CN114223339A - A robot chassis and agricultural robot for paddy field multifunctional operation - Google Patents
A robot chassis and agricultural robot for paddy field multifunctional operation Download PDFInfo
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- CN114223339A CN114223339A CN202111525103.6A CN202111525103A CN114223339A CN 114223339 A CN114223339 A CN 114223339A CN 202111525103 A CN202111525103 A CN 202111525103A CN 114223339 A CN114223339 A CN 114223339A
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- profiling
- steering
- steering knuckle
- mounting
- robot chassis
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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
- A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
- A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
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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
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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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
-
- 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
- G01C21/1656—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 with passive imaging devices, e.g. cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a robot chassis for paddy field multifunctional operation and an agricultural robot, wherein the robot chassis comprises a walking device, a profiling device and a control system, and the control system is respectively connected with the walking device and the profiling device; the copying device comprises a parallel four-bar mechanism, an electric push rod, a copying module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the copying module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for mounting a working tool; when the electric push rod is at the shortest position, the parallel four-bar mechanism is lifted to enable the operation tool to keep a certain height with the ground, when the electric push rod is at the extension position, the parallel four-bar mechanism is put down to enable the operation tool to be in contact with the ground and operate, the profiling module detects the fluctuation of the ground in real time and feeds the fluctuation back to the electric push rod for telescopic adjustment, and therefore the profiling device plays a profiling role. The robot chassis improves the intelligent level of the agricultural robot.
Description
Technical Field
The invention relates to a robot chassis for paddy field multifunctional operation and an agricultural robot, and belongs to the field of agricultural mechanical equipment.
Background
With the continuous improvement of the agricultural level of China, the agricultural machinery in China develops to be mature gradually, the traditional agriculture is in progress to be intelligent, but the intelligent level of the agricultural intelligent robot in China is relatively low and the cost is high at present. In southern China, the current paddy field planting has high requirements on mechanical operators and high labor intensity, and most paddy field lands are small due to the limitation of hilly lands, so that large paddy field agricultural machinery is difficult to meet the requirements. In the prior art, the intelligent degree of a field management link is relatively low, the problem that seedlings are damaged due to inaccurate alignment in single navigation exists, the traditional agricultural machinery is turned around in the field to cause large-area seedling pressing, and the small intelligent robots suitable for paddy field walking are relatively few. Therefore, the robot chassis for paddy field multifunctional operation is designed aiming at the conditions, the chassis has the advantages of being suitable for paddy field walking, strong in trafficability, capable of carrying different machines and tools, small and portable, the matched sensing system and the intelligent control system can achieve automatic and high-precision field operation, the degree of compaction of soil and damage to crops can be effectively reduced, and the robot chassis has a positive effect in the field of agricultural automation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the robot chassis for paddy field multifunctional operation, and the robot chassis improves the intelligent level of an agricultural robot.
Another object of the invention is to provide an agricultural robot comprising a robot chassis as described above.
The purpose of the invention can be achieved by adopting the following technical scheme:
a robot chassis for paddy field multifunctional operation comprises a walking device, a profiling device and a control system, wherein the control system is respectively connected with the walking device and the profiling device;
the copying device comprises a parallel four-bar mechanism, an electric push rod, a copying module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the copying module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for mounting a working tool;
when the electric push rod is at the shortest position, the parallel four-bar mechanism is lifted to enable the operation tool to keep a certain height with the ground, when the electric push rod is at the extension position, the parallel four-bar mechanism is put down to enable the operation tool to be in contact with the ground and operate, the profiling module detects the fluctuation of the ground in real time and feeds the fluctuation back to the electric push rod for telescopic adjustment, and therefore the profiling device plays a profiling role.
Further, the parallel four-bar mechanism comprises a front hanging rack, a support bar assembly, a first lifting lug and a mounting rack, the support bar assembly comprises four support bars, and the profiling module and the suspension mechanism are mounted on the mounting rack;
four spinal branch vaulting poles pass through the hinge and are connected with preceding stores pylon, mounting bracket respectively, preceding stores pylon is fixed on running gear, makes the mounting bracket float from top to bottom around preceding stores pylon to can keep the mounting bracket in the horizontality, first lug is installed at the top of mounting bracket to it is articulated with electric putter's one end through the pin, and electric putter's the other end is installed on running gear.
Further, the profiling module comprises a mounting base, an angle sensor, a sensor bracket, a coupler, an optical axis, a profiling connecting rod, a supporting connecting rod and a profiling ship board;
the installation base is installed on an installation frame of the parallel four-bar mechanism, the angle sensor is installed on the installation base through a sensor support, a rotating shaft of the angle sensor is connected with an optical axis through a coupler, one end of the profiling connecting rod is fixedly connected with the optical axis, the other end of the profiling connecting rod is hinged with a supporting connecting rod, the supporting connecting rod is hinged with the bow of the profiling ship board, and the stern of the profiling ship board is hinged with the installation base;
the mounting base is provided with a limiting hole, and the initial position of the profiling connecting rod is changed by inserting a pin into the limiting hole, so that the initial position of the profiling ship plate is changed.
Further, the suspension mechanism comprises a second lifting lug, a joint, a mounting clamp plate and an annular clamp plate;
the second lifting lug is arranged on the mounting frame of the parallel four-bar mechanism and is hinged with a connecting point of a joint, the joint is used for mounting a working machine, the mounting clamp plate is arranged in the middle of the mounting frame of the parallel four-bar mechanism, and the annular clamp plate is arranged on the mounting clamp plate and is used for fixing the mounting angle of the working machine;
and the mounting clamp plate is provided with an annular slotted hole, so that the annular clamp plate can rotate around the pin of the second lifting lug and is used for adjusting the mounting angle of the working machine.
Furthermore, running gear includes running gear and steering mechanism, running gear includes frame, preceding drive module and back drive module, preceding drive module installs on steering mechanism, back drive module installs on the frame, steering mechanism and connected with the frame.
Further, preceding drive module and back drive module all include two drive assembly, and two drive assembly bilateral symmetry set up, and every drive assembly includes driving motor, transmission shaft, support arm, gear reducer and walking wheel, driving motor installs the upper end at the support arm, gear reducer installs the lower extreme at the support arm, the transmission shaft passes support arm and driving motor, gear reducer cooperation, the end at gear reducer is installed to the walking wheel.
Furthermore, the steering mechanism comprises a steering knuckle, a steering knuckle seat, a steering knuckle main pin, a ball head pull rod, a steering engine and a steering engine swing arm, wherein the number of the steering knuckle, the steering knuckle seat and the steering knuckle main pin is two, the steering knuckle seat, the steering knuckle main pin and support arms of the front driving module are in one-to-one correspondence, the two steering knuckle seats are symmetrically arranged at the front end of the frame left and right, and the steering engine is arranged on the frame;
for each steering knuckle and a steering knuckle master pin, a steering knuckle seat and a supporting arm corresponding to the steering knuckle, the steering knuckle is hinged with the steering knuckle seat through the steering knuckle master pin, and a flange plate is mounted on the steering knuckle and connected with the flange plate on the supporting arm, so that the supporting arm can rotate around the steering knuckle master pin along with the steering knuckle;
the ball head pull rod is connected to the trapezoid arm control points of the two steering knuckles, the output end of the steering engine is connected with the steering engine swing arm, and the steering engine swing arm is hinged to one of the steering knuckles through the steering pull rod.
Furthermore, the control system comprises an upper computer, a bottom layer control unit, a terminal execution node, a driver, a remote controller and a receiver;
the upper computer is respectively connected with the bottom layer control unit and the terminal execution node and is used for sending commands to control the bottom layer control unit and the terminal execution node;
the bottom layer control unit is connected with the driver and used for controlling the driver according to the command of the upper computer so as to realize the forward and backward movement and the steering of the robot chassis;
the terminal execution node is respectively connected with the profiling device and the working machine tool and is used for controlling the lifting of the profiling device and the starting and stopping of the working machine tool;
the remote controller is connected with the receiver and is used for remotely sending a command to the receiver;
the receiver is connected with the bottom layer control unit and used for receiving commands of a remote controller and realizing remote control of the robot chassis.
Furthermore, the control system further comprises an inertia measurement unit, a global positioning system, a visual camera and a wireless communication module, wherein the inertia measurement unit and the global positioning system are respectively connected with the upper computer through serial ports, and the visual camera and the wireless communication module are respectively connected with the upper computer.
The other purpose of the invention can be achieved by adopting the following technical scheme:
an agricultural robot comprises the robot chassis.
Compared with the prior art, the invention has the following beneficial effects:
1. the robot chassis is suitable for paddy field walking, has strong trafficability and ridge jumping capability, is provided with the profiling device, adjusts the lifting of the parallel four-bar mechanism by detecting the contact condition of the operating tool and the ground in real time, further enables the operating tool to always keep the same distance with the ground on the fluctuant ground, and ensures the operating quality; the agricultural machinery equipment is adopted, the structure is more compact, and meanwhile, the suspension mechanism adopts a modular interface, so that various working machines can be quickly disassembled, assembled and replaced; in addition, the profiling device is located in the middle of the walking device, the structure is more compact, the overall size of the chassis can be effectively reduced, the small field operation is more suitable, the profiling device adopts a quick-release type modularized interface, different agricultural operation machines can be quickly replaced, and the multiple purposes of one machine are realized.
2. The robot chassis is added with the combined navigation of the global positioning system and the vision camera, the global positioning system can provide global navigation, the vision navigation can make up the problem of inaccurate crop rows caused by only depending on the global positioning system navigation in the operation process, the accurate row alignment is realized, the seedling pressing problem of the robot chassis in the field management operation is effectively reduced, the robot chassis can autonomously complete the field operation without damaging the seedlings, and the intelligent degree is higher.
3. The robot chassis navigation of the invention adopts a herringbone line changing mode, does not need to turn around during line changing, and adopts two operation modes of advancing and retreating, thereby avoiding the large-area seedling pressing caused by line changing and turning around.
4. The robot chassis has a remote control mode and an autonomous mode, the autonomous mode can be set by a remote terminal, the robot chassis can autonomously plan a path and autonomously complete operation, the remote control mode can be switched under any condition, and the robot chassis can be remotely operated by a remote controller in the mode.
5. The robot chassis provided by the invention adopts four-wheel drive, is matched with paddy field wheels, ensures that the robot has abundant power, can adapt to complex paddy field environments, and has strong trafficability and ridging capability.
6. The robot chassis provided by the invention adopts a frame structure with small mass and high strength, is simple, reliable, small and portable, and can effectively reduce the compaction degree of paddy field soil.
7. The robot chassis is an electric chassis, adopts a lithium battery for power supply, has strong cruising ability, is green, environment-friendly, pollution-free, small and portable, and is suitable for small field operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a robot chassis for paddy field multifunctional work according to an embodiment of the present invention.
Fig. 2 is a front view schematically illustrating a robot chassis for paddy field multifunctional work according to an embodiment of the present invention.
Fig. 3 is a schematic side view of a robot chassis for paddy field multifunctional work according to an embodiment of the present invention.
Fig. 4 is a schematic top view of a robot chassis for paddy field multifunctional work according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of one of the driving assemblies of the driving module of the robot chassis for paddy field multifunctional operation according to the embodiment of the invention.
Fig. 6 is a schematic structural view of a steering mechanism of a robot chassis for paddy field multifunctional work according to an embodiment of the invention.
Fig. 7 is a schematic perspective view of a profiling device of a robot chassis for paddy field multifunctional operation according to an embodiment of the invention.
Fig. 8 is a schematic plan view of a profiling device of a robot chassis for paddy field multifunctional operation according to an embodiment of the invention.
Fig. 9 is a schematic view of a navigation path planning of a robot chassis for paddy field multifunctional work according to an embodiment of the invention.
Wherein, 1-a vehicle frame, 2-a driving motor, 3-a supporting arm, 4-a gear reducer, 5-a walking wheel, 6-a steering knuckle, 7-a steering knuckle seat, 8-a ball pull rod, 9-a steering pull rod, 10-a steering engine, 11-a steering engine swing arm, 12-a steering knuckle mounting rack, 13-an electric push rod, 14-a front suspension rack, 15-a first lifting lug, 16-a mounting rack, 17-a supporting rod, 18-a mounting base, 19-an angle sensor, 20-a sensor bracket, 21-a profiling connecting rod, 22-a supporting connecting rod, 23-a profiling boat plate, 24-a second lifting lug, a 25-joint, 26-a mounting clamping plate, 27-an annular clamping plate, 28-a driver and 29-a controller box, 30-controller mounting plate, 31-vision camera, 32-camera holder, and 33-battery box.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 4, the present embodiment provides a robot chassis for paddy field multifunctional work, which can be applied to various agricultural robots, and includes a traveling device, a profiling device, and a control system, and the control system is connected to the traveling device and the profiling device, respectively.
Furthermore, the traveling device comprises a traveling mechanism and a steering mechanism, the traveling mechanism comprises a frame 1, a front driving module and a rear driving module, the front driving module is installed on the steering mechanism, the horizontal direction left-right steering of the front driving module can be realized through the steering mechanism, the rear driving module is installed on the frame, and the steering mechanism is connected with the frame 1.
As shown in fig. 1-5, front drive module and rear drive module's structure is the same, all include two drive assembly, two drive assembly bilateral symmetry set up, every drive assembly includes driving motor 2, the transmission shaft, support arm 3, gear reducer 4 and walking wheel 5, driving motor 2 installs the upper end at support arm 3, gear reducer 4 installs the lower extreme at support arm 3, support arm 3 is hollow structure, can be used to install the transmission shaft, the transmission shaft passes support arm 3 and driving motor 2, gear reducer 4 cooperates, walking wheel 5 is the paddy field wheel, it installs the end at gear reducer 4.
As shown in fig. 1 to 6, the steering mechanism comprises a steering knuckle 6, a steering knuckle seat 7, a steering knuckle master pin, a ball pull rod 9, a steering engine 10 and a steering engine swing arm 11, the steering knuckle 6, the steering knuckle seat 7 and the steering knuckle master pin are two, the steering knuckle 6, the steering knuckle seat 7, the steering knuckle master pin and a support arm 3 of a front driving module are in one-to-one correspondence, the two steering knuckle seats 7 are symmetrically installed on a steering knuckle mounting frame 12 in a bilateral mode, the steering knuckle mounting frame 12 is fixed at the front end of a frame 1 through bolts, and the steering engine 10 is installed on the frame 1.
For each steering knuckle 6 and the corresponding steering knuckle master pin, the steering knuckle seat 9 and the supporting arm 3, each steering knuckle 6 is hinged with the steering knuckle seat 7 through the steering knuckle master pin, a flange plate is mounted on each steering knuckle 6 and connected with the flange plate in the middle of the supporting arm 3 corresponding to the front driving module, and the supporting arm 3 can rotate around the steering knuckle master pin along with the steering knuckle 6.
The ball head pull rod 9 is connected to the trapezoidal arm control points of the two steering knuckles 6, so that Ackerman steering geometry is formed, and the steering mechanism conforms to Ackerman steering; the output end of the steering engine 10 is connected with an oscillating arm 11 of the steering engine, and the oscillating arm 11 of the steering engine is hinged with one of the steering knuckles 6 through a steering pull rod 9, and is particularly hinged with the right steering knuckle 6, so that the steering engine 10 can be driven to rotate to achieve the purpose of steering; during steering, the steering engine 10 enables the right steering knuckle 6 to rotate around the right steering knuckle kingpin through the steering pull rod 9, and the left steering knuckle 6 also rotates around the left steering knuckle kingpin under the action of the ball head pull rod 9, so that front wheel steering is realized.
As shown in fig. 1 to 8, the copying device comprises a parallel four-bar mechanism, an electric push rod 13, a copying module and a suspension mechanism, wherein the parallel four-bar mechanism is installed on the traveling device, and is specifically installed in the middle of the frame 1 of the traveling mechanism, i.e. the copying device is installed in the middle of the frame 1 of the traveling mechanism through the parallel four-bar mechanism, the copying module and the suspension mechanism are installed on the parallel four-bar mechanism, and the suspension mechanism is used for installing a working tool; the profiling device is divided into a working state and a non-working state: when the electric four-bar mechanism is in a non-working state, the electric push rod 13 is in the shortest position, the parallel four-bar mechanism can be lifted to enable the operation machine tool to keep a certain height with the ground, and at the moment, the profiling module does not perform the profiling function; when the electric push rod 13 is in an extending position in a working state, the parallel four-bar mechanism is put down to enable the operation machine to be in contact with the ground and operate, the copying module can detect the fluctuation of the ground in real time and feed back the fluctuation to the electric push rod 13 to perform telescopic adjustment so that the copying device can play a copying role, the operation machine can be always kept at a certain distance from the ground in an uneven field, and the operation quality is guaranteed.
Further, the parallel four-bar mechanism comprises a front hanging rack 14, a support bar assembly, a first lifting lug 15 and a mounting rack 16, the support bar assembly comprises four support bars 17, and the profiling module and the hanging mechanism are mounted on the mounting rack 16; the four support rods 17 are respectively connected with the front hanging rack 14 and the mounting rack 16 through hinges, the front hanging rack 14 is fixed on the traveling device, and is particularly fixed on the frame 1 of the traveling mechanism, so that the mounting rack 16 can float up and down around the front hanging rack 14, the mounting rack 16 can be kept in a horizontal state, and a profiling effect is achieved; the first lifting lug 15 is installed on the top of the installation frame 16 and is hinged with one end of the electric push rod 13 through a pin, the other end of the electric push rod 13 is installed on the walking device, specifically on the frame 1 of the walking mechanism, and the electric push rod 13 serves as a power source to enable the parallel four-bar mechanism to play a copying role.
Further, the profiling module comprises a mounting base 18, an angle sensor 19, a sensor bracket 20, a coupler, an optical axis, a profiling connecting rod 21, a supporting connecting rod 22 and a profiling boat plate 23; the installation base 18 is installed on an installation frame 16 of the parallel four-bar mechanism, the angle sensor 19 is installed on the installation base 18 through a sensor support 20, a rotating shaft of the angle sensor 19 is connected with an optical axis through a coupler, one end of a copying connecting rod 21 is fixedly connected with the optical axis, so that the copying connecting rod 21 can drive the rotating shaft of the angle sensor 19 to move together, the other end of the copying connecting rod 21 is hinged with a support connecting rod 22, the support connecting rod 22 is hinged with the bow of a copying ship board 23, and the stern of the copying ship board 23 is hinged with the installation base 18; the mounting base 18 is provided with a limiting hole, and the initial position of the copying connecting rod 21 is changed by inserting a pin into the limiting hole, so that the initial position of the copying boat plate 23 is changed; when the profiling device works, the profiling boat plate 23 can rotate around the stern hinge along with the fluctuation of the ground after contacting the ground, so as to drive the rotating shaft of the angle sensor 19 to rotate, and the profiling device can correspondingly adjust the electric push rod 13 according to the data change of the angle sensor 19, thereby achieving the profiling effect.
Further, the suspension mechanism comprises a second lifting lug 24, a joint 25, a mounting clamp 26 and an annular clamp 27; the second lifting lug 24 is arranged on the mounting frame 16 of the parallel four-bar mechanism and is hinged with the connection point of the joint 25, the joint 25 is used for mounting a working tool, the mounting clamp plate 26 is arranged in the middle of the mounting frame 16 of the parallel four-bar mechanism, and the annular clamp plate 27 is arranged on the mounting clamp plate 26 and is used for fixing the mounting angle of the working tool; the mounting clamp plate 26 is provided with an annular groove hole, the annular clamp plate 27 surrounds the joint 25 and is connected with the annular groove hole on the mounting clamp plate 26 through a bolt, so that the annular clamp plate 27 can rotate around the pin of the second lifting lug 24 and is used for adjusting the mounting angle of a working machine; this hang mechanism can realize quick assembly disassembly, adopts the modularization interface, can match different operation machines, realizes operations such as transplanting rice seedlings, fertilization and weeding.
Further, the control system comprises an upper computer, a bottom layer control unit, a terminal execution node, a driver 28, a remote controller and a receiver, wherein the upper computer is respectively connected with the bottom layer control unit and the terminal execution node and is used for sending commands to control the bottom layer control unit and the terminal execution node; the bottom layer control unit is connected with the driver and used for controlling the driver according to the command of the upper computer so as to realize the forward and backward movement and the steering of the chassis of the robot; the terminal execution node is respectively connected with the profiling device and the working machine tool and is used for controlling the lifting of the profiling device and the starting and stopping of the working machine tool; the remote controller is connected with the receiver and is used for remotely sending a command to the receiver; the receiver is connected with the bottom layer control unit and used for receiving commands of a remote controller and realizing remote control of the robot chassis.
Further, the control system hardware is placed in the controller box 29 and is mounted on the front end of the vehicle frame 1 through the controller mounting plate 30, and since the robot chassis of the present embodiment is four-wheel drive, the drivers 28 are four, and are motor drivers, and the four drivers 28 are arranged and stacked on the front end of the vehicle frame 1.
In order to realize accurate Positioning, the control System of this embodiment may further include an inertial measurement unit, a Global Positioning System (GPS), a visual camera 31 and a wireless communication module, where the inertial measurement unit and the GPS are respectively connected to the upper computer through serial ports, and the inertial measurement unit and the GPS provide position and attitude information for the upper computer, so that the upper computer can perform path planning and adjust vehicle motion control according to the current position, perform tracking on a navigation path, and have an automatic navigation function; the vision camera 31 is connected with an upper computer, and the vision camera 31 is installed at the foremost end of the frame 1 through a camera holder 32 and a 30-degree included angle with the plumb direction, and is used for acquiring seedling zone or weed information in real time, realizing accurate alignment on the basis of navigation of a global positioning system, and avoiding the seedling pressing of a robot chassis in the operation process; the remote terminal is connected with the upper computer through the wireless communication module, and parameters and operation parameters of the robot chassis can be set through the remote terminal.
Further, the automatic navigation comprises path planning and path tracking, the upper computer automatically plans a path according to the position of the chassis of the robot and the field information, and adjusts the advancing speed and the course angle of the chassis in real time through the position and the attitude information provided by the inertial measurement unit and the global positioning system to track the path, so that the chassis runs on a preset track; the intelligent seedling transplanter mainly depends on a global positioning system for navigation during seeding or seedling transplanting operation, and adopts the global positioning system and machine vision combined navigation during field management operation, wherein the global positioning system navigation is mainly used, and the vision navigation is assisted, so that accurate row alignment is realized, and seedling pressing during operation is avoided.
The navigation path planning of this embodiment is different from traditional navigation mode, and traditional navigation needs to turn around when moving a new line, can shine into the big area and press the seedling, and this robot chassis navigation adopts the mode of moving a new line of "people" font, and when moving a new line, need not the turn around, adopts two kinds of operation modes of advancing and retreating, has avoided the big area that the turn around of moving a new line caused and has pressed the seedling.
The embodiment can also realize full autonomous navigation operation, and the specific process is as follows: the remote controller is provided with a positioning module, before the full-autonomous navigation operation is executed, the remote controller needs to be held by a hand to record corner point positions of a field, an upper computer can automatically connect lines according to four or more corner point positions fed back by the remote controller to generate field information, then an optimal navigation path is automatically generated according to the field boundary information in a navigation mode of a graph 9, path tracking is carried out according to a generated navigation line, a real track is recorded, and the full-autonomous operation is completed; in the fully autonomous operation engineering, the method is divided into an operation stage and a line-changing stage, wherein in the operation stage, the profiling device is in a working state, the operation machine tool can be adjusted to keep the operation machine tool in contact with the ground, and the priority of visual navigation is higher than that of global positioning system navigation; when entering a line-changing path, the line-changing stage is realized, at the moment, the parallel four-bar mechanism of the copying device is automatically lifted to be in a non-working state, the working machine does not work, the navigation is mainly based on the global positioning system navigation, and the field information and the real track can be repeatedly called.
Further, the robot chassis of the embodiment is an electric chassis, the power supply is a lithium battery, and the lithium battery is arranged in the battery box 33, can output 48V, 24V and 5V voltages, and can supply power for the traveling device, the profiling device, the control system and the working machine.
Furthermore, the frame 1 of the travelling mechanism is of a frame structure, and the front end of the frame 1 is of a trapezoidal structure, so that the steering mechanism can steer conveniently; the middle part of the frame 1 is provided with a support frame for installing a profiling device; the length of the frame 1 is 120cm, the width is 60cm, the frame belongs to a light robot chassis, and the frame is suitable for small-area paddy fields.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or given otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations, and the terms "upper", "lower", "left", "right", and the like are used for illustrative purposes only and do not mean a unique embodiment.
In conclusion, the robot chassis is suitable for paddy field walking, has strong trafficability and bank jumping capability, is provided with the profiling device, adjusts the lifting of the parallel four-bar mechanism by detecting the contact condition of the operating tool and the ground in real time, further enables the operating tool to always keep the same distance with the ground on the fluctuant ground, and ensures the operating quality; the agricultural machinery equipment is adopted, the structure is more compact, and meanwhile, the suspension mechanism adopts a modular interface, so that various working machines can be quickly disassembled, assembled and replaced; in addition, the profiling device is located in the middle of the walking device, the structure is more compact, the overall size of the chassis can be effectively reduced, the small field operation is more suitable, the profiling device adopts a quick-release type modularized interface, different agricultural operation machines can be quickly replaced, and the multiple purposes of one machine are realized.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot chassis for paddy field multifunctional operation is characterized by comprising a walking device, a profiling device and a control system, wherein the control system is respectively connected with the walking device and the profiling device;
the copying device comprises a parallel four-bar mechanism, an electric push rod, a copying module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the copying module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for mounting a working tool;
when the electric push rod is at the shortest position, the parallel four-bar mechanism is lifted to enable the operation tool to keep a certain height with the ground, when the electric push rod is at the extension position, the parallel four-bar mechanism is put down to enable the operation tool to be in contact with the ground and operate, the profiling module detects the fluctuation of the ground in real time and feeds the fluctuation back to the electric push rod for telescopic adjustment, and therefore the profiling device plays a profiling role.
2. The robot chassis of claim 1, wherein the parallelogram linkage comprises a front hanger, a support bar assembly comprising four support bars, a first lifting lug, and a mounting bracket on which the profiling module and the suspension mechanism are mounted;
four spinal branch vaulting poles pass through the hinge and are connected with preceding stores pylon, mounting bracket respectively, preceding stores pylon is fixed on running gear, makes the mounting bracket float from top to bottom around preceding stores pylon to can keep the mounting bracket in the horizontality, first lug is installed at the top of mounting bracket to it is articulated with electric putter's one end through the pin, and electric putter's the other end is installed on running gear.
3. The robotic chassis of claim 2, wherein the profiling module comprises a mounting base, an angle sensor, a sensor mount, a coupling, an optical axis, a profiling link, a support link, and a profiling boat deck;
the installation base is installed on an installation frame of the parallel four-bar mechanism, the angle sensor is installed on the installation base through a sensor support, a rotating shaft of the angle sensor is connected with an optical axis through a coupler, one end of the profiling connecting rod is fixedly connected with the optical axis, the other end of the profiling connecting rod is hinged with a supporting connecting rod, the supporting connecting rod is hinged with the bow of the profiling ship board, and the stern of the profiling ship board is hinged with the installation base;
the mounting base is provided with a limiting hole, and the initial position of the profiling connecting rod is changed by inserting a pin into the limiting hole, so that the initial position of the profiling ship plate is changed.
4. The robot chassis of claim 1, wherein the suspension mechanism includes a second lifting lug, a joint, a mounting cleat, and an annular cleat;
the second lifting lug is arranged on the mounting frame of the parallel four-bar mechanism and is hinged with a connecting point of a joint, the joint is used for mounting a working machine, the mounting clamp plate is arranged in the middle of the mounting frame of the parallel four-bar mechanism, and the annular clamp plate is arranged on the mounting clamp plate and is used for fixing the mounting angle of the working machine;
and the mounting clamp plate is provided with an annular slotted hole, so that the annular clamp plate can rotate around the pin of the second lifting lug and is used for adjusting the mounting angle of the working machine.
5. A robot chassis according to any of claims 1-4, wherein the walking means comprises a walking mechanism and a steering mechanism, the walking mechanism comprising a frame, a front drive module and a rear drive module, the front drive module being mounted on the steering mechanism, the rear drive module being mounted on the frame, the steering mechanism being connected to the frame.
6. The robot chassis according to claim 5, wherein the front driving module and the rear driving module each comprise two driving assemblies, the two driving assemblies are arranged in a bilateral symmetry manner, each driving assembly comprises a driving motor, a transmission shaft, a supporting arm, a gear reducer and a traveling wheel, the driving motor is mounted at the upper end of the supporting arm, the gear reducer is mounted at the lower end of the supporting arm, the transmission shaft penetrates through the supporting arm to be matched with the driving motor and the gear reducer, and the traveling wheel is mounted at the tail end of the gear reducer.
7. The robot chassis according to claim 6, wherein the steering mechanism comprises a steering knuckle, a steering knuckle seat, a steering knuckle main pin, a ball head pull rod, a steering engine and a steering engine swing arm, the steering knuckle seat and the steering knuckle main pin are all two, the steering knuckle seat, the steering knuckle main pin and support arms of the front driving module are in one-to-one correspondence, the two steering knuckle seats are symmetrically arranged at the front end of the frame in a left-right mode, and the steering engine is arranged on the frame;
for each steering knuckle and a steering knuckle master pin, a steering knuckle seat and a supporting arm corresponding to the steering knuckle, the steering knuckle is hinged with the steering knuckle seat through the steering knuckle master pin, and a flange plate is mounted on the steering knuckle and connected with the flange plate on the supporting arm, so that the supporting arm can rotate around the steering knuckle master pin along with the steering knuckle;
the ball head pull rod is connected to the trapezoid arm control points of the two steering knuckles, the output end of the steering engine is connected with the steering engine swing arm, and the steering engine swing arm is hinged to one of the steering knuckles through the steering pull rod.
8. The robot chassis of any of claims 1-4, wherein the control system comprises an upper computer, an underlying control unit, a terminal execution node, a driver, a remote control, and a receiver;
the upper computer is respectively connected with the bottom layer control unit and the terminal execution node and is used for sending commands to control the bottom layer control unit and the terminal execution node;
the bottom layer control unit is connected with the driver and used for controlling the driver according to the command of the upper computer so as to realize the forward and backward movement and the steering of the robot chassis;
the terminal execution node is respectively connected with the profiling device and the working machine tool and is used for controlling the lifting of the profiling device and the starting and stopping of the working machine tool;
the remote controller is connected with the receiver and is used for remotely sending a command to the receiver;
the receiver is connected with the bottom layer control unit and used for receiving commands of a remote controller and realizing remote control of the robot chassis.
9. The robot chassis of claim 8, wherein the control system further comprises an inertial measurement unit, a global positioning system, a vision camera and a wireless communication module, the inertial measurement unit and the global positioning system are respectively connected with the upper computer through serial ports, and the vision camera and the wireless communication module are respectively connected with the upper computer.
10. An agricultural robot comprising a robot chassis according to any of claims 1-9.
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