changed accordingly.
The above embodiments are only exemplary embodiments of the present invention, and do not limit the present invention, and the protection scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art to which the invention pertains, and such modifications and equivalents should be considered as falling within the scope of the invention.
Claims (4)
1. An intelligent robot capable of performing soil operation is characterized by comprising a top protective cover (1), an operation and energy module (3), driving wheel groups (4), a cultivation part (5), an auxiliary power wheel group (6) and a frame assembly (7), wherein the four driving wheel groups (4) are arranged at four corners of the bottom of the frame assembly (7) and are used for driving the intelligent robot to walk and steer; the two auxiliary power wheel sets (6) are arranged at the bottom of the frame component (7) and are respectively positioned at the left side and the right side for assisting the intelligent robot to walk linearly; the cultivating component (5) is rotatably arranged in the middle of the frame assembly (7), when the intelligent robot works, the cultivating component (5) falls down to work the soil, and after the work is finished, the cultivating component (5) is retracted; the bottom of the operation and energy module (3) is fixed on the frame assembly (7), the rear end of the operation and energy module (3) is provided with a battery assembly (8), and the front end of the operation and energy module is in signal connection with an industrial personal computer; the bottom of the top protective cover (1) is fixed on the operation and energy module (3), the front end of the top protective cover (1) is provided with a detection mechanism (2), the rear end of the top protective cover (1) is provided with a wireless receiving device (101), and the inside of the top protective cover (1) is provided with a detection real-time signal processing unit (102) and a wireless signal processing unit (103);
The cultivating component (5) comprises deep loosening claws (501), a fixed shaft (502), anti-rotation locking plates (503), a locking mechanism and a deep loosening driving component (510), the deep loosening claws (501) are fixedly arranged on the fixed shaft (502), two ends of the fixed shaft (502) are respectively and rotatably connected to the frame assembly (7), the anti-rotation locking plates (503) are arranged at one end of the fixed shaft (502) and locked or unlocked through the locking mechanism, and the deep loosening driving component (510) is arranged at the other end of the fixed shaft (502) and used for driving the fixed shaft (502) to rotate;
the locking mechanism comprises a locking piece (504), a mounting frame (505), an optical coupling blocking piece (506), a detection sensor (507) and an electromagnet (508); before the fixed shaft (502) rotates, the electromagnet (508) drives the locking piece (504) and the optocoupler catch (506) to move, whether the optocoupler catch (506) is in place is detected through the detection sensor (507), and after the deep loosening claw (501) rotates to the place, the electromagnet (508) is released, and the locking piece (503) is locked by the locking piece (504);
a control method of an intelligent robot capable of performing soil operation comprises the following steps:
after the intelligent robot for soil operation arrives at a working field, directly loading an existing map, and setting a working path according to the map; or the detection mechanism (2) scans the working area, and sets a working route through the program calculation built in the robot;
When the robot enters a working state, the robot starts a deep loosening driving part (510) of the cultivating part (5) at a working starting position, drives a deep loosening claw (501) to rotate to a falling state, and locks the position of the deep loosening claw through a locking part;
in the soil working process of the robot, the detection mechanism (2) is always in a working state, the front of a working path is scanned to avoid front obstacles and other emergencies, if the front obstacles appear, the path is optimized, and then the robot returns to the original route to continue working until the preset work is finished;
the subsoiling driving part (510) comprises a worm and gear motor (513), a transmission gear (512) and a sensor (511), an output shaft of the worm and gear motor (513) is connected with the fixed shaft (502) through the transmission gear (512), when the subsoiling claw (501) works, the subsoiling claw rotates clockwise, when the subsoiling claw rotates, the worm and gear motor (513) drives the fixed shaft (502) to rotate through the transmission gear (512), and the sensor (511) detects whether the subsoiling claw is in place or not;
the driving wheel set (4) comprises a fixing plate, a walking driving assembly, an angle driving assembly and walking wheels (406), wherein the walking driving assembly and the angle driving assembly are installed on the fixing plate, the walking wheels (406) are connected with the walking driving assembly and the angle driving assembly at the same time and are located below the fixing plate, the walking driving assembly is used for driving the walking wheels (406) to advance and carry out motion feedback control, and the angle driving assembly is used for controlling the rotating angles of the walking wheels (406).
2. The intelligent robot capable of performing soil working according to claim 1, wherein the walking driving component comprises a driving motor (401), a first gear (402), a transmission shaft (403), a second gear (404), a third gear (405), a fourth gear (402), a belt (407), a coupler (408) and an encoder (409); an output shaft of the driving motor (401) is connected with a first gear (402), the first gear (402) is connected with a second gear (404) through a transmission shaft (403), the second gear (404) is in meshed transmission with a third gear (405), and the third gear (405) is coaxially fixed with the travelling wheel (406); an output shaft of the driving motor (401) is connected with an input shaft of an encoder (409) through a belt (407) and a coupling (408).
3. The intelligent robot capable of performing soil operation according to claim 2, wherein the angle driving assembly comprises a steering driving motor (410), a fourth gear (411), a transmission belt (413), a walking wheel mounting frame (414) and an angle encoder (412), an output shaft of the steering driving motor (410) is connected with the fourth gear (411), the fourth gear (411) is coaxially connected with the angle encoder (412), the output shaft of the steering driving motor (410) is simultaneously connected with the walking wheel mounting frame (414) through the transmission belt (413), and the walking wheels (406) are mounted on the walking wheel mounting frame (414).
4. The intelligent robot capable of performing soil working according to claim 1, wherein the auxiliary power wheel set (6) comprises a linear driving motor (601), a connecting piece (602), a connecting plate (604), an input gear (603), an output gear (605), a linear wheel (606) and a fixing frame (607); the linear driving motor (601) is fixed with a connecting plate (604) through a connecting piece (602), the connecting plate (604) is installed on a fixing frame (607), and the fixing frame (607) is fixed between two steel plates (703) at the front end and the rear end on the same side of the frame component (7); an output shaft of the linear driving motor (601) is connected with an input gear (603), the input gear (603) is in meshed transmission with an output gear (605), and the output gear (605) is in coaxial transmission with the linear wheel (606).
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