CN113812232A - Self-adaptive support platform convenient for smart orchard operation and operation method thereof - Google Patents
Self-adaptive support platform convenient for smart orchard operation and operation method thereof Download PDFInfo
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- CN113812232A CN113812232A CN202111207616.2A CN202111207616A CN113812232A CN 113812232 A CN113812232 A CN 113812232A CN 202111207616 A CN202111207616 A CN 202111207616A CN 113812232 A CN113812232 A CN 113812232A
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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
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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Abstract
The invention discloses a self-adaptive support platform convenient for smart orchard operation and an operation method thereof, wherein the self-adaptive support platform convenient for smart orchard operation comprises a chassis support, a rigid-flexible hybrid driving platform, a telescopic rod platform mechanism, an angle adjusting mechanism and a walking mechanism. The self-adaptive support platform convenient for intelligent orchard operation utilizes the telescopic rod platform mechanism to install different orchard operation tools and performs telescopic position adjustment on the orchard operation tools, so that efficient orchard operation is performed; the orientation and the angle of the telescopic end of the telescopic rod platform mechanism are adjusted at will by the angle adjusting mechanism, so that the efficient and accurate operation of the telescopic rod platform mechanism is realized; the height position of the telescopic rod platform mechanism is adjusted by the rigid-flexible hybrid drive platform, so that the telescopic rod platform mechanism can operate at different heights and different angles.
Description
Technical Field
The invention relates to a supporting platform, in particular to a self-adaptive supporting platform convenient for intelligent orchard operation and an operation method thereof.
Background
The fruit tree industry occupies a very important position in agriculture in China. With the continuous promotion of the adjustment and the upgrading of the domestic agricultural industry structure, the intelligent orchard becomes the mainstream direction of future orchard planting mode development. In order to properly handle the aging of current fruit growers, how to improve the operation efficiency, ensure the fruit quality and the like, units such as domestic scientific research institutes, colleges and universities develop various mechanized and intelligent agricultural equipment aiming at the operations such as picking, spraying, trimming and the like of orchards, and a plurality of remarkable effects are obtained. Research shows that most of existing agricultural equipment in the orchard is special, the universality is poor, and the construction cost of the intelligent orchard can be obviously increased to a certain extent. Therefore, aiming at the unique operation characteristics in the orchard management and picking process: the road surface flatness is not good, the operation range is large, the work load is not large, and a self-adaptive supporting platform convenient for intelligent orchard operation and an operation method thereof need to be developed to match with a future planting mode of the intelligent orchard.
Disclosure of Invention
The purpose of the invention is as follows: the self-adaptive support platform convenient for intelligent orchard operation and the operation method thereof are provided, different operation tools are installed according to different orchard operation requirements, and orchard operation is efficiently and accurately completed.
The technical scheme is as follows: the self-adaptive support platform convenient for intelligent orchard operation comprises an autonomous driving trolley and a rigid-flexible hybrid driving platform; the rigid-flexible hybrid driving platform comprises a lifting platform, a telescopic rod platform mechanism and an angle adjusting mechanism; the lifting platform is arranged on the autonomous traveling trolley and is carried by the autonomous traveling trolley to move; the telescopic rod platform mechanism is movably arranged at the top of the lifting platform and is driven by the lifting platform to move up and down; the angle adjusting mechanism is arranged between the autonomous travelling trolley and the telescopic rod platform mechanism, and the orientation angle of the telescopic end of the telescopic rod platform mechanism is adjusted by the angle adjusting mechanism; the telescopic end of the telescopic rod platform mechanism is used for installing the orchard operation tool and adjusting the telescopic position of the orchard operation tool.
Further, the autonomous traveling trolley comprises a chassis support, a four-wheel traveling mechanism and a crawler-type traveling mechanism; the four-wheel traveling mechanism is arranged on the chassis bracket; a bottom plate groove is arranged on the lower side surface of the chassis support; a set of walking state switching mechanisms are respectively arranged at the front side and the rear side of the chassis support, the crawler-type walking mechanisms are arranged on the two sets of walking state switching mechanisms, and the two sets of walking state switching mechanisms drive the crawler-type walking mechanisms to walk;
a lower detection sensor for detecting ground obstacles is arranged on the chassis support; a controller is arranged in the bottom plate groove; the lower detection sensor is electrically connected with the controller; the lifting platform, the telescopic rod platform mechanism, the angle adjusting mechanism, the walking state switching mechanism, the four-wheel walking mechanism and the crawler-type walking mechanism are all driven and controlled by the controller.
Further, the walking state switching mechanism comprises an electric telescopic push rod, a rotating shaft and two L-shaped brackets; two ends of the rotating shaft respectively penetrate through the left and right tank walls of the bottom plate tank in a rotating mode and then extend out of the chassis bracket; a hinge seat is arranged on the circumferential side surface of the rotating shaft; the short arms of the two L-shaped brackets are respectively fixed on the two penetrating ends of the rotating shaft; one end of the electric telescopic push rod is hinged in the bottom plate groove, the other end of the electric telescopic push rod is hinged on the hinge seat of the rotating shaft, and the electric telescopic push rod controls the two L-shaped brackets to swing through the rotating shaft; the crawler-type travelling mechanism is arranged on the long arm of the L-shaped bracket; the electric telescopic push rod is electrically connected with the controller.
Further, the crawler-type travelling mechanism comprises an electric driving wheel, a driven wheel and an annular crawler; the electric driving wheel and the driven wheel are respectively arranged at two ends of the long arm of the L-shaped bracket; the electric driving wheel is in transmission connection with the driven wheel through the annular crawler;
and a driving wheel driving circuit electrically connected with the controller and each electric driving wheel is arranged in the bottom plate groove, and the controller coordinately drives each electric driving wheel through the driving wheel driving circuit.
Further, the rigid-flexible hybrid driving platform comprises a U-shaped upper side frame, a 'ri' -shaped lower side frame, a shearing type lifting driving motor, a shearing type lifting frame and a driving screw rod; the lower frame of the shape of a Chinese character 'ri' is fixed on the upper side surface of the chassis bracket; the scissor type lifting frame comprises two scissor type bracket branches; the two scissor type support branches are supported between the U-shaped upper side frame and the B-shaped lower side frame in a bilateral symmetry manner, and the front lower ends of the two scissor type support branches are connected through a connecting rod; the scissor type lifting driving motor is arranged on the frame at the lower side of the shape of the Chinese character ri; one end of a driving screw rod is butted on an output shaft of the scissor type lifting driving motor, the other end of the driving screw rod is rotatably arranged on the frame at the lower side of the shape of the Chinese character 'ri', the driving screw rod is screwed in the middle of a connecting rod, and the driving screw rod synchronously drives the branches of the two scissor type supports to lift through the connecting rod; the telescopic rod platform mechanism is arranged on the U-shaped upper side frame; an upper detection sensor for detecting an aerial obstacle is arranged on the U-shaped upper side frame, and the upper detection sensor is electrically connected with the controller;
and a shear type lifting driving circuit electrically connected with the controller and the shear type lifting driving motor is arranged in the bottom plate groove, and the controller drives the shear type lifting driving motor through the shear type lifting driving circuit.
Furthermore, two limiting sliding grooves are longitudinally arranged on the upper side surface of the frame at the lower side of the shape of the Chinese character ri, and two rollers at the lower side are respectively matched with the two limiting sliding grooves.
Further, the telescopic rod platform mechanism comprises a swinging pipe, a sliding rod, a telescopic driving motor and a rectangular frame; the left side plate and the right side plate of the rectangular frame are respectively and rotatably arranged on the left frame rod and the right frame rod of the U-shaped upper side frame; the swing pipe is arranged on the upper side plate and the lower side plate of the rectangular frame in a swing mode; one end of the sliding rod is inserted on the swing pipe, and the other end of the sliding rod is used for installing an orchard operation tool; a driven rack is arranged on the circumferential side surface of the sliding rod along the length direction; the telescopic driving motor is arranged on the oscillating pipe, and an output shaft of the telescopic driving motor is provided with a driving gear meshed with the driven rack;
and a telescopic driving circuit electrically connected with the controller and the telescopic driving motor is arranged in the bottom plate groove, and the controller drives the telescopic driving motor through the telescopic driving circuit.
Furthermore, a through groove is formed in the oscillating pipe along the length direction, and the driven rack is in sliding fit with the through groove.
Furthermore, the angle adjusting mechanism comprises four flexible rope driving branches, and each flexible rope driving branch comprises a flexible rope winding and unwinding motor, a flexible rope and a redirection pulley; the front side and the rear side of the swing pipe are both provided with rope buckles; the soft rope winding and unwinding motor is arranged in the bottom plate groove; a winding shaft is arranged on an output shaft of the soft rope winding and unwinding motor; the four direction-changing pulleys are respectively and rotatably arranged at four top corners of the bottom plate groove; one end of the soft rope is fixed on the winding shaft, the other end of the soft rope penetrates through the chassis support and then is fixed on one of the rope buckles, and the middle part of the soft rope is pressed on one of the direction-changing pulleys;
a soft rope retracting circuit electrically connected with the controller and each soft rope retracting motor is arranged in the bottom plate groove, and the controller coordinately controls each soft rope retracting motor through the soft rope retracting circuit.
The invention also provides an operation method of the self-adaptive support platform convenient for intelligent orchard operation, which comprises the following steps:
the preparation method comprises the following steps: installing corresponding operation tools on the telescopic rod platform according to different operation tasks of the intelligent orchard;
a step of selecting a traveling mechanism: the lower detection sensor feeds detected road surface information back to the controller in real time, the controller judges whether the road surface is flat or not, and when the controller judges that the road surface is flat, the controller coordinately controls the four-wheel traveling mechanism to travel; when the controller judges that the road surface is uneven, the controller coordinately controls the four crawler-type traveling mechanisms to travel;
obstacle avoidance step: when the controller receives the information of the lower detection sensor and judges that the road surface has the obstacle, the controller replans the route and coordinates and controls the current travelling mechanism to avoid the obstacle;
a height adjusting step: according to the height type of orchard operation, the controller adjusts the telescopic rod platform to the height suitable for operation through the rigid-flexible hybrid driving platform; the controller adjusts the pitching state of the telescopic rod platform through the angle adjusting mechanism, and the height position of the orchard operation tool is further adjusted through the telescopic rod platform in a telescopic mode;
a position adjusting step: when a plurality of operation objects are distributed in a small range, the controller coordinately controls the rigid-flexible hybrid driving platform, the telescopic rod platform and the angle adjusting mechanism, performs small-range height adjustment on the telescopic rod platform, and simultaneously drives the telescopic rod platform to stretch and swing to each operation position; when a plurality of operation objects are distributed in a large range, the controller coordinately controls the travelling mechanism, the rigid-flexible hybrid driving platform, the telescopic rod platform and the angle adjusting mechanism, performs ground position adjustment and small-range height adjustment on the telescopic rod platform, and simultaneously drives the telescopic rod platform to stretch and swing to each operation position;
compared with the prior art, the invention has the beneficial effects that: different orchard operation tools are installed by using the telescopic rod platform mechanism, and telescopic position adjustment is carried out on the orchard operation tools, so that efficient orchard operation is carried out; the orientation and the angle of the telescopic end of the telescopic rod platform mechanism are adjusted at will by the angle adjusting mechanism, so that the efficient and accurate operation of the telescopic rod platform mechanism is realized; the height position of the telescopic rod platform mechanism is adjusted by using the rigid-flexible hybrid drive platform, so that the telescopic rod platform mechanism can work at different heights and different angles; the lifting platform can walk on flat and uneven road surfaces by utilizing the autonomous driving trolley to carry, so that the multifunctional self-adaptive supporting platform can adapt to various road conditions in an orchard and in different roads.
Drawings
FIG. 1 is a diagram of the aerial work state of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a driving state diagram of the present invention;
FIG. 4 is a low-level operating state diagram of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1-4, the adaptive support platform for smart orchard work according to the present invention comprises: the autonomous driving trolley and the rigid-flexible hybrid driving platform 2; the rigid-flexible hybrid driving platform 2 comprises a lifting platform, a telescopic rod platform mechanism and an angle adjusting mechanism; the lifting platform is arranged on the autonomous traveling trolley and is carried by the autonomous traveling trolley to move; the telescopic rod platform mechanism is movably arranged at the top of the lifting platform and is driven by the lifting platform to move up and down; the angle adjusting mechanism is arranged between the autonomous travelling trolley and the telescopic rod platform mechanism, and the orientation angle of the telescopic end of the telescopic rod platform mechanism is adjusted by the angle adjusting mechanism; the telescopic end of the telescopic rod platform mechanism is used for installing the orchard operation tool and adjusting the telescopic position of the orchard operation tool.
Different orchard operation tools are installed by using the telescopic rod platform mechanism, and telescopic position adjustment is carried out on the orchard operation tools, so that efficient orchard operation is carried out; the orientation and the angle of the telescopic end of the telescopic rod platform mechanism are adjusted at will by the angle adjusting mechanism, so that the efficient and accurate operation of the telescopic rod platform mechanism is realized; the height position of the telescopic rod platform mechanism is adjusted by using the rigid-flexible hybrid drive platform 2, so that the telescopic rod platform mechanism can work at different heights and different angles; the lifting platform can walk on flat and uneven road surfaces by utilizing the autonomous driving trolley to carry, so that the multifunctional self-adaptive supporting platform can adapt to various road conditions in an orchard and in different roads.
Further, the autonomous traveling trolley comprises a chassis support 1, a four-wheel traveling mechanism and a crawler-type traveling mechanism; the four-wheel traveling mechanism is composed of four servo electric wheels 3; four servo electric wheels 3 are arranged on the chassis bracket 1; a bottom plate groove 16 is arranged on the lower side surface of the chassis bracket 1; a set of walking state switching mechanisms are respectively arranged at the front side and the rear side of the chassis support 1, the crawler-type walking mechanisms are arranged on the two sets of walking state switching mechanisms, and the two sets of walking state switching mechanisms drive the crawler-type walking mechanisms to walk;
a lower detection sensor 14 for detecting a ground obstacle is mounted on the chassis frame 1; a controller is arranged in the bottom plate groove 16; the lower detection sensor 14 is electrically connected to the controller; the lifting platform, the telescopic rod platform mechanism, the angle adjusting mechanism, the walking state switching mechanism, the four-wheel walking mechanism and the crawler-type walking mechanism are all driven and controlled by the controller.
The running state switching mechanism is utilized to switch the running mechanisms according to different road conditions in the orchard, each crawler-type running mechanism is put down to run when the road surface is uneven, the four-wheel running mechanism is suspended, each crawler-type running mechanism is folded when the road surface is even, and the four-wheel running mechanism is driven to land, so that the multifunctional self-adaptive support platform can adapt to various road conditions in the orchard and different road conditions; the lower detection sensor 14 is used for detecting the road condition, so that the controller can control the traveling state switching mechanism to switch the state of the traveling mechanism conveniently, and simultaneously detect obstacles, so that the controller can re-plan a route to avoid the obstacles.
Further, the traveling state switching mechanism includes an electric telescopic rod 131, a rotating shaft 133 and two L-shaped brackets 135; the left end and the right end of the rotating shaft 133 respectively penetrate through the backward extending positions of the left and the right tank walls of the bottom plate tank 16 in a rotating manner and extend out of the chassis bracket 1, and the two rotating shafts 133 are respectively positioned at the front side and the rear side of the bottom plate tank 16; a hinge seat is provided on the circumferential side of the rotation shaft 133; the short arm ends of the two L-shaped brackets 135 are respectively fixed on the two penetrating ends of the rotating shaft 133; the two L-shaped brackets 135 on the same side face are in a concave shape; one end of the electric telescopic push rod 131 is hinged in the bottom plate groove 16, the other end of the electric telescopic push rod 131 is hinged on a hinge seat of the rotating shaft 133, and the electric telescopic push rod 131 controls the two L-shaped brackets 135 to swing through the rotating shaft 133; the crawler-type traveling mechanism is arranged on the long arm of the L-shaped bracket 135; the two electric telescopic push rods 131 are electrically connected with the controller.
The electric telescopic push rod 131 is used for telescopically driving the rotating shaft 133 to rotate under the control of the controller, and the telescopic driving rotating shaft 133 drives the L-shaped support 135 to swing up and down, so that the crawler-type travelling mechanism is switched between putting down and putting up, and the state switching of the travelling mechanism is realized.
Further, the crawler type traveling mechanism includes an electric driving wheel 136, a driven wheel 137, and an endless track 134; the electric driving wheel 136 and the driven wheel 137 are respectively arranged at two ends of the long arm of the L-shaped bracket 135; the electric driving wheel 136 is in transmission connection with the driven wheel 137 through the annular crawler 134; a support wheel 138 which is pressed on the lower endless track 134 is arranged between the electric driving wheel 136 and the driven wheel 137, and the lower side of the endless track 134 is in a straight line; a drive wheel drive circuit is provided in the floor tub 16 with a controller and each of the electric drive wheels 136, the controller cooperatively driving each of the electric drive wheels 136 via the drive wheel drive circuit.
By utilizing the matching among the driving wheel 136, the driven wheel 137 and the annular crawler 134, the crawler-type traveling mechanism has larger landing area during traveling, thereby reducing the pressure on the ground, increasing the traction capacity and facilitating the traveling on soft muddy or uneven ground; the support wheels 138 are pressed on the annular crawler 134 on the lower side to enable the lower side of the annular crawler 134 to be in a straight line, so that the landing area of the annular crawler 134 is further increased, and the running stability is enhanced.
Further, the rigid-flexible hybrid driving platform 2 comprises a U-shaped upper side frame 212, a "B" -shaped lower side frame 211, a scissor type lifting driving motor 213, a scissor type lifting frame and a driving screw rod 214; the lower frame 211 of the shape of the Chinese character 'ri' is fixed on the upper side of the chassis bracket 1; the scissor type lifting frame comprises two scissor type bracket branches; the two scissor type bracket branches are supported between the lower frame 211 and the upper frame 212 in a left-right symmetrical mode; the scissor type support branch comprises at least one X-shaped support which is formed by hinging the middle parts of two support rods 216; when the number of the X-shaped supports is more than one, the two ends of the upper side of each X-shaped support are respectively hinged to the two ends of the lower side of the adjacent X-shaped support above the X-shaped support; the rear upper ends of the scissor type bracket branches are hinged at the vertex angle at the rear side of the U-shaped upper side frame 212, and the front upper ends of the scissor type bracket branches are provided with rollers 219 pressed on the lower side surface of the U-shaped upper side frame 212; the rear lower end of the scissor type bracket branch is hinged at the vertex angle at the rear side of the 'day' -shaped lower side frame 211, and the front lower end of the scissor type bracket branch is provided with a roller 219 pressed on the upper side surface of the 'day' -shaped lower side frame 211; the front lower ends of the X-shaped supports at the lowest sides of the two scissor-type supports are connected through a connecting rod 210;
the scissor type lifting driving motor 213 is arranged on the middle rod of the lower frame 211 in the shape of a Chinese character 'ri'; one end of a driving screw rod 214 is butted on an output shaft of the scissor type lifting driving motor 213, the other end of the driving screw rod 214 is rotatably arranged on a front side rod of the 'day' -shaped lower side frame 211, the driving screw rod 214 is screwed in the middle of the connecting rod 210, and the driving screw rod 214 synchronously drives the two scissor type support branches to lift through the connecting rod 210; the telescopic rod platform mechanism is arranged on the U-shaped upper side frame 212, and the U-shaped upper side frame 212 does not obstruct the telescopic rod platform mechanism from swinging up and down; an upper detection sensor 15 for detecting an overhead obstacle is mounted on the U-shaped upper frame 212, and the upper detection sensor 15 is electrically connected to the controller;
a scissor lift driving circuit electrically connected to the controller and the scissor lift driving motor 213 is provided in the floor tub 16, and the controller drives the scissor lift driving motor 213 through the scissor lift driving circuit.
The connecting rod 210 is used for facilitating the scissor type lifting driving motor 213 to synchronously drive the two scissor type support branches to lift under the control of the controller, so that the U-shaped upper side frame 212 drives the telescopic rod platform mechanism to stably lift, and the height adjustment of the telescopic rod platform mechanism is realized; by utilizing the connection among the X-shaped supports, the U-shaped upper side frame 212 can be driven to lift, and meanwhile, the folding and the reduction of the occupied space are facilitated, and the storage is facilitated; the friction between the X-shaped bracket and the U-shaped upper side frame 212 and the 'ri' -shaped lower side frame 211 is reduced by using each roller 219, so that the lifting is more stable; the upper detection sensor 15 is used for detecting the information of the obstacles in the air in real time and feeding the information back to the controller, so that the controller can conveniently control the travelling mechanism to avoid the obstacles.
Furthermore, a limit sliding groove 217 is longitudinally arranged on the left edge and the right edge of the front side of the upper side of the lower side frame 211 in the shape of a Chinese character 'ri', and two rollers 219 on the lower side are respectively matched with the limit sliding grooves 217 on the corresponding side. The limiting sliding groove 217 is used for limiting the movement range of the roller 219, and the phenomenon that the scissor type support is too long to cause insufficient supporting force to incline is prevented.
Further, the telescopic rod platform mechanism comprises a swing pipe 221, a sliding rod 222, a telescopic driving motor 228 and a rectangular frame 223;
the opposite side surfaces of the left and right frame rods of the U-shaped upper frame 212 are respectively provided with an ear seat 224; the left and right side plates of the rectangular frame 223 are respectively and rotatably mounted on the ear seats 224 on the corresponding sides; the swing pipe 221 is installed on the lower two side plates of the rectangular frame 223 in a swing manner; one end of the sliding rod 222 is inserted on the swing pipe 221, and the other end is used for installing an orchard operation tool; a driven rack 226 is provided on a circumferential side surface of the slide bar 222 in a length direction; a telescopic driving motor 228 is installed on the circumferential side surface of the front end of the swing pipe 221, and a driving gear 252 engaged with the driven rack 226 is installed on the output shaft of the telescopic driving motor 228; a telescopic driving circuit electrically connected to the controller and the telescopic driving motor 228 is provided in the floor tub 16, and the controller drives the telescopic driving motor 228 through the telescopic driving circuit.
By utilizing the matching between the rectangular frame 223 and the swing pipe 221, the swing pipe 221 can swing up and down and swing left and right, so that the position adjustment in a small range can be conveniently carried out under the condition that the chassis support 1 does not move; the adjustment of the operation range of the slide bar 222 is achieved by extending and contracting the slide bar 222 driven by the extension and contraction driving motor 228 by the engagement between the pinion gear 252 and the driven rack 226.
Further, a through groove 227 is formed in the swing pipe 221 in the longitudinal direction, and the driven rack 226 is slidably engaged with the through groove 227. By means of the cooperation between the through groove 227 and the through groove 227, the sliding rod 222 is ensured to extend and retract only along the swing pipe 221 and cannot rotate, and therefore reliable transmission between the driving gear 252 and the driven rack 226 is ensured.
Further, the angle adjusting mechanism comprises four flexible rope driving branches, and each flexible rope driving branch comprises a flexible rope winding and unwinding motor 231, a flexible rope 232 and a redirection pulley 233; two of the rope buckles 234 and the soft rope winding and unwinding motors 231 are arranged at the front side and the rear side of the swinging pipe 221 respectively, and the other two motors are arranged at the front side and the rear side in the bottom plate groove 16; a winding shaft is arranged on an output shaft of the soft rope winding and unwinding motor 231; the four direction-changing pulleys 233 are respectively installed on the two rotating shafts 133 in an empty manner, and the four direction-changing pulleys 233 are respectively positioned at four top corners of the bottom plate groove 16; one end of the soft rope 232 is fixed on the winding shaft, the other end of the soft rope 232 penetrates through the upper side wall of the chassis support 1 and then is fixed on the rope buckle 234 on the corresponding side, and the middle part of the soft rope 232 is pressed on the corresponding direction-changing pulley 233;
a soft rope retracting circuit electrically connected with the controller and each soft rope retracting motor 231 is arranged in the bottom plate groove 16, and the controller coordinately controls each soft rope retracting motor 231 through the soft rope retracting circuit.
By utilizing the matching among the soft ropes 232, the redirection pulleys 233 and the winding shafts, the controller coordinately controls the four soft rope winding and unwinding motors 231 to drive the four soft ropes 232 to pull the swing pipe 221, so that the vertical swing angle and the horizontal swing angle of the swing pipe 221 are coordinately controlled.
The invention also provides an operation method of the self-adaptive support platform convenient for intelligent orchard operation, which comprises the following steps:
the preparation method comprises the following steps: according to different work tasks of the intelligent orchard, a corresponding work tool is installed on the sliding rod 222;
a step of selecting a traveling mechanism: the lower detection sensor 14 feeds detected road surface information back to the controller in real time, the controller judges whether the road surface is flat or not, and when the controller judges that the road surface is flat, the controller coordinately controls the four servo electric wheels 3 to run through the four-wheel drive circuit; when the controller judges that the road surface is uneven, the controller synchronously controls the two electric telescopic push rods 131 to drive the two rotating shafts 133 to rotate, the four L-shaped supports 135 swing downwards to enable the four crawler-type traveling mechanisms to synchronously press the ground, meanwhile, the four servo electric wheels 3 are suspended, the controller coordinately controls the four electric driving wheels 136 to rotate through the driving wheel driving circuit, and the electric driving wheels 136 drive the driven wheels 137 to travel through the annular crawler 134;
obstacle avoidance step: the upper detection sensor 15 detects in real time and feeds back obstacle information in the mid-air to the controller, and when the controller receives the information of the upper detection sensor 15 and the lower detection sensor 14 and judges that an obstacle exists in the driving direction, the controller replans a route and coordinates and controls the current walking mechanism to avoid the obstacle;
a height adjusting step: according to the height type of orchard operation, a controller drives a scissor type lifting driving motor 213 to rotate through a scissor type lifting driving circuit, a lead screw 214 is driven to rotate to drive a connecting rod 210 to move back and forth, and the two scissor type support branches synchronously lift to enable a U-shaped upper side frame 212 to drive a telescopic rod platform mechanism to lift to a height suitable for operation; the controller coordinately drives the four soft rope retracting motors 231 to rotate through the soft rope retracting circuit, so that the four soft ropes 232 correspondingly extend or shorten, and the pitching state of the swinging pipe 221 is adjusted; meanwhile, the controller telescopic driving circuit drives the telescopic driving motor 228 to rotate, and the driving gear 252 is meshed with the driven rack 226 to drive the sliding rod 222 to stretch and retract so as to further adjust the height position of the orchard operation tool;
a position adjusting step: when a plurality of working objects are distributed in a small range, the controller drives the scissor type lifting driving motor 213 to rotate through the scissor type lifting driving circuit, so that the height of the telescopic rod platform is adjusted in a small range, the controller coordinately drives the four soft rope winding and unwinding motors 231 to rotate through the soft rope winding and unwinding circuits, the inclination direction and the angle of the swinging pipe 221 are adjusted, the controller drives the telescopic driving motor 228 to rotate through the telescopic driving circuit, the driving gear 252 is meshed with the driven rack 226 to drive the sliding rod 222 to stretch and retract, and a working tool can reach each working position without moving the chassis support 1; when a plurality of working objects are distributed in a large range, after the controller controls the current travelling mechanism to travel to the lower side of each working object, the controller drives the scissor type lifting driving motor 213 to rotate through the scissor type lifting driving circuit, so that the height of the telescopic rod platform is adjusted in a small range, the controller coordinately drives the four flexible rope winding and unwinding motors 231 to rotate through the flexible rope winding and unwinding circuits, the inclination direction and the angle of the swinging pipe 221 are adjusted, the controller drives the telescopic driving motor 228 to rotate through the telescopic driving circuit, and the driving gear 252 and the driven rack 226 are meshed for transmission to drive the sliding rod 222 to stretch and retract, so that the working tool reaches each working position.
In the self-adaptive support platform convenient for intelligent orchard operation, the controller adopts the existing ARM processor module and is used for realizing coordination control; the upper detection sensor 15 and the lower detection sensor 14 both adopt the existing ultrasonic sensors and are used for acquiring the ground flatness information and the obstacle information; the scissor type lifting drive motor 213, the telescopic drive motor 228 and the soft rope winding and unwinding motor 231 all adopt the existing stepping motors; the scissor type lifting drive circuit, the telescopic drive circuit and the soft rope winding and unwinding circuit all adopt corresponding stepping motor drive circuits; the electric telescopic push rod 131 is an existing electric telescopic push rod and is used for driving the rotating shaft 133 to rotate to switch the travelling mechanism.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a self-adaptation supporting platform convenient to wisdom orchard operation which characterized in that: comprises an autonomous traveling trolley and a rigid-flexible hybrid driving platform (2); the rigid-flexible hybrid driving platform (2) comprises a lifting platform, a telescopic rod platform mechanism and an angle adjusting mechanism; the lifting platform is arranged on the autonomous traveling trolley and is carried by the autonomous traveling trolley to move; the telescopic rod platform mechanism is movably arranged at the top of the lifting platform and is driven by the lifting platform to move up and down; the angle adjusting mechanism is arranged between the autonomous travelling trolley and the telescopic rod platform mechanism, and the orientation angle of the telescopic end of the telescopic rod platform mechanism is adjusted by the angle adjusting mechanism; the telescopic end of the telescopic rod platform mechanism is used for installing the orchard operation tool and adjusting the telescopic position of the orchard operation tool.
2. The adaptive support platform for facilitating intelligent orchard operations of claim 1, wherein: the autonomous traveling trolley comprises a chassis support (1), a four-wheel traveling mechanism and a crawler-type traveling mechanism; the four-wheel traveling mechanism is arranged on the chassis bracket (1); a bottom plate groove (16) is arranged on the lower side surface of the chassis support (1); a set of walking state switching mechanisms are respectively arranged on the front side and the rear side of the chassis support (1), and the crawler-type walking mechanisms are arranged on the two sets of walking state switching mechanisms and are driven to walk by the two sets of walking state switching mechanisms;
a lower detection sensor (14) for detecting ground obstacles is arranged on the chassis support (1); a controller is arranged in the bottom plate groove (16); the lower detection sensor (14) is electrically connected with the controller; the lifting platform, the telescopic rod platform mechanism, the angle adjusting mechanism, the walking state switching mechanism, the four-wheel walking mechanism and the crawler-type walking mechanism are all driven and controlled by the controller.
3. The adaptive support platform for intelligent orchard work of claim 2, wherein: the walking state switching mechanism comprises an electric telescopic push rod (131), a rotating shaft (133) and two L-shaped brackets (135); two ends of the rotating shaft (133) respectively penetrate through the left and right groove walls of the bottom plate groove (16) in a rotating mode and then extend out of the chassis bracket (1); a hinged seat is arranged on the circumferential side surface of the rotating shaft (133); the short arms of the two L-shaped brackets (135) are respectively fixed on the two penetrating ends of the rotating shaft (133); one end of the electric telescopic push rod (131) is hinged in the bottom plate groove (16), the other end of the electric telescopic push rod is hinged on a hinge seat of the rotating shaft (133), and the electric telescopic push rod (131) controls the two L-shaped brackets (135) to swing through the rotating shaft (133); the crawler-type traveling mechanism is arranged on a long arm of the L-shaped bracket (135); the electric telescopic push rod (131) is electrically connected with the controller.
4. The adaptive support platform for facilitating intelligent orchard operations of claim 3, wherein: the crawler-type travelling mechanism comprises an electric driving wheel (136), a driven wheel (137) and an annular crawler (134); the electric driving wheel (136) and the driven wheel (137) are respectively arranged at two ends of the long arm of the L-shaped bracket (135); the electric driving wheel (136) is in transmission connection with the driven wheel (137) through the annular crawler (134);
a driving wheel driving circuit electrically connected with the controller and each electric driving wheel (136) is arranged in the bottom plate groove (16), and the controller coordinately drives each electric driving wheel (136) through the driving wheel driving circuit.
5. The adaptive support platform for intelligent orchard work of claim 2, wherein: the rigid-flexible hybrid driving platform (2) comprises a U-shaped upper side frame (212), a 'ri' -shaped lower side frame (211), a shear type lifting driving motor (213), a shear type lifting frame and a driving screw rod (214); the lower frame (211) in the shape of a Chinese character 'ri' is fixed on the upper side surface of the chassis bracket (1); the scissor type lifting frame comprises two scissor type bracket branches; the two scissor type bracket branches are supported between a B-shaped lower side frame (211) and a U-shaped upper side frame (212) in a bilateral symmetry manner, and the front lower ends of the two scissor type bracket branches are connected through a connecting rod (210); the scissor type lifting driving motor (213) is arranged on the lower frame (211) in the shape of a Chinese character 'ri'; one end of a driving screw rod (214) is butted on an output shaft of the scissor type lifting driving motor (213), the other end of the driving screw rod is rotatably arranged on the lower side frame (211) in a 'ri' -shape, the driving screw rod (214) is screwed in the middle of the connecting rod (210), and the driving screw rod (214) synchronously drives the two scissor type support branches to lift through the connecting rod (210); the telescopic rod platform mechanism is arranged on the U-shaped upper side frame (212); an upper detection sensor (15) for detecting an aerial obstacle is arranged on the U-shaped upper side frame (212), and the upper detection sensor (15) is electrically connected with the controller;
a scissor type lifting driving circuit electrically connected with the controller and the scissor type lifting driving motor (213) is arranged in the bottom plate groove (16), and the controller drives the scissor type lifting driving motor (213) through the scissor type lifting driving circuit.
6. The adaptive support platform for facilitating intelligent orchard operations of claim 5, wherein: two limiting sliding grooves (217) are longitudinally arranged on the upper side surface of the 'day' -shaped lower side frame (211), and two rollers (219) on the lower side are respectively matched with the two limiting sliding grooves (217).
7. The adaptive support platform for intelligent orchard work of claim 2, wherein: the telescopic rod platform mechanism comprises a swinging pipe (221), a sliding rod (222), a telescopic driving motor (228) and a rectangular frame (223); the left side plate and the right side plate of the rectangular frame (223) are respectively and rotatably arranged on the left frame rod and the right frame rod of the U-shaped upper side frame (212); the swing pipe (221) is arranged on the upper side plate and the lower side plate of the rectangular frame (223) in a swing mode; one end of the sliding rod (222) is inserted on the swing pipe (221), and the other end of the sliding rod is used for installing an orchard operation tool; a driven rack (226) is arranged on the circumferential side surface of the sliding rod (222) along the length direction; the telescopic driving motor (228) is arranged on the swinging pipe (221), and an output shaft of the telescopic driving motor (228) is provided with a driving gear (252) meshed with the driven rack (226);
a telescopic driving circuit electrically connected with the controller and a telescopic driving motor (228) is arranged in the bottom plate groove (16), and the controller drives the telescopic driving motor (228) through the telescopic driving circuit.
8. The adaptive support platform for facilitating intelligent orchard operations of claim 7, wherein: a through groove (227) is formed in the swing pipe (221) along the length direction, and the driven rack (226) is in sliding fit with the through groove (227).
9. The adaptive support platform for intelligent orchard work of claim 2, wherein: the angle adjusting mechanism comprises four flexible rope driving branches, and each flexible rope driving branch comprises a flexible rope retracting motor (231), a flexible rope (232) and a redirection pulley (233); the front side and the rear side of the swinging pipe (221) are provided with rope buckles (234); the soft rope winding and unwinding motor (231) is arranged in the bottom plate groove (16); a winding shaft is arranged on an output shaft of the soft rope winding and unwinding motor (231); the four direction-changing pulleys (233) are respectively and rotatably arranged at four top corners of the bottom plate groove (16); one end of the soft rope (232) is fixed on the winding shaft, the other end of the soft rope (232) penetrates through the chassis support (1) and then is fixed on one of the rope buckles (234), and the middle part of the soft rope (232) is pressed on one of the direction-changing pulleys (233);
a soft rope retracting and releasing circuit electrically connected with the controller and each soft rope retracting and releasing motor (231) is arranged in the bottom plate groove (16), and the controller coordinately controls each soft rope retracting and releasing motor (231) through the soft rope retracting and releasing circuit.
10. The method of claim 2 wherein the method of operating an adaptive support platform for facilitating intelligent orchard operations comprises: the method comprises the following steps:
the preparation method comprises the following steps: installing corresponding operation tools on the telescopic rod platform according to different operation tasks of the intelligent orchard;
a step of selecting a traveling mechanism: the lower detection sensor (14) feeds back detected road surface information to the controller in real time, the controller judges whether the road surface is flat or not, and when the controller judges that the road surface is flat, the controller coordinately controls the four-wheel traveling mechanism to travel; when the controller judges that the road surface is uneven, the controller coordinately controls the four crawler-type traveling mechanisms to travel;
obstacle avoidance step: when the controller receives the information of the lower detection sensor (14) and judges that the road surface has the obstacle, the controller replans the route and coordinates and controls the current travelling mechanism to avoid the obstacle;
a height adjusting step: according to the height type of orchard operation, the controller adjusts the telescopic rod platform to the height suitable for operation through the rigid-flexible hybrid driving platform (2); the controller adjusts the pitching state of the telescopic rod platform through the angle adjusting mechanism, and the height position of the orchard operation tool is further adjusted through the telescopic rod platform in a telescopic mode;
a position adjusting step: when a plurality of operation objects are distributed in a small range, the controller coordinately controls the rigid-flexible hybrid driving platform (2), the telescopic rod platform and the angle adjusting mechanism, performs small-range height adjustment on the telescopic rod platform, and simultaneously drives the telescopic rod platform to stretch and swing to each operation position; when a plurality of operation objects are distributed in a large range, the controller coordinately controls the travelling mechanism, the rigid-flexible hybrid driving platform (2), the telescopic rod platform and the angle adjusting mechanism, ground position adjustment and small-range height adjustment are carried out on the telescopic rod platform, and meanwhile the telescopic rod platform is driven to stretch and swing to each operation position.
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