CN113412722A - Unmanned traction operation chassis for airport mowing device - Google Patents
Unmanned traction operation chassis for airport mowing device Download PDFInfo
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- CN113412722A CN113412722A CN202110601653.5A CN202110601653A CN113412722A CN 113412722 A CN113412722 A CN 113412722A CN 202110601653 A CN202110601653 A CN 202110601653A CN 113412722 A CN113412722 A CN 113412722A
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- chassis
- traction
- steering
- power
- unmanned
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
The invention provides an unmanned traction operation chassis for an airport mowing device, which comprises a traction chassis and a mower, wherein the traction chassis is provided with a traction wheel; the mower is connected with the traction chassis through a transmission connecting shaft; the traction chassis comprises a control system, a driving system, a steering system, a navigation system, a hydraulic system, a power output system and an obstacle avoidance system, wherein the driving system, the steering system, the navigation system, the hydraulic system, the power output system and the obstacle avoidance system are connected with the control system; can provide traction force and running power for the mower, and realize unmanned mowing operation.
Description
Technical Field
The invention relates to the technical field of mowing devices, in particular to an unmanned traction operation chassis for an airport mowing device.
Background
Mowers are also known as weed trimmers, lawnmowers, lawn trimmers, and the like. A lawn mower is a mechanical tool used for trimming lawns, vegetation, and the like; with the development of the lawn mower, a traction-type lawn mower gradually appears, and the main working mode of the existing traction-type lawn mower is to use an agricultural tractor to pull and provide power for the operation of the lawn mower, and when the agricultural tractor pulls and works for a long time in a large area, the problem of low efficiency exists and the function of mowing can be realized only by needing to be equipped with corresponding operators.
Disclosure of Invention
The invention aims to provide an unmanned traction operation chassis for an airport mowing device, which solves the problems that the efficiency is low when an existing agricultural tractor is used for traction and works for a long time in a large area, and the mowing function can be realized only by needing to be equipped with corresponding operators.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned traction operation chassis for an airport mowing device comprises a traction chassis and a mower; the mower is connected with the traction chassis through a transmission connecting shaft; the traction chassis comprises a control system, a driving system, a steering system, a navigation system, a hydraulic system, a power output system and an obstacle avoidance system, wherein the driving system, the steering system, the navigation system, the hydraulic system, the power output system and the obstacle avoidance system are connected with the control system;
the driving system is arranged at the rear end of the traction chassis and provides power for the traction chassis;
the steering system is arranged at the front end of the traction chassis and provides steering power;
the navigation system is arranged at the upper part of the traction chassis and acquires the advancing direction of the traction chassis;
the hydraulic system is arranged on the traction chassis and is connected with a brake caliper in wheels of the unmanned vehicle of the traction chassis;
the power output system is arranged at the tail part of the traction chassis and is connected with the mower;
the obstacle avoidance system is arranged at the front end of the traction chassis and acquires obstacle information in front of the traction chassis;
as a further improvement of the above technical solution, the driving system is connected with the traction chassis through a main driving motor and a frame connecting plate, and the driving system includes a power rear axle and a main driving motor; the power rear axle is connected with wheels of the traction chassis, and the main drive motor is connected with the power rear axle and provides power for the traction chassis.
As a further improvement of the above technical scheme, the steering system is connected with the traction chassis through a front axle and a frame connecting seat; the steering system comprises a steering front axle and a steering electric cylinder; the steering front axle is connected with wheels of the traction chassis, and the steering electric cylinder is connected with the steering front axle and provides steering power for the steering front axle.
As a further improvement of the technical scheme, the navigation system is a Beidou navigation RTK, and the Beidou navigation RTK is connected with the traction chassis through a Beidou navigation RTK and a frame connecting seat.
As a further improvement of the technical scheme, the hydraulic system is a hydraulic station, the hydraulic station is connected with the traction chassis through a hydraulic station and a frame connecting seat, when the hydraulic station is used, the hydraulic station is connected with a brake caliper in an unmanned vehicle wheel, and after the hydraulic station is actuated, brake oil is provided for the brake caliper, so that a brake piston in the brake caliper acts to drive a brake block to press the brake disc.
As a further improvement of the above technical scheme, the power output system is connected with the traction chassis through a rear axle and a frame connecting seat; the power output system comprises an output shaft and a power output motor; one end of the output shaft is connected with the power output motor, and the other end of the output shaft is connected with the mower through a transmission connecting shaft; in this embodiment, the transmission connecting shaft includes a transmission spline shaft connected to the output shaft and a connecting pin shaft connected to the traction chassis, and the transmission spline shaft provides rotational power.
As a further improvement of the above technical solution, the obstacle avoidance system is a laser radar; the laser radar is connected with the traction chassis through the laser radar and the vehicle body connecting seat.
Compared with the prior art, the invention has the beneficial effects that: the navigation system provides judgment of the advancing direction for the unmanned traction operation chassis, generates position information and sends the position information to the control system; the obstacle avoidance system collects obstacle information at the front end of the unmanned traction operation chassis, generates an obstacle information signal and sends the obstacle information signal to the control system; the control system receives the obstacle information signals acquired by the obstacle avoidance system to sense the surrounding environment of the vehicle, and controls the traction chassis by the driving system, the steering system and the hydraulic system after being processed by the control system according to data obtained by sensing, such as information of roads, vehicle positions, obstacles and the like, so that the traction chassis can run safely and reliably; by adopting the unmanned technology, the traction force and the running power can be provided for the mower, and the unmanned mowing operation is realized.
Drawings
FIG. 1 is a schematic view of the connection of a traction chassis to a mower according to the present invention;
FIG. 2 is a schematic illustration of the traction chassis of the present invention;
FIG. 3 is a schematic view of a connecting seat structure of the traction chassis of the present invention;
FIG. 4 is a schematic view of the drive system of the present invention;
FIG. 5 is a schematic view of the steering system of the present invention;
FIG. 6 is a schematic structural diagram of a navigation system according to the present invention;
FIG. 7 is a schematic diagram of the hydraulic system of the present invention;
FIG. 8 is a schematic illustration of the power take-off system of the present invention;
FIG. 9 is a schematic diagram of a dual camera system according to the present invention;
FIG. 10 is a schematic diagram of a lidar architecture according to the present invention;
FIG. 11 is a schematic structural view of the drive connection shaft of the present invention;
figure 12 shows a schematic frame diagram of the traction chassis of the present invention.
Reference numerals: the system comprises a traction chassis 1, a mower 2, a transmission connecting shaft 3, a main driving motor and frame connecting plate 4, a power rear axle 5, a main driving motor 6, a front axle and frame connecting seat 7, a steering front axle 8, a steering electric cylinder 9, a Beidou navigation RTK10, an RTK and frame connecting seat 11, a hydraulic station 12, a hydraulic station and frame connecting seat 13, a rear axle and frame connecting seat 14, an output shaft 15, a power output motor 16, a laser radar 17, a laser radar and vehicle body connecting seat 18 and a dual-camera system 19.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-11 together, the invention discloses an unmanned traction operation chassis for an airport mowing device, which comprises a traction chassis 1 and a mower 2; the mower 2 is connected with the traction chassis 1 through a transmission connecting shaft 3; the traction chassis 1 comprises a control system, a driving system, a steering system, a navigation system, a hydraulic system, a power output system and an obstacle avoidance system, wherein the driving system, the steering system, the navigation system, the hydraulic system, the power output system and the obstacle avoidance system are connected with the control system;
the driving system is arranged at the rear end of the traction chassis 1 and provides power for the traction chassis 1;
the steering system is arranged at the front end of the traction chassis 1 and provides steering power;
the navigation system is arranged at the upper part of the traction chassis 1 and acquires the advancing direction of the traction chassis 1;
the hydraulic system is arranged on the traction chassis 1 and is connected with a brake caliper in wheels of the unmanned vehicle of the traction chassis 1;
the power output system is arranged at the tail part of the traction chassis 1 and is connected with the mower 2;
the obstacle avoidance system is arranged at the front end of the traction chassis 1 and acquires obstacle information in front of the traction chassis 1;
when the system is used, the navigation system provides judgment of the advancing direction for the unmanned traction operation chassis, generates position information and sends the position information to the control system; the obstacle avoidance system collects obstacle information at the front end of the unmanned traction operation chassis, generates an obstacle information signal and sends the obstacle information signal to the control system; the control system receives the obstacle information signals acquired by the obstacle avoidance system to sense the surrounding environment of the vehicle, and controls the traction chassis 1 through the driving system, the steering system and the hydraulic system after being processed by the control system according to data obtained by sensing, such as information of roads, vehicle positions, obstacles and the like, so that the traction chassis 1 can run safely and reliably; by adopting the unmanned technology, the traction force and the running power can be provided for the mower, and the unmanned mowing operation is realized.
Referring to fig. 3 and 4, specifically, the driving system is connected with the traction chassis 1 through a main driving motor and a frame connecting plate 4, and the driving system comprises a power rear axle 5 and a main driving motor 6; the power rear axle 5 is connected with wheels of the traction chassis 1, and the main drive motor 6 is connected with the power rear axle 5 and provides power for the traction chassis 1.
Referring to fig. 3 and 5, in particular, the steering system is connected with the traction chassis 1 through a front axle and frame connecting seat 7; the steering system comprises a steering front axle 8 and a steering electric cylinder 9; the steering front axle 8 is connected with wheels of the traction chassis 1, and the steering electric cylinder 9 is connected with the steering front axle 8 and provides steering power for the steering front axle 8.
Referring to fig. 3 and 6, specifically, the navigation system is a beidou navigation RTK10, and the beidou navigation RTK10 is connected with the towing chassis 1 through a beidou navigation RTK and the frame connecting seat 11.
Referring to fig. 3 and 7, specifically, the hydraulic system is a hydraulic station 12, the hydraulic station 12 is connected with the traction chassis 1 through a hydraulic station and a frame connecting seat 13, when the hydraulic station 12 is used, the hydraulic station 12 is connected with a brake caliper in an unmanned vehicle wheel, and after the hydraulic station 12 is actuated, brake oil is provided for the brake caliper, so that a brake piston in the brake caliper acts to drive a brake block to press a brake disc.
Referring to fig. 3, 8 and 10, in particular, the power output system is connected with the traction chassis 1 through a rear axle and frame connecting seat 14; the power output system comprises an output shaft 15 and a power output motor 16; one end of the output shaft 15 is connected with the power output motor 16, and the other end of the output shaft 15 is connected with the mower 2 through a transmission connecting shaft 3; in this embodiment, the transmission connecting shaft 3 includes a transmission spline shaft a connected to the output shaft 15 and a connecting pin b connected to the traction chassis 1, and the transmission spline shaft provides rotational power.
Referring to fig. 3 and 9, specifically, the obstacle avoidance system includes a laser radar 17 and a dual-camera system 19; the laser radar 17 is connected with the traction chassis 1 through a laser radar and vehicle body connecting seat 18; the dual camera system 19 is arranged at the front end of the traction chassis 1.
In the above embodiment, the navigation system adopts the navigation algorithm to discriminate the traveling direction, and during the discrimination, the navigation algorithm adopts the visual positioning in combination with the navigation of the IMU and the encoder, and the main flow is as follows:
measuring the real-time relative position of the vehicle by a binocular camera arranged outside the mowing area, and converting the real-time relative position into a mowing area coordinate system calibrated in advance; acquiring the relative attitude and the relative movement distance of the vehicle according to an IMU (inertial measurement unit); acquiring the speed and the running distance of the vehicle according to the encoder; and performing extended Kalman filtering on the position and speed information acquired by the three devices, estimating the error of a navigation system, correcting the inertial navigation system, communicating with a controller, adjusting the rotating speed and the direction of a motor through the controller to realize automatic adjustment of a cruising course, and judging whether an obstacle exists in front of a moving path through an environment sensing module in the advancing process, thereby performing real-time course adjustment again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An unmanned traction operation chassis for an airport mowing device is characterized by comprising a traction chassis (1) and a mower (2); the mower (2) is connected with the traction chassis (1) through a transmission connecting shaft (3); the traction chassis (1) comprises a control system, a driving system, a steering system, a navigation system, a hydraulic system, a power output system and an obstacle avoidance system, wherein the driving system, the steering system, the navigation system, the hydraulic system, the power output system and the obstacle avoidance system are connected with the control system;
the driving system is arranged at the rear end of the traction chassis (1) and provides power for the traction chassis (1);
the steering system is arranged at the front end of the traction chassis (1) and provides steering power;
the navigation system is arranged at the upper part of the traction chassis (1) and acquires the advancing direction of the traction chassis (1);
the hydraulic system is arranged on the traction chassis (1) and is connected with a brake caliper in an unmanned vehicle wheel of the traction chassis (1);
the power output system is arranged at the tail part of the traction chassis (1) and is connected with the mower (2);
the obstacle avoidance system is arranged at the front end of the traction chassis (1) and collects obstacle information in front of the traction chassis (1).
2. The unmanned traction work chassis for airport mowing device according to claim 1, characterized in that the driving system is connected with the traction chassis (1) through a main driving motor and frame connection plate (4), the driving system comprises a power rear axle (5) and a main driving motor (6); the power rear axle (5) is connected with wheels of the traction chassis (1), and the main drive motor (6) is connected with the power rear axle (5) and provides power for the traction chassis (1).
3. The unmanned towed work chassis for airport mowing devices according to claim 1, wherein the steering system is connected to the towing chassis (1) through a front axle and frame attachment base (7); the steering system comprises a steering front axle (8) and a steering electric cylinder (9); the steering front axle (8) is connected with wheels of the traction chassis (1), and the steering electric cylinder (9) is connected with the steering front axle (8) and provides steering power for the steering front axle (8).
4. The unmanned towing work chassis for airport lawn mowers according to claim 1, characterized in that the navigation system is a Beidou navigation RTK (10), the Beidou navigation RTK (10) is connected with the towing chassis (1) through a Beidou navigation RTK and frame connecting base (11).
5. Unmanned working chassis for airport mowing device according to claim 1, characterized in that the hydraulic system is a hydraulic station (12), the hydraulic station (12) is connected with the traction chassis (1) through a hydraulic station and frame connection base (13).
6. The unmanned traction work chassis for an airport mowing device according to claim 1, wherein the power take-off system is connected with the traction chassis (1) through a rear axle and frame connecting base (14); the power output system comprises an output shaft (15) and a power output motor (16); one end of the output shaft (15) is connected with the power output motor (16), and the other end of the output shaft (15) is connected with the mower (2) through a transmission connecting shaft (3).
7. The unmanned towed working chassis for airport mowing device according to claim 6, characterized in that a transmission connection shaft (3) comprises a transmission spline shaft connected with the output shaft (15) and a connection pin connected with the towing chassis (1), the transmission spline shaft providing rotational power.
8. The unmanned traction work chassis for airport mowing device according to claim 1, wherein the obstacle avoidance system is a laser radar (17); the laser radar (17) is connected with the traction chassis (1) through a laser radar and vehicle body connecting seat (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601653.5A CN113412722A (en) | 2021-05-31 | 2021-05-31 | Unmanned traction operation chassis for airport mowing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601653.5A CN113412722A (en) | 2021-05-31 | 2021-05-31 | Unmanned traction operation chassis for airport mowing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113412722A true CN113412722A (en) | 2021-09-21 |
Family
ID=77713415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110601653.5A Pending CN113412722A (en) | 2021-05-31 | 2021-05-31 | Unmanned traction operation chassis for airport mowing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113412722A (en) |
-
2021
- 2021-05-31 CN CN202110601653.5A patent/CN113412722A/en active Pending
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