CN114223339B - Robot chassis for multifunctional operation of paddy field and agricultural robot - Google Patents
Robot chassis for multifunctional operation of paddy field and agricultural robot Download PDFInfo
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- CN114223339B CN114223339B CN202111525103.6A CN202111525103A CN114223339B CN 114223339 B CN114223339 B CN 114223339B CN 202111525103 A CN202111525103 A CN 202111525103A CN 114223339 B CN114223339 B CN 114223339B
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Environmental Sciences (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Zoology (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot chassis and an agricultural robot for multifunctional operation of paddy fields, wherein the robot chassis comprises a running gear, a copying device and a control system, and the control system is respectively connected with the running gear and the copying device; the profiling device comprises a parallel four-bar mechanism, an electric push rod, a profiling module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the profiling module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for installing a working machine; when the electric push rod is at the shortest position, the parallel four-bar mechanism is lifted up to keep the working tool at a certain height with the ground, and when the electric push rod is at the extension position, the parallel four-bar mechanism is put down to enable the working tool to be in contact with the ground and work, and the profiling module detects the fluctuation of the ground in real time and feeds back to the electric push rod to carry out telescopic adjustment, so that the profiling device plays a role in profiling. The robot chassis improves the intelligent level of the agricultural robot.
Description
Technical Field
The invention relates to a robot chassis for multifunctional operation of paddy fields and an agricultural robot, and belongs to the field of agricultural mechanical equipment.
Background
Along with the continuous promotion of the Chinese agricultural level, the development of Chinese agricultural machinery is mature gradually, the traditional agriculture is gradually transited to intelligent agriculture, but the intelligent level of the current Chinese agricultural intelligent robot is relatively low and the cost is high. In south China, current paddy field planting has high requirements on mechanical operators and high labor intensity, and most paddy field plots are smaller due to the limitation of hilly plots, so that large paddy field agricultural machinery is difficult to meet the requirements. In the prior art, the intelligent degree of the field management link is relatively low, the problem of seedling injury caused by inaccurate row alignment exists in single navigation, the traditional agricultural machinery can also cause large-area seedling pressing in field turning, and the small intelligent robot suitable for paddy field walking is relatively few. Therefore, the robot chassis for paddy field multifunctional operation is designed aiming at the above conditions, has the advantages of being suitable for paddy field walking, strong in trafficability, capable of carrying different machines and tools, small and light, can realize automatic and high-precision field operation by matching a sensing system and an intelligent control system, can effectively reduce the compaction degree of soil and damage to crops, and has positive effects in the field of agricultural automation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot chassis for multifunctional operation of paddy fields, which improves the intelligent level of agricultural robots.
Another object of the present invention is to provide an agricultural robot comprising the above-described robot chassis.
The aim of the invention can be achieved by adopting the following technical scheme:
the robot chassis for multifunctional operation of paddy fields comprises a walking device, a copying device and a control system, wherein the control system is respectively connected with the walking device and the copying device;
the profiling device comprises a parallel four-bar mechanism, an electric push rod, a profiling module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the profiling module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for installing a working machine;
when the electric push rod is in the shortest position, the parallel four-bar mechanism is lifted up to enable the working tool to keep a certain height with the ground, when the electric push rod is in the extension position, the parallel four-bar mechanism is put down to enable the working tool to be in contact with the ground and work, and the profiling module detects fluctuation of the ground in real time and feeds back the fluctuation to the electric push rod to carry out telescopic adjustment, so that the profiling device plays a role in profiling.
Further, the parallel four-bar mechanism comprises a front hanging frame, a supporting rod assembly, a first lifting lug and a mounting frame, wherein the supporting rod assembly comprises four supporting rods, and the profiling module and the hanging mechanism are mounted on the mounting frame;
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 about preceding stores pylon to can keep the mounting bracket in the horizontality, first lug is installed at the top of mounting bracket, and 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 boat plate;
the installation base is arranged on an installation frame of the parallel four-bar mechanism, the angle sensor is arranged on the installation base through a sensor bracket, 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 a bow of the profiling boat plate, and a stern of the profiling boat plate is hinged with the installation base;
the installation base is provided with a limiting hole, and a pin is inserted into the limiting hole to change the initial position of the profiling connecting rod, 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 hinged with a connecting point of the joint, the joint is used for mounting the operation tool, the mounting clamping plate is arranged in the middle of the mounting frame of the parallel four-bar mechanism, and the annular clamping plate is arranged on the mounting clamping plate and used for fixing the mounting angle of the operation tool;
the mounting clamp plate is provided with an annular slotted hole, so that the annular clamp plate can rotate around a pin of the second lifting lug, and the mounting clamp plate is used for adjusting the mounting angle of the working tool.
Further, the 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 frame connection.
Further, the front driving module and the rear driving module comprise two driving assemblies, the two driving assemblies are arranged in bilateral symmetry, each driving assembly comprises a driving motor, a transmission shaft, a supporting arm, a gear reducer and a travelling wheel, the driving motors are arranged at the upper ends of the supporting arms, the gear reducers are arranged at the lower ends of the supporting arms, the transmission shafts penetrate through the supporting arms to be matched with the driving motors and the gear reducers, and the travelling wheels are arranged at the tail ends of the gear reducers.
Further, the steering mechanism comprises two steering knuckles, two steering knuckle seats, two steering knuckle main pins, two ball head pull rods, two steering gears and two steering gear swing arms, wherein the two steering knuckle seats, the two steering knuckle main pins and the supporting arm 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, and the steering gears are arranged on the frame;
for each steering knuckle and a steering knuckle main pin, a steering knuckle seat and a supporting arm corresponding to the steering knuckle, the steering knuckles are hinged with the steering knuckle seats through the steering knuckle main pins, and flanges are arranged on the steering knuckles and connected with the flanges on the supporting arms, so that the supporting arms can rotate around the steering knuckle main pins along with the steering knuckles;
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 with one of the steering knuckles through the steering pull rod.
Further, 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 a command 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 to realize the forward, backward and steering of the robot chassis;
the terminal execution node is respectively connected with the profiling device and the operation tool and used for controlling the lifting of the profiling device and the starting and stopping of the operation 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 is used for receiving a command of the remote controller to realize remote control of the robot chassis.
Further, the control system further comprises an inertial measurement unit, a global positioning system, a visual camera and a wireless communication module, wherein the inertial measurement unit and the global positioning system are connected with the upper computer through serial ports respectively, and the visual camera and the wireless communication module are connected with the upper computer respectively.
The other object 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, and adjusts the lifting of the parallel four-bar mechanism by detecting the contact condition of the operation tool and the ground in real time, so that the operation tool can always keep equal distance with the ground on the undulating ground, and the operation quality is ensured; the agricultural mechanical equipment is provided with a scheme, the structure is more compact, and meanwhile, the suspension mechanism adopts a modularized interface, so that various operation tools can be quickly disassembled and replaced; in addition, the profiling device is positioned in the middle of the walking device, the structure is more compact, the whole size of the chassis can be effectively reduced, the profiling device is more suitable for small-field operation, the profiling device adopts a quick-dismantling type modularized interface, different agricultural operation tools can be quickly replaced, and one machine is multipurpose.
2. According to the invention, the robot chassis is added with the combined navigation of the global positioning system and the visual camera, the global positioning system can provide global navigation, the visual navigation can make up for the problem of inaccurate crop row caused by the navigation of the global positioning system only 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 seedlings, and the intelligent degree is higher.
3. The robot chassis navigation adopts a herringbone line changing mode, and when line changing is performed, the robot chassis navigation does not need to turn around, adopts two operation modes of forward and backward, and avoids large-area seedlings caused by line changing and turning around.
4. The robot chassis provided by the invention has a remote control mode and an autonomous mode, the autonomous mode can be set by using 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 using a remote controller under the mode.
5. The robot chassis adopts four-wheel drive and is matched with paddy field wheels, so that the robot is guaranteed to have abundant power, can adapt to complex paddy field environments, and has stronger trafficability and ridge crossing capability.
6. The robot chassis provided by the invention adopts a frame structure with small mass and high strength, is simple and reliable, is small and light, and can effectively reduce the compaction degree of paddy field soil.
7. The robot chassis is an electric chassis, is powered by a lithium battery, has strong cruising ability, is environment-friendly and pollution-free, is small and light, 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
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 schematic diagram of a front view structure of a robot chassis for paddy field multifunctional operation 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 operation according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of one of the driving components of the driving module of the robot chassis for paddy field multifunctional operation according to the embodiment of the present invention.
Fig. 6 is a schematic structural view of a steering mechanism of a robot chassis for paddy field multifunctional operation according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of a profiling apparatus of a robot chassis for paddy field multifunctional operation according to an embodiment of the present invention.
Fig. 8 is a schematic plan view of a profiling apparatus of a robot chassis for paddy field multifunctional operation according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a navigation path planning of a robot chassis for paddy field multifunctional work according to an embodiment of the present invention.
The device comprises a 1-frame, a 2-driving motor, a 3-supporting arm, a 4-gear reducer, a 5-travelling wheel, a 6-knuckle, a 7-knuckle seat, an 8-ball head pull rod, a 9-steering pull rod, a 10-steering engine, an 11-steering engine swing arm, a 12-knuckle mounting frame, a 13-electric push rod, a 14-front hanging frame, a 15-first lifting lug, a 16-mounting frame, a 17-supporting rod, a 18-mounting base, a 19-angle sensor, a 20-sensor support, a 21-profiling connecting rod, a 22-supporting connecting rod, a 23-profiling ship plate, a 24-second lifting lug, a 25-connector, a 26-mounting clamping plate, a 27-annular clamping plate, a 28-driver, a 29-controller box, a 30-controller mounting plate, a 31-vision camera, a 32-camera cradle head and a 33-battery box.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Examples:
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 running gear, a copying device and a control system, wherein the control system is respectively connected with the running gear and the copying device.
Further, running gear includes running gear and steering mechanism, and running gear includes frame 1, preceding drive module and back drive module, and preceding drive module installs on steering mechanism, can realize the horizontal direction left and right direction of preceding drive module through steering mechanism and turn to, and back drive module installs on the frame, and steering mechanism is connected with frame 1.
As shown in fig. 1 to 5, the front driving module and the rear driving module have the same structure and both comprise two driving assemblies, the two driving assemblies are arranged in bilateral symmetry, each driving assembly comprises a driving motor 2, a transmission shaft, a supporting arm 3, a gear reducer 4 and a travelling wheel 5, the driving motor 2 is arranged at the upper end of the supporting arm 3, the gear reducer 4 is arranged at the lower end of the supporting arm 3, the supporting arm 3 is of a hollow structure and can be used for installing the transmission shaft, the transmission shaft passes through the supporting arm 3 to be matched with the driving motor 2 and the gear reducer 4, and the travelling wheel 5 is a paddy field wheel and is arranged at the tail end of the 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 main pin, a ball head pull rod 9, a steering engine 10 and a steering engine swing arm 11, wherein the steering knuckle 6, the steering knuckle seat 7 and the steering knuckle main pin are all two, the steering knuckle 6, the steering knuckle seat 7, the steering knuckle main pin and a supporting arm 3 of a front driving module are in one-to-one correspondence, the two steering knuckle seats 7 are symmetrically arranged on a steering knuckle mounting frame 12, the steering knuckle mounting frame 12 is fixed at the front end of a vehicle frame 1 through bolts, and the steering engine 10 is arranged on the vehicle frame 1.
For each steering knuckle 6 and the corresponding steering knuckle master pin, steering knuckle seat 9 and 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 arranged on the steering knuckle 6, and the flange plate in the middle of the supporting arm 3 corresponding to the front driving module is connected, so that 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 trapezoid arm control points of the two steering knuckles 6 to form an Ackerman steering geometry, so that the steering mechanism accords with the Ackerman steering; the output end of the steering engine 10 is connected with a steering engine swing arm 11, and the steering engine swing arm 11 is hinged with one of the steering knuckles 6 through a steering pull rod 9, and is in particular hinged with the right steering knuckle 6, so that the steering purpose can be achieved by driving the steering engine 10 to rotate; during steering, the steering engine 10 rotates the right steering knuckle 6 around the right steering knuckle main pin through the steering pull rod 9, and the left steering knuckle 6 also rotates around the left steering knuckle main pin 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 profiling device comprises a parallel four-bar mechanism, an electric push rod 13, a profiling module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged on the running gear, and is specifically arranged in the middle of a frame 1 of the running gear, namely, the profiling device is arranged in the middle of the frame 1 of the running gear through the parallel four-bar mechanism, the profiling module and the suspension mechanism are arranged 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 push rod 13 is in a non-working state, the electric push rod 13 is in the shortest position, and the parallel four-bar mechanism can be lifted to enable the working tool to keep a certain height with the ground, so that the profiling module does not perform profiling; when in a working state, the electric push rod 13 is in an extension position, the parallel four-bar mechanism is put down to enable the working tool to be in contact with the ground for operation, at the moment, the profiling module can detect fluctuation of the ground in real time and feed back the fluctuation of the ground to the electric push rod 13 for telescopic adjustment, so that the profiling device plays a role in profiling, the fact that the working tool can keep a certain distance from the ground all the time in uneven fields is guaranteed, and the working quality is guaranteed.
Further, the parallel four-bar mechanism comprises a front hanging frame 14, a supporting rod assembly, a first lifting lug 15 and a mounting frame 16, wherein the supporting rod assembly comprises four supporting rods 17, and the profiling module and the hanging mechanism are mounted on the mounting frame 16; the four support rods 17 are respectively connected with the front hanging frame 14 and the mounting frame 16 through hinges, the front hanging frame 14 is fixed on a walking device, and particularly fixed on the frame 1 of the walking mechanism, so that the mounting frame 16 can float up and down around the front hanging frame 14, and the mounting frame 16 can be kept in a horizontal state, and a profiling effect is achieved; the first lifting lug 15 is arranged at the top of the mounting frame 16 and hinged with one end of the electric push rod 13 through a pin, the other end of the electric push rod 13 is arranged on the running gear, and particularly arranged on the frame 1 of the running mechanism, and the electric push rod 13 is used as a power source to enable the parallel four-bar mechanism to play a role in profiling.
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 arranged on the installation frame 16 of the parallel four-bar mechanism, the angle sensor 19 is arranged on the installation base 18 through the sensor bracket 20, the rotating shaft of the angle sensor 19 is connected with the optical axis through a coupler, one end of the profiling connecting rod 21 is fixedly connected with the optical axis, so that the profiling connecting rod 21 can drive the rotating shaft of the angle sensor 19 to move together, the other end of the profiling connecting rod 21 is hinged with the supporting connecting rod 22, the supporting connecting rod 22 is hinged with the bow of the profiling boat plate 23, and the stern of the profiling boat plate 23 is hinged with the installation base 18; the mounting base 18 is provided with a limiting hole, and a pin is inserted into the limiting hole to change the initial position of the profiling connecting rod 21, so that the initial position of the profiling boat plate 23 is changed; when the profiling boat plate 23 works, the profiling boat plate can rotate around the stern hinge along with the fluctuation of the ground after contacting the ground, so that the rotation shaft of the angle sensor 19 is driven to rotate, and the profiling device can correspondingly adjust the electric push rod 13 according to the change of the data of the angle sensor 19, thereby achieving profiling effect.
Further, the suspension mechanism includes a second shackle 24, a joint 25, a mounting cleat 26, and an annular cleat 27; the second lifting lug 24 is arranged on the mounting frame 16 of the parallel four-bar mechanism and is hinged with a connecting point of the joint 25, the joint 25 is used for mounting a working tool, the mounting clamping plate 26 is arranged in the middle of the mounting frame 16 of the parallel four-bar mechanism, and the annular clamping plate 27 is arranged on the mounting clamping plate 26 and is used for fixing the mounting angle of the working tool; the mounting clamp plate 26 is provided with an annular slot, the annular clamp plate 27 surrounds the joint 25, and is connected with the annular slot on the mounting clamp plate 26 through a bolt, so that the annular clamp plate 27 can rotate around a pin of the second lifting lug 24, and the mounting angle of the working tool is adjusted; the suspension mechanism can be quickly disassembled and assembled, and can be matched with different operation tools to realize the operations of transplanting rice seedlings, fertilizing, weeding and the like by adopting a modularized interface.
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 a command 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 to realize the forward, backward and steering of the robot chassis; the terminal execution node is respectively connected with the copying device and the operation tool and used for controlling the lifting of the copying device and the starting and stopping of the operation 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 is used for receiving the command of the 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 frame 1 through the controller mounting plate 30, and since the robot chassis of this embodiment is four-wheel drive, the drivers 28 are configured with four, and are motor drivers, and the four drivers 28 are arranged and stacked on the front end of the frame 1.
In order to realize accurate positioning, the control system of the embodiment can further comprise an inertial measurement unit, a global positioning system, a vision camera 31 and a wireless communication module, wherein the inertial measurement unit and the global positioning system (Global Positioning System, abbreviated as GPS) are respectively connected with the upper computer through serial ports, and the inertial measurement unit and the global positioning system provide position and posture information for the upper computer, so that the upper computer can perform path planning and vehicle body movement adjustment control according to the current position, track a navigation path, and have an automatic navigation function; the vision camera 31 is connected with the upper computer, and the vision camera 31 is arranged at the forefront end of the frame 1 through a camera holder 32 and forms an included angle of 30 degrees 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 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, and the upper computer automatically plans a path according to the position of the chassis of the robot and field information and adjusts the advancing speed and heading angle of the chassis in real time through the inertial measurement unit and the position and attitude information provided by the global positioning system to track the path, so that the chassis runs on a preset track; when seeding or transplanting, the navigation is mainly carried out by means of a global positioning system, and when field management is carried out, the navigation of the global positioning system and the machine vision are combined, the navigation of the global positioning system is mainly used, the navigation of the vision is auxiliary, the accurate alignment is realized, and the seedling pressing during the operation is avoided.
The navigation path planning in this embodiment is different from the traditional navigation mode, and the traditional navigation needs to turn around when changing lines, and can be irradiated into large-area seedling pressing, and the robot chassis navigation adopts a herringbone line changing mode, and when changing lines, no need to turn around, adopts two operation modes of forward and backward, and avoids large-area seedling pressing caused by line changing and turning around.
The embodiment can also realize fully autonomous navigation operation, and the specific process is as follows: before the full autonomous navigation operation is executed, the remote controller needs to be held by hand to record the corner point positions of the field blocks, the upper machine can automatically generate field block information by connecting lines according to the four or more corner point positions fed back by the remote controller, then automatically generate an optimal navigation path according to the field block boundary information in the navigation mode of fig. 9, and then track and record the real track according to the generated navigation line to complete the full autonomous operation; in the fully autonomous working engineering, the working phase and the line changing phase are divided, and during the working phase, the profiling device is in a working state, and the working tool can be adjusted to keep the working tool in contact with the ground, so that the visual navigation priority is higher than the navigation of the global positioning system; when entering a line changing path, the line changing stage is adopted, at the moment, the parallel four-bar mechanism of the profiling device is automatically lifted to be in a non-working state, the working machine does not work, the navigation is mainly based on the navigation of a global positioning system, 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, the lithium battery is arranged in the battery box 33, and can output 48V, 24V and 5V voltages and supply power for the travelling device, the copying device, the control system and the working tool.
Further, the frame 1 of the travelling mechanism is of a frame structure, and the front end of the frame 1 is of a trapezoid structure, so that the steering mechanism is convenient to steer; the middle part of the frame 1 is a supporting frame for installing a copying 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 explicitly stated and agreed otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. It will be understood by those of ordinary skill in the art that the particular meaning of the terms above in this disclosure is for purposes of illustration only and is not intended to be the only embodiment.
In summary, the robot chassis is suitable for paddy field walking, has strong trafficability and ridge jumping capability, is provided with the profiling device, and adjusts the lifting of the parallel four-bar mechanism by detecting the contact condition of the working tool and the ground in real time, so that the working tool can always keep equal distance from the ground on the undulating ground, and the working quality is ensured; the agricultural mechanical equipment is provided with a scheme, the structure is more compact, and meanwhile, the suspension mechanism adopts a modularized interface, so that various operation tools can be quickly disassembled and replaced; in addition, the profiling device is positioned in the middle of the walking device, the structure is more compact, the whole size of the chassis can be effectively reduced, the profiling device is more suitable for small-field operation, the profiling device adopts a quick-dismantling type modularized interface, different agricultural operation tools can be quickly replaced, and one machine is multipurpose.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. The robot chassis for multifunctional operation of paddy fields is characterized by comprising a walking device, a copying device and a control system, wherein the control system is respectively connected with the walking device and the copying device;
the profiling device comprises a parallel four-bar mechanism, an electric push rod, a profiling module and a suspension mechanism, wherein the parallel four-bar mechanism is arranged in the middle of the walking device, the profiling module and the suspension mechanism are arranged on the parallel four-bar mechanism, and the suspension mechanism is used for installing an operation tool and comprises a second lifting lug, a joint, an installation clamping plate and an annular clamping plate; the second lifting lug is arranged on the mounting frame of the parallel four-bar mechanism and hinged with a connecting point of the joint, the joint is used for mounting the operation tool, the mounting clamping plate is arranged in the middle of the mounting frame of the parallel four-bar mechanism, and the annular clamping plate is arranged on the mounting clamping plate and used for fixing the mounting angle of the operation tool; the mounting clamp plate is provided with an annular slotted hole, the annular clamp plate surrounds the joint and is connected with the annular slotted hole on the mounting clamp plate through a bolt, so that the annular clamp plate can rotate around a pin of the second lifting lug for adjusting the mounting angle of the working tool;
when the electric push rod is at the shortest position, the parallel four-bar mechanism is lifted to enable the working 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 working tool to be in contact with the ground for working, and the profiling module detects fluctuation of the ground in real time and feeds back the fluctuation to the electric push rod for telescopic adjustment, so that the profiling device plays a role in profiling;
the control system comprises an upper computer, a bottom layer control unit, a terminal execution node, a driver, a remote controller, a receiver, an inertial measurement unit, a global positioning system, a visual camera and a wireless communication module, wherein the upper computer is respectively connected with the bottom layer control unit and the terminal execution node and is used for sending a command 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 to realize the forward, backward and steering of the robot chassis; the terminal execution node is respectively connected with the copying device and the operation tool and used for controlling the lifting of the copying device and the starting and stopping of the operation 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 is used for receiving a command of the remote controller to realize remote control of the robot chassis; the inertial measurement unit and the global positioning system are respectively connected with the upper computer through serial ports, and the inertial measurement unit and the global positioning system provide position and posture information for the upper computer, so that the upper computer can carry out path planning and car body motion adjustment control according to the current position, track a navigation path and have an automatic navigation function; the visual camera is connected with the upper computer, is arranged at the forefront end of the frame of the travelling mechanism through a camera cradle head and forms an included angle of 30 degrees with the plumb direction, and is used for acquiring seedling zone or weed information in real time; 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;
the automatic navigation comprises path planning and path tracking, wherein the upper computer automatically plans a path according to the position of the chassis of the robot and field information, and adjusts the advancing speed and heading angle of the chassis in real time through the inertial measurement unit and the position and attitude information provided by the global positioning system to track the path, so that the chassis runs on a preset track; navigation is carried out through a global positioning system during sowing or transplanting operation, and global positioning system and machine vision combined navigation is adopted during field management operation; the robot chassis navigation adopts a herringbone line feed mode, and adopts two operation modes of forward and backward when line feed is performed; the robot chassis can also realize full autonomous navigation operation, specifically includes: 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 hand to record the corner point positions of the field, the upper machine can automatically connect lines according to the four or more corner point positions fed back by the remote controller to generate field information, automatically generate an optimal navigation path according to the field boundary information, track and record a real track according to the generated navigation path, and complete the full autonomous operation; in the fully autonomous working engineering, the working phase and the line changing phase are divided, when in the working phase, the profiling device is in a working state, and the working tool is regulated to enable the working tool to keep contact with the ground, and at the moment, the visual navigation priority is higher than the navigation of the global positioning system; when entering a line changing path, the line changing stage is adopted, at the moment, the parallel four-bar mechanism of the profiling device is automatically lifted to be in a non-working state, the working machine does not work, the navigation is mainly based on the navigation of a global positioning system, and the field information and the real track can be repeatedly called.
2. The robotic chassis of claim 1, wherein the parallel four bar mechanism comprises a front hanger, a support bar assembly, a first lifting lug, and a mounting bracket, the support bar assembly comprising four support bars, the profiling module and suspension mechanism being mounted on the mounting bracket;
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 about preceding stores pylon to can keep the mounting bracket in the horizontality, first lug is installed at the top of mounting bracket, and 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 bracket, a coupler, an optical axis, a profiling link, a support link, and a profiling boat plate;
the installation base is arranged on an installation frame of the parallel four-bar mechanism, the angle sensor is arranged on the installation base through a sensor bracket, 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 a bow of the profiling boat plate, and a stern of the profiling boat plate is hinged with the installation base;
the installation base is provided with a limiting hole, and a pin is inserted into the limiting hole to change the initial position of the profiling connecting rod, so that the initial position of the profiling ship plate is changed.
4. A robot chassis according to any one of claims 1-3, characterized in that the running gear comprises a running gear and a steering gear, the running gear comprising a frame, a front drive module and a rear drive module, the front drive module being mounted on the steering gear, the rear drive module being mounted on the frame, the steering gear being connected to the frame.
5. The robot chassis of claim 4, wherein the front and rear drive modules each comprise two drive assemblies, the two drive assemblies are symmetrically arranged in a left-right direction, each drive assembly comprises a drive motor, a transmission shaft, a support arm, a gear reducer and a traveling wheel, the drive motor is mounted at the upper end of the support arm, the gear reducer is mounted at the lower end of the support arm, the transmission shaft penetrates the support arm to be matched with the drive motor and the gear reducer, and the traveling wheel is mounted at the tail end of the gear reducer.
6. The robot chassis of claim 5, wherein the steering mechanism comprises two knuckles, knuckle seats, knuckle kingpins, ball head tie rods, steering engines and steering engine swing arms, the two knuckles, knuckle seats, knuckle kingpins and supporting arms of the front driving module are in one-to-one correspondence, the two knuckle seats are symmetrically arranged at the front end of the frame, and the steering engines are arranged on the frame;
for each steering knuckle and a steering knuckle main pin, a steering knuckle seat and a supporting arm corresponding to the steering knuckle, the steering knuckles are hinged with the steering knuckle seats through the steering knuckle main pins, and flanges are arranged on the steering knuckles and connected with the flanges on the supporting arms, so that the supporting arms can rotate around the steering knuckle main pins along with the steering knuckles;
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 with one of the steering knuckles through the steering pull rod.
7. An agricultural robot comprising the robot chassis of any one of claims 1-6.
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| CN114987609B (en) * | 2022-04-18 | 2023-03-10 | 华南农业大学 | Four-wheel independent steering paddy field agricultural robot and navigation method thereof |
| CN115042894B (en) * | 2022-06-29 | 2023-06-23 | 南京农业大学 | Motion control system and steering control method for four-wheel electric drive robot in dry farmland |
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