CN113093752A - Turning coordination control method and device for multiple agricultural robots - Google Patents
Turning coordination control method and device for multiple agricultural robots Download PDFInfo
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a turning coordination control method and device for multiple agricultural robots, which comprises the following steps: s1, the GPS positioning module collects data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the traveling directions of the agricultural robots; s2, transmitting the data information of the agricultural robots collected by the GPS positioning module to a central processing module through a signal transmission module, wherein the central processing module divides the agricultural robots in a plurality of operating states into a plurality of working stages according to the data information; and S3, the central processing module controls the agricultural robot to be turned to turn over the ground or stop waiting according to the data information, the working stage and the three-way principle corresponding to the agricultural robots. The agricultural robot control system can coordinate orderly turning and turning of a plurality of agricultural robots and realize simultaneous safe operation of the agricultural robots, thereby greatly reducing the use of manpower and improving the agricultural production efficiency.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a turning coordination control method and device for multiple agricultural robots.
Background
The back appears in agricultural robot, becomes the focus of the automatic development of all-world agricultural fast, at present, through manual control's mode, control agricultural robot and operate in the field, or make agricultural robot with the operation of fixed route advancing, however, when many agricultural robots collaborative work, often need many people to control respectively, in order to avoid the emergence of accidents such as agricultural robot collision rear-end collision, cause economic loss, though this kind of mode has replaced the manual work through agricultural robot, many people control agricultural robot operation still occupy a large amount of manpowers.
Through retrieval, national patent number CN 106843221B discloses a turning coordination control method for multiple agricultural robots, the method comprising: allocating a priority authority for each agricultural robot, controlling the agricultural robots to turn around the ground by using a U-turn turning theory, and presetting turning marks of all stages in the turning process of the agricultural robots; and coordinating every two agricultural robots to carry out ground turning according to the priority authority and the turning marks of every two agricultural robots.
The existing turning coordination control method of multiple agricultural robots has the following defects: the turning coordination device is only suitable for small-sized fields or two or more agricultural robots with dense working distances are used for turning coordination, when the agricultural robots operate in a large farm, if the two agricultural robots are far away from each other, collision can not occur during turning, and when the agricultural robots still turn according to the U-turn turning theory, waiting time can be wasted by the agricultural robots on the inner side of the turning, and the improvement of the working efficiency is not facilitated; in addition, the agricultural robot can continuously work in the turning process, energy waste is caused, and the operation cost is increased.
Therefore, a method and a device for controlling turning coordination of multiple agricultural robots are provided to solve the problems.
Disclosure of Invention
The invention aims to provide a turning coordination control method and device for a multi-agricultural robot, which can coordinate and control the multi-agricultural robot, aiming at solving the problem that the multi-agricultural robot is difficult to coordinate and control.
In order to achieve the purpose, the invention adopts the following technical scheme: a turning coordination control method of multiple agricultural robots comprises the following steps:
s1, the GPS positioning module collects data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the traveling directions of the agricultural robots;
s2, transmitting the data information of the agricultural robots collected by the GPS positioning module to a central processing module through a signal transmission module, wherein the central processing module divides the agricultural robots in a plurality of operating states into a plurality of working stages according to the data information;
and S3, the central processing module controls the agricultural robot to be turned to turn over the ground or stop waiting according to the data information, the working stage and the three-way principle corresponding to the agricultural robots, and the agricultural robots are coordinately turned.
In the turning coordination control method for multiple agricultural robots, the working phases of the multiple agricultural robots in S2 include:
t1 waiting for turning at the ground, the agricultural robot arriving at the start line of the ground and lifting the working machine to wait for turning;
t2 first straight angle turn, said agricultural robot making a 90 ° turn from longitudinal field to transverse headland;
t3 transverse headland straight-going, said agricultural robot straight-going to the next working position in the transverse headland;
t4 second quarter turn, said agricultural robot making a 90 ° turn from the transverse headland to the longitudinal field;
t5 the turning of the ground is finished and the agricultural robot lowers the working machine and drives the work straight along the current working path.
In the turning coordination control method of the multiple agricultural robots, the three-yielding principle comprises the following steps:
in principle one, in the turning process of a plurality of agricultural robots, the left agricultural robot stops avoiding the right agricultural robot;
in principle two, in the turning process of a plurality of agricultural robots, the agricultural robot to be turned stops avoiding the agricultural robot in the transverse ground head straight-moving process;
principle three, at a plurality of agricultural robots of the work in same vertical field, the agricultural robot at rear stops dodging the agricultural robot in the place ahead.
In the turning coordination control method of the multiple agricultural robots, the agricultural robots comprise the following steps in the process of turning the ground according to the three-yielding principle:
s31, the agricultural robot reaches the beginning line of the ground, enters a T1 ground waiting turning stage, and lifts the working machine to wait turning;
s32, judging whether the agricultural robot needs to turn within the range of two meters on the right side, if so, returning to S31 to continue to wait for turning, otherwise, entering S33;
s33, judging whether the agricultural robot in the T3 transverse headland straight-ahead ground exists in the front headland, if so, returning to S31 to continue to wait for turning, otherwise, entering S34;
s34, the agricultural robot enters a first straight angle turning stage of T2 and turns 90 degrees from the longitudinal field to the transverse headland;
s35, calculating the distance of the next working position, and enabling the agricultural robot to enter a T3 transverse headland straight-ahead stage and go straight ahead or backwards on the headland to the next working position;
s36, the agricultural robot enters a T4 second right-angle turning stage, the agricultural robot turns 90 degrees from the transverse headland to the longitudinal field and waits at the starting line of the headland;
s37, judging whether an agricultural robot at the T5 heading turning ending stage exists in the range of two meters ahead, if so, returning to S35 to continue waiting, otherwise, entering S37;
and S38, the agricultural robot finishes turning the ground, enters the T6 ground turning finishing stage, lowers the operation machine, and linearly drives along the current working path for operation.
In another aspect, an embodiment of the present invention provides a turning coordination control device for multiple agricultural robots, including:
the GPS positioning module is used for collecting data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the advancing directions of the agricultural robots;
the signal transmission module is respectively connected with the GPS positioning module and the central processing module and is used for transmitting the data information collected by the GPS positioning module to the central processing module;
the central processing module is used for dividing the agricultural robots in a plurality of running states into a plurality of working stages according to the data information, analyzing and comparing the data information, the working stages and the third-yielding principle of the agricultural robots, and then sending the control information to the automatic driving module;
and the automatic driving module is used for coordinately controlling the agricultural robots to turn around in order according to the control information transmitted by the central processing module.
The automatic driving module comprises a single chip microcomputer, a traveling mechanism and an operating machine control mechanism, and the traveling mechanism is a triangular crawler wheel traveling mechanism.
The operating machine control mechanism comprises a shell fixedly mounted on an agricultural robot, a horizontal wing plate is arranged above the shell, a pressure rod is fixedly connected to the lower surface of the wing plate, the lower end of the pressure rod extends into the shell, a swing rod is rotatably connected to the inner side wall of the shell, an anti-collision ball is fixedly connected to one end of the swing rod and is located right below the pressure rod, a pressing bulge is arranged at the other end of the swing rod, a button switch matched with the pressing bulge is mounted on the inner bottom surface of the shell, and when the pressure rod is far away from the swing rod, the pressing bulge presses the button switch;
the improved agricultural robot is characterized in that a vertical baffle is arranged in the shell, a lifting plate is connected to the side wall of the baffle in a sliding mode, the lifting plate is fixed to the inner bottom surface of the shell through a reset spring, an iron block and a first electric contact are mounted on the upper surface of the lifting plate, a mounting plate is fixed to the side wall of the shell, a second electric contact matched with the first electric contact is mounted on the bottom surface of the mounting plate, the operation machine is electrically connected with an agricultural robot power source through the first electric contact and the second electric contact, an electromagnet is arranged right above the iron block and fixedly connected to the inner top surface of the shell, and the electromagnet is electrically connected with the agricultural robot power source through a button switch.
The baffle is fixedly connected with a horizontal sliding groove, a magnetism isolating plate is arranged in the sliding groove in a sliding mode, the magnetism isolating plate is fixedly connected with the inner wall of the sliding groove through an extension spring, and one end of the magnetism isolating plate penetrates through the baffle and is fixedly connected with a balancing weight.
Compared with the prior art, the turning coordination control method and the turning coordination control device for the multiple agricultural robots have the advantages that:
1. according to the agricultural robot control system, data information of the agricultural robots is collected, and the agricultural robots are coordinated and controlled to enter each working stage in sequence according to the three-way principle, so that orderly turning and turning of the agricultural robots are coordinated, the problems of collision, rear-end collision and the like are avoided, the agricultural robots are controlled to work safely at the same time, the use of manpower is greatly reduced, and the agricultural production efficiency is improved.
2. The invention has the advantages that the operation machine control mechanism is arranged, so that the operation machine stops working in the processes of waiting for turning and turning, the idle work of the operation machine in the process of turning the ground is avoided, the energy consumption rate of the agricultural robot in working is reduced, the cost is reduced, the manual control on starting and stopping of the operation machine is not needed, the automation is high, the use of manpower is further reduced, and the operation efficiency is effectively improved.
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FIG. 1 is a schematic flow chart of a turning coordination control method for multiple agricultural robots, provided by the invention;
FIG. 2 is a schematic flow chart of a turning process in the turning coordination control method for multiple agricultural robots, provided by the invention;
FIG. 3 is a schematic diagram of the position and direction of each working phase of an agricultural robot in the turning coordination control method of multiple agricultural robots provided by the invention;
FIG. 4 is a schematic diagram of coordinated control according to a first principle in the three-letting principle of a turning coordinated control method for multiple agricultural robots provided by the invention;
FIG. 5 is a schematic diagram of the coordinated control of the turning coordination control method of multiple agricultural robots according to the principle two in the third-yielding principle provided by the invention;
FIG. 6 is a schematic diagram of coordinated control according to the principle three in the three-letting principle of the turning coordinated control method for multiple agricultural robots provided by the invention;
FIG. 7 is a schematic structural diagram of a turning coordination control device of multiple agricultural robots, provided by the invention;
FIG. 8 is a schematic external structural diagram of a working machine control mechanism in the turning coordination control device of multiple agricultural robots provided by the invention;
FIG. 9 is a schematic diagram of the internal structure of a control mechanism of a working machine in the turning coordination control device of multiple agricultural robots, provided by the invention;
fig. 10 is an enlarged view at a in fig. 9.
Detailed Description
The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1-6, a method for controlling turning coordination of multiple agricultural robots includes the following steps:
s1, the GPS positioning module collects data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the traveling directions of the agricultural robots;
s2, transmitting the data information of the agricultural robots collected by the GPS positioning module to a central processing module through a signal transmission module, wherein the central processing module divides the agricultural robots in a plurality of operating states into a plurality of working stages according to the data information;
and S3, the central processing module controls the agricultural robot to be turned to turn over the ground or stop waiting according to the data information, the working stage and the three-way principle corresponding to the agricultural robots, and the agricultural robots are coordinately turned.
S2, the working phases of the agricultural robots including:
t1 waiting for turning at the ground, the agricultural robot arriving at the start line of the ground and lifting the working machine to wait for turning;
t2 first straight angle turn, said agricultural robot making a 90 ° turn from longitudinal field to transverse headland;
t3 transverse headland straight-going, said agricultural robot straight-going to the next working position in the transverse headland;
t4 second quarter turn, said agricultural robot making a 90 ° turn from the transverse headland to the longitudinal field;
t5 the turning of the ground is finished and the agricultural robot lowers the working machine and drives the work straight along the current working path.
Fig. 4-6 are schematic diagrams of coordinated control of a plurality of agricultural robots according to the principles of three-way, the arrows in fig. 4-6 representing a leading agricultural robot, the principles of three-way comprising:
in principle one, in the turning process of a plurality of agricultural robots, the left agricultural robot stops avoiding the right agricultural robot;
in principle two, in the turning process of a plurality of agricultural robots, the agricultural robot to be turned stops avoiding the agricultural robot in the transverse ground head straight-moving process;
principle three, at a plurality of agricultural robots of the work in same vertical field, the agricultural robot at rear stops dodging the agricultural robot in the place ahead.
Agricultural robot is the right turn when carrying out quarter turn, according to three letting the principle including following step in the course of turning on the ground:
s31, the agricultural robot reaches the beginning line of the ground, enters a T1 ground waiting turning stage, and lifts the working machine to wait turning;
s32, judging whether the agricultural robot needs to turn within the range of two meters on the right side, if so, returning to S31 to continue to wait for turning, otherwise, entering S33;
s33, judging whether the agricultural robot in the T3 transverse headland straight-ahead ground exists in the front headland, if so, returning to S31 to continue to wait for turning, otherwise, entering S34;
s34, the agricultural robot enters a first straight angle turning stage of T2 and turns 90 degrees from the longitudinal field to the transverse headland;
s35, calculating the distance of the next working position, and enabling the agricultural robot to enter a T3 transverse headland straight-ahead stage and go straight ahead or backwards on the headland to the next working position;
s36, the agricultural robot enters a T4 second right-angle turning stage, the agricultural robot turns 90 degrees from the transverse headland to the longitudinal field and waits at the starting line of the headland;
s37, judging whether an agricultural robot at the T5 heading turning ending stage exists in the range of two meters ahead, if so, returning to S35 to continue waiting, otherwise, entering S37;
and S38, the agricultural robot finishes turning the ground, enters the T6 ground turning finishing stage, lowers the operation machine, and linearly drives along the current working path for operation.
The working principle of the embodiment is as follows: collect a plurality of agricultural robots's data information to according to three let the principle, a plurality of agricultural robots of coordinated control get into each working phase in proper order, realize promptly coordinating a plurality of agricultural robots orderly turn around, avoid bumping, the scheduling problem that knocks into back, realize controlling a plurality of agricultural robots safe operation simultaneously, thereby the use of the manpower that has significantly reduced has improved agricultural production efficiency.
Example 2
7-10, a turning coordination control device for multiple agricultural robots comprises a GPS positioning module, a signal transmission module, a central processing module and an automatic driving module.
The system comprises a GPS positioning module 1, a data processing module and a control module, wherein the GPS positioning module 1 is used for collecting data information of a plurality of agricultural robots, and the data information comprises serial numbers, positions and advancing directions of the agricultural robots;
the signal transmission module 2 adopts an E22-400T30S wireless signal transmission module, is respectively connected with the GPS positioning module 1 and the central processing module 3, and is used for transmitting the data information collected by the GPS positioning module 1 to the central processing module 3;
the central processing module 3 is used for dividing the agricultural robots in a plurality of running states into a plurality of working stages according to the data information, analyzing and comparing the data information, the working stages and the third-yielding principle of the agricultural robots, and then sending the control information to the automatic driving module 4;
and the automatic driving module 4 is used for coordinately controlling a plurality of agricultural robots to turn around in order according to the control information transmitted by the central processing module 3.
All install GPS orientation module 1 among every agricultural robot, signal transmission module 2 and autopilot module 4, GPS orientation module 1 among every agricultural robot provides the information of this agricultural robot position and direction of travel, transmit to central processing unit 3 through signal transmission module 2, central processing unit 3 is according to three letting principle analysis contrast information after, with control information transmission to autopilot module 4, autopilot module 4 continues to advance or stops to dodge according to each agricultural robot of control information control of central processing unit 3, thereby make many agricultural robots coordinate the turn in order, avoid the collision, the scheduling problem of rear-end collision, realize controlling the safe operation simultaneously of a plurality of agricultural robots, thereby the use of manpower has significantly reduced, agricultural production efficiency is improved.
The automatic driving module 4 comprises a single chip microcomputer, a traveling mechanism and an operating machine control mechanism, wherein the traveling mechanism is a triangular crawler wheel traveling mechanism, and the triangular crawler wheel traveling mechanism is in the prior art and is not described in detail.
The operating machine control mechanism comprises a shell 401 fixedly mounted on an agricultural robot, a horizontal wing plate 402 is arranged above the shell 401, it is to be noted that the upper surface of the wing plate 402 is in an upward arched arc shape, the lower surface of the wing plate 402 is a horizontal plane, a pressing rod 403 is fixedly connected to the lower surface of the wing plate 402, the lower end of the pressing rod 403 extends into the shell 401, a swing rod 404 is rotatably connected to the inner side wall of the shell 401, an anti-collision ball 405 is fixedly connected to one end of the swing rod 404, the anti-collision ball 405 is located right below the pressing rod 403, a pressing bulge 406 is arranged at the other end of the swing rod 404, a button switch 407 matched with the pressing bulge 406 is mounted on the inner bottom surface of the shell 401, and when the pressing rod 403 is far away from the swing rod 404, the pressing.
A vertical baffle 408 is arranged in the shell 401, a lifting plate 409 is connected on the side wall of the baffle 408 in a sliding way, the lifting plate 409 is fixed with the inner bottom surface of the shell 401 through a return spring 419, an iron block 410 and a first electric contact 411 are arranged on the upper surface of the lifting plate 409, a mounting plate 412 is fixed on the side wall of the housing 401, a second electrical contact 413 matched with the first electrical contact 411 is mounted on the bottom surface of the mounting plate 412, the working machine is electrically connected with the power supply of the agricultural robot through the first electric contact 411 and the second electric contact 413, and it should be noted that when the return spring 419 is in a natural state, the first electric contact 411 is not in contact with the second electric contact 413, an electromagnet 414 is arranged right above the iron block 410, the electromagnet 414 is fixedly connected with the inner top surface of the shell 401, the electromagnet 414 is electrically connected with the power supply of the agricultural robot through the button switch 407.
The baffle 408 is fixedly connected with a horizontal sliding groove 415, a magnetic isolation plate 416 is arranged in the sliding groove 415 in a sliding mode, the magnetic isolation plate 416 is made of a magnetic isolation material, the magnetic isolation plate 416 is fixedly connected with the inner wall of the sliding groove 415 through an extension spring 417, one end of the magnetic isolation plate 416 penetrates through the baffle 408 and is fixedly connected with a balancing weight 418, it needs to be noted that when the extension spring 417 is in a natural state, the magnetic isolation plate 416 is completely positioned in the sliding groove 415, the centrifugal force on the balancing weight 418 is large in the turning process of the agricultural robot, the magnetic isolation plate 416 is pulled out of the sliding groove 415, and the magnetic isolation plate 415 is inserted between the electromagnet 414 and the iron block 410 to play a magnetic isolation role.
When the agricultural robot walks linearly in a longitudinal field, according to the Bernoulli principle, the wing plate is acted by upward air pressure to drive the pressing rod to move upward and away from the swing rod, the pressing protrusion 406 is pressed on the button switch 407, the electromagnet is electrified and attracts the iron block to approach, the lifting plate drives the first electric contact to move upward and contact with the second electric contact, and the operation machine works normally.
When the agricultural robot stops waiting for the turn at the ground, the pterygoid lamina receives the action of gravity whereabouts, the depression bar drives the pendulum rod and rotates, make and press protruding rising and leave the button switch surface, then the electro-magnet outage, the magnetic attraction to magnet disappears, reset spring pulling lifter plate moves down, make first electricity contact and the second electricity contact of connecting break away from, then the workover rig stop work, avoid the workover rig to do useless work at ground wait process, the energy consumption rate at the during operation of agricultural robot has been reduced, the cost is reduced, and, need not opening of artificial control workover rig and stop, it is high in automation, further reduce the use of manpower, effectively improve the operation effect.
In the turning process of the agricultural robot, under the action of centrifugal force, the centrifugal force applied to the balancing weight 418 is large, the magnetism isolating plate 416 is pulled out of the sliding groove 415, the magnetism isolating plate 415 is inserted between the electromagnet 414 and the iron block 410 at the moment, the magnetism isolating effect is achieved, the idle work of the operation machine in the turning process of the ground is avoided, and the energy waste consumption is further reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A turning coordination control method of multiple agricultural robots is characterized by comprising the following steps:
s1, the GPS positioning module collects data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the traveling directions of the agricultural robots;
s2, transmitting the data information of the agricultural robots collected by the GPS positioning module to a central processing module through a signal transmission module, wherein the central processing module divides the agricultural robots in a plurality of operating states into a plurality of working stages according to the data information;
and S3, the central processing module controls the agricultural robot to be turned to turn over the ground or stop waiting according to the data information, the working stage and the three-way principle corresponding to the agricultural robots, and the agricultural robots are coordinately turned.
2. The method for cooperative turning control of a plurality of agricultural robots according to claim 1, wherein the plurality of working stages of the plurality of agricultural robots in S2 comprises:
t1 waiting for turning at the ground, the agricultural robot arriving at the start line of the ground and lifting the working machine to wait for turning;
t2 first straight angle turn, said agricultural robot making a 90 ° turn from longitudinal field to transverse headland;
t3 transverse headland straight-going, said agricultural robot straight-going to the next working position in the transverse headland;
t4 second quarter turn, said agricultural robot making a 90 ° turn from the transverse headland to the longitudinal field;
t5 the turning of the ground is finished and the agricultural robot lowers the working machine and drives the work straight along the current working path.
3. Method for cooperative control of turning of multiple agricultural robots according to claim 1 characterized in that said three-letting principle comprises:
in principle one, in the turning process of a plurality of agricultural robots, the left agricultural robot stops avoiding the right agricultural robot;
in principle two, in the turning process of a plurality of agricultural robots, the agricultural robot to be turned stops avoiding the agricultural robot in the transverse ground head straight-moving process;
principle three, at a plurality of agricultural robots of the work in same vertical field, the agricultural robot at rear stops dodging the agricultural robot in the place ahead.
4. The method and device for cooperative turning control of multiple agricultural robots according to claim 2, wherein the agricultural robot comprises the following steps in the course of turning the ground according to the three-letting principle:
s31, the agricultural robot reaches the beginning line of the ground, enters a T1 ground waiting turning stage, and lifts the working machine to wait turning;
s32, judging whether the agricultural robot needs to turn within the range of two meters on the right side, if so, returning to S31 to continue to wait for turning, otherwise, entering S33;
s33, judging whether the agricultural robot in the T3 transverse headland straight-ahead ground exists in the front headland, if so, returning to S31 to continue to wait for turning, otherwise, entering S34;
s34, the agricultural robot enters a first straight angle turning stage of T2 and turns 90 degrees from the longitudinal field to the transverse headland;
s35, calculating the distance of the next working position, and enabling the agricultural robot to enter a T3 transverse headland straight-ahead stage and go straight ahead or backwards on the headland to the next working position;
s36, the agricultural robot enters a T4 second right-angle turning stage, the agricultural robot turns 90 degrees from the transverse headland to the longitudinal field and waits at the starting line of the headland;
s37, judging whether an agricultural robot at the T5 heading turning ending stage exists in the range of two meters ahead, if so, returning to S35 to continue waiting, otherwise, entering S37;
and S38, the agricultural robot finishes turning the ground, enters the T6 ground turning finishing stage, lowers the operation machine, and linearly drives along the current working path for operation.
5. A turning coordination control device of a plurality of agricultural robots is characterized by comprising:
the GPS positioning module is used for collecting data information of a plurality of agricultural robots, and the data information comprises the serial numbers, the positions and the advancing directions of the agricultural robots;
the signal transmission module is respectively connected with the GPS positioning module and the central processing module and is used for transmitting the data information collected by the GPS positioning module to the central processing module;
the central processing module is used for dividing the agricultural robots in a plurality of running states into a plurality of working stages according to the data information, analyzing and comparing the data information, the working stages and the third-yielding principle of the agricultural robots, and then sending the control information to the automatic driving module;
and the automatic driving module is used for coordinately controlling the agricultural robots to turn around in order according to the control information transmitted by the central processing module.
6. The multi-agricultural robot turning coordination control device according to claim 5, wherein said automatic driving module comprises a single chip microcomputer, a traveling mechanism and a working machine control mechanism, and said traveling mechanism is a triangular crawler wheel traveling mechanism.
7. The multi-agricultural-robot turning coordination control device according to claim 6, wherein the operating machine control mechanism comprises a shell fixedly mounted on the agricultural robot, a horizontal wing plate is arranged above the shell, a pressure rod is fixedly connected to the lower surface of the wing plate, the lower end of the pressure rod extends into the shell, a swing rod is rotatably connected to the inner side wall of the shell, an anti-collision ball is fixedly connected to one end of the swing rod, the anti-collision ball is located right below the pressure rod, a pressing bulge is arranged at the other end of the swing rod, a button switch matched with the pressing bulge is mounted on the inner bottom surface of the shell, and when the pressure rod is far away from the swing rod, the pressing bulge presses on the button switch;
the improved agricultural robot is characterized in that a vertical baffle is arranged in the shell, a lifting plate is connected to the side wall of the baffle in a sliding mode, the lifting plate is fixed to the inner bottom surface of the shell through a reset spring, an iron block and a first electric contact are mounted on the upper surface of the lifting plate, a mounting plate is fixed to the side wall of the shell, a second electric contact matched with the first electric contact is mounted on the bottom surface of the mounting plate, the operation machine is electrically connected with an agricultural robot power source through the first electric contact and the second electric contact, an electromagnet is arranged right above the iron block and fixedly connected to the inner top surface of the shell, and the electromagnet is electrically connected with the agricultural robot power source through a button switch.
8. The multi-agricultural robot turning coordination control device according to claim 7, wherein a horizontal sliding groove is fixedly connected to the baffle, a magnetism isolating plate slides in the sliding groove, the magnetism isolating plate is fixedly connected to the inner wall of the sliding groove through a tension spring, and one end of the magnetism isolating plate penetrates through the baffle and is fixedly connected with a balancing weight.
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|---|---|---|---|---|
| CN117378454A (en) * | 2023-12-04 | 2024-01-12 | 内蒙古中航民富科技有限公司 | Bidirectional operation control method and system for desert planting robot |
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2021
- 2021-04-02 CN CN202110361397.7A patent/CN113093752A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117378454A (en) * | 2023-12-04 | 2024-01-12 | 内蒙古中航民富科技有限公司 | Bidirectional operation control method and system for desert planting robot |
| CN117378454B (en) * | 2023-12-04 | 2024-02-20 | 内蒙古中航民富科技有限公司 | Bidirectional operation control method and system for desert planting robot |
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