CN114987609B - Four-wheel independent steering paddy field agricultural robot and navigation method thereof - Google Patents
Four-wheel independent steering paddy field agricultural robot and navigation method thereof Download PDFInfo
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- CN114987609B CN114987609B CN202210407383.9A CN202210407383A CN114987609B CN 114987609 B CN114987609 B CN 114987609B CN 202210407383 A CN202210407383 A CN 202210407383A CN 114987609 B CN114987609 B CN 114987609B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
- B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
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Abstract
The invention discloses a paddy field agricultural robot with four wheels turning independently and a navigation method thereof, wherein the robot comprises a walking chassis, a control system and a navigation system; the control system is respectively connected with the walking chassis and the navigation system; the walking chassis comprises a chassis frame, four wheels arranged on the chassis frame and a walking steering mechanism arranged between the chassis frame and each wheel; the walking steering mechanism comprises a base, a steering driving mechanism and a walking driving mechanism, wherein the base is arranged between the chassis frame and the wheels, the upper end of the base is connected with the chassis frame, and the lower end of the base is connected with the wheels; the steering driving mechanism is used for driving the wheels to steer for 360 degrees; the walking driving mechanism is used for driving the wheels to walk. This robot not only has the characteristics that are fit for the paddy field walking, nimble light, trafficability characteristic is strong, intelligent competent, can not cause the problem emergence of hindering the seedling when walking or turning round in the paddy field moreover.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a paddy field agricultural robot with four wheels turning independently and a navigation method thereof.
Background
The development of agriculture is not mechanized, the modern agriculture is developed vigorously, and the structure of agricultural machinery equipment is optimized, so that the method is an important measure for improving the agricultural labor productivity. In the south, rice is the major food crop. The paddy field in south has high terrain in the west, low terrain in the east and more mountainous areas. Most paddy fields in south China are small, and large-scale paddy field agricultural machinery cannot meet the requirements. Mechanization and science and technology level are lower, and most agricultural robots install automatic navigation additional on original agricultural machinery equipment, and the operation precision is lower relatively, and the small-size intelligent robot who is applicable to the paddy field walking is less relatively.
In the prior art, the mechanization of transplanting and harvesting is already preliminarily realized, but the mechanization degree in the rice field management link is lower. The large-scale plant protection machine is difficult to adapt to the southern paddy field topography, the intelligent level is low, the requirement on a mechanical operator is high, the labor intensity is high, the turning around in the field during the operation can cause large-area seedling pressing, and the problem of seedling damage exists.
Disclosure of Invention
The invention aims to overcome the existing problems and provide a paddy field agricultural robot with four wheels capable of steering independently, which not only has the characteristics of being suitable for paddy field walking, flexible and light, strong trafficability characteristic and high intelligent level, but also can not cause seedling injury when walking or turning around in the paddy field.
The invention also aims to provide a navigation method of the paddy field agricultural robot with four wheels turning independently.
The purpose of the invention is realized by the following technical scheme:
a paddy field agricultural robot with four wheels turning independently comprises a walking chassis, a control system for controlling the walking chassis to walk and turn and a navigation system for navigating the walking chassis; the control system is respectively connected with the walking chassis and the navigation system; wherein,
the walking chassis comprises a chassis frame used for mounting a working tool, four wheels arranged on the chassis frame and a walking steering mechanism arranged between the chassis frame and each wheel and used for driving the wheels to walk and steer; wherein the upper end of the walking steering mechanism is connected with the chassis frame, and the lower end of the walking steering mechanism is connected with the wheels; the walking steering mechanism comprises a base, a steering driving mechanism and a walking driving mechanism, wherein the base is arranged between the chassis frame and the wheels, the upper end of the base is connected with the chassis frame, and the lower end of the base is connected with the wheels; the steering driving mechanism is used for driving the wheels to steer for 360 degrees; the walking driving mechanism is used for driving the wheels to walk.
The working principle of the paddy field agricultural robot is as follows:
when the four-wheel steering mechanism works, the four wheels are independently driven through the walking steering mechanism respectively, and the steering driving mechanism drives the wheels to steer for 360 degrees; because each wheel and the chassis frame are provided with the walking steering mechanism, the four wheels can realize independent steering, omnidirectional translation and in-situ rotation can be realized during paddy field operation, the navigation system can realize global navigation and plan a path, the control system can control steering and walking of the walking chassis, and field management is realized after carrying operation machines.
In a preferred embodiment of the present invention, the steering driving mechanism includes a steering driving gear rotatably disposed on the base, a steering driven gear fixedly disposed on the chassis frame, and a steering driving motor mounted on the base; the steering driving gear is meshed with the steering driven gear, the driving end of the steering driving motor is connected with the steering driving gear, and the base is rotatably connected to the chassis frame. Adopt above-mentioned structure, turn to the driving gear through turning to the driving motor drive and rotate, because turn to driven gear and fix on the chassis underframe for turn to the driving gear and rotate round turning to driven gear, thereby drive the base and rotate, and then drive the wheel and realize 360 turning to.
Preferably, the walking driving mechanism comprises a walking driving motor, a supporting arm, a transmission shaft and a bevel gear reducer, wherein the upper end of the supporting arm is fixedly arranged at the lower end of the base, the bevel gear reducer is arranged at the lower end of the supporting arm, and the walking driving motor is arranged at the upper end of the base; the supporting arm is of a hollow structure, and the transmission shaft is arranged inside the supporting arm; the upper end of the transmission shaft is connected with the driving end of the walking driving motor, the lower end of the transmission shaft is connected with the input end of the bevel gear reducer, and the wheels are connected with the output end of the bevel gear reducer. By arranging the walking driving mechanism, the walking driving motor drives the transmission shaft to rotate, so as to drive the bevel gear reducer to rotate and then drive the wheels to rotate, and the walking function of the wheels is realized; through setting up the support arm, and the driving motor that just walks installs on the base, its aim at for the structure around the wheel becomes compact, reduces the scope that turns to of wheel, guarantees when turning to, and the emergence of hindering the seedling problem has been reduced to the structure damage rice such as driving motor that walks.
Preferably, the chassis frame comprises a frame, a front axle and a rear axle which are arranged at the front end and the rear end of the chassis frame, and the base is rotatably connected to the front axle and the rear axle; a wheel base adjusting mechanism for adjusting the distance between the front axle and the rear axle is arranged between the rear axle and the frame; the wheel base adjusting mechanism comprises a guide assembly used for guiding the rear axle to slide on the vehicle frame and a wheel base driving assembly used for driving the rear axle to slide along the vehicle frame. By adopting the structure, the wheelbase driving component can drive the rear axle to slide on the frame, so that the distance between the front axle and the rear axle is adjusted, and the wheelbase between the front end wheel and the rear end wheel is adjusted; by realizing the adjustment of the wheelbase, the wheelbase can be adaptively adjusted according to the line spacing between the rice, so that the rice is prevented from being damaged when wheels are steered in situ; in addition, the guide assembly can enable the rear axle to move on the frame more stably.
Furthermore, the wheel base driving component is an electric push rod, one end of the electric push rod is connected with the rear axle, and the other end of the electric push rod is connected with the frame. The electric push rod drives the telescopic rod to move, so that the rear axle can be driven to move on the frame, and the axle distance is adjusted.
Furthermore, the guide assembly comprises two guide rods arranged on the rear axle in parallel and a guide groove arranged on the frame and matched with the guide rods in a sliding manner. Through the cooperation of guide way and guide arm, at the in-process of adjusting the wheel base, the rear axle moves more stably on the frame.
Preferably, the front axle is connected with the frame through an elastic swing mechanism, the elastic swing mechanism comprises a hinge structure arranged in the middle of the front axle and shock absorbers arranged at two ends of the front axle, the middle of the front axle is hinged on the frame through the hinge structure, one end of the shock absorber is hinged on the frame, and the other end of the shock absorber is hinged on the front axle. Through setting up elasticity swing mechanism, can realize the horizontal hunting of front axle, can be so that walking chassis adapts to uneven road surface, play buffering, absorbing effect.
Preferentially, the control system comprises a bottom layer control unit, a terminal execution node, a motor driver, a remote controller and a receiver; 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; the bottom layer control unit is connected with the motor driver to realize the forward, backward and steering of the walking chassis; the bottom layer control unit is connected with the terminal execution node; and the terminal execution node is connected with the operating machine tool and used for controlling the starting and stopping of the operating machine tool. In the structure, the remote controller sends a command to the receiver, the receiver receives the command sent by the remote controller and then sends the command to the bottom layer control unit, and the motor driver and the terminal execution node respectively control the advancing, retreating, steering and starting and stopping of the operation machine tool of the walking chassis, so that the remote control of the robot is realized.
Preferably, the navigation system comprises an onboard computer, an inertial measurement unit, a global positioning system, a visual camera, a wireless communication module and a remote terminal; the inertial measurement unit, the global positioning system and the vision camera are respectively connected with the airborne computer through serial ports; the remote terminal is connected with the airborne computer through the wireless communication module; the airborne computer is connected with the bottom layer control unit. By arranging the mechanism, automatic navigation of the robot can be realized; the global positioning system and the inertial measurement unit provide position and attitude information (i.e., positioning information) for automatic navigation; the visual camera can acquire the information (namely visual information) of the seedling belts or the weeds in real time, and can prevent the walking chassis from pressing seedlings in the operation process; the remote terminal can set walking chassis parameters and operation parameters of the robot and send parameter setting information to the airborne computer through the wireless communication module; the airborne computer can fuse the positioning information and the visual information and receive the parameter setting information, and sends a control command to the bottom layer control unit to control the walking chassis to automatically drive according to a set path.
A navigation method of a paddy field agricultural robot with four wheels turning independently comprises the following steps:
(1) Carrying out path planning on a target paddy field;
(2) The navigation system acquires current position information and attitude information, generates a command by combining a planned path and sends the command to the control system, and the control system controls the running path of the walking chassis to coincide with the planned path; the specific steps of the walking chassis for working after changing the path of the next line are as follows:
(2.1) the four wheels are positioned at the position where the center line between the two longitudinal rows of crops is intersected with the center line between the two transverse rows of crops; the channel formed between the two longitudinal rows of crops is a longitudinal channel, the channel formed between the two transverse rows of crops is a transverse channel, and the longitudinal channel and the transverse channel are arranged in a staggered mode; the central line between the two longitudinal rows of crops is the central line of the longitudinal channel, and the central line between the two transverse rows of crops is the central line of the transverse channel; at the moment, the transverse channel where each wheel is located is the line-changing initial transverse channel;
(2.2) the steering driving mechanism simultaneously drives four wheels to steer in situ, so that each wheel points to the midpoint between two crops on the longitudinal row close to the side of the wheel on the next transverse channel, and the walking driving mechanism drives each wheel to walk to the corresponding midpoint position (namely the wheel is positioned on the central line of the transverse channel);
(2.3) the steering driving mechanism simultaneously drives the four wheels to steer in situ in the same direction, so that the direction pointed by each wheel is superposed with the central line of the transverse channel, the walking driving mechanism drives each wheel to walk, so that the walking chassis is translated to the next row of path, and at the moment, each wheel is positioned at the midpoint between two crops in the longitudinal row;
(2.4) the steering driving mechanism simultaneously drives the four wheels to steer in situ in the same direction, so that each wheel points to a position where the center line of the line-changing initial transverse channel intersects with the center line of the next longitudinal channel, and the walking driving mechanism drives each wheel to walk to the position;
(2.5) the steering driving mechanism simultaneously drives the four wheels to steer in place towards the same direction, so that the direction pointed by each wheel is coincident with the central line of the longitudinal channel.
Preferably, in the step (1), the specific steps of planning the path of the target paddy field are as follows: an operator holds the remote terminal by hand, the boundary point position of the target paddy field is recorded, the onboard computer automatically generates the shape of the target paddy field according to the boundary point position information, an operation path is planned according to the shape of the target paddy field, and the operation path is transmitted back to the remote terminal to be displayed in a graph.
Preferably, in the step (2), the navigation system acquires current position information and attitude information, and generates a command by combining a planned path, and sends the command to the control system, and the specific step of the control system controlling the running path of the walking chassis to coincide with the planned path is as follows: the global positioning system acquires current position information, the inertial measurement unit acquires current attitude information and sends the position information and the attitude information to the airborne computer, the airborne computer generates a command according to the position information, the attitude information and the planned path and sends the command to the bottom layer control unit, and the bottom layer control unit controls the direction of the walking chassis so that the running path of the walking chassis coincides with the planned path.
Preferably, in steps (2.2) and (2.3), the cumulative steering angle of the steering drive mechanism-driven wheels is 90 °, and in steps (2.4) and (2.5), the cumulative steering angle of the steering drive mechanism-driven wheels is also 90 °. Through the accumulated steering of 90 degrees, when the next line of path is changed, the walking chassis can transversely translate to a new line of path to continue to work, so that the precise work is realized, and the second damage is avoided.
Preferably, in step (2.1), the distance between the front axle and the rear axle is adjusted by the wheel base adjusting mechanism so that the wheels on the front axle and the wheels on the rear axle are both located on the center line of the transverse passage.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the paddy field agricultural robot with the four wheels capable of steering independently, each wheel is driven by the steering driving mechanism to steer independently by 360 degrees, omnidirectional translation and in-situ rotation can be realized during paddy field operation, the robot can translate to a new row without turning by 180 degrees during line changing, operation can be realized by retreating in the new row, and the problem of large-area seedling pressing during line changing and turning of the traditional agricultural robot is solved by adopting two operation modes of advancing and retreating, so that seedlings are not damaged during field operation of the walking chassis.
2. According to the paddy field agricultural robot with four wheels capable of independently steering, the navigation system can realize global navigation and plan a path by arranging the navigation system, the control system can control steering and walking of the walking chassis, accurate alignment is realized, field operation can be automatically completed, and the intelligent level is high.
3. According to the paddy field agricultural robot with the four wheels capable of steering independently, each wheel can steer 360 degrees independently, the whole robot is compact in structure, walking on a paddy field is flexible and light, the compaction degree of the machine to soil can be reduced, and the trafficability is strong.
4. According to the navigation method of the paddy field agricultural robot with four wheels turning independently, the wheels are finely adjusted step by step, the line changing operation of the walking chassis is realized under the condition that seedlings are not damaged completely, the walking precision is high, the route planning is reasonable, the walking chassis cannot damage crops during the operation period, and the operation effect is improved.
Drawings
Fig. 1-3 are schematic structural views of a first embodiment of a paddy field agricultural robot with four wheels turning independently in the invention, wherein fig. 1 is a perspective view, fig. 2 is a perspective view in another view direction, and fig. 3 is a side view.
Fig. 4-5 are schematic structural views of the walking steering mechanism in the present invention, wherein fig. 4 is a perspective view, and fig. 5 is a perspective view from another viewing angle direction.
Fig. 6 is a perspective view of the chassis frame according to the present invention.
Fig. 7 is a schematic perspective view of the elastic swing mechanism of the present invention.
FIG. 8 is a schematic structural diagram of a control system and a navigation system according to the present invention.
Fig. 9 is a schematic view of a navigation path planning of a paddy field agricultural robot with four wheels turning independently in the invention.
Fig. 10 is a schematic diagram of the path driving of the line feed of the paddy field agricultural robot navigation method with four wheels steering independently in the invention.
Fig. 11-15 are schematic diagrams illustrating specific steps of the walking chassis in the present invention when changing the next route for operation, where fig. 11 is a schematic diagram illustrating a position of the walking chassis in step (2.1), fig. 12 is a schematic diagram illustrating a position of the walking chassis in step (2.2), fig. 13 is a schematic diagram illustrating a position of the walking chassis in step (2.3), fig. 14 is a schematic diagram illustrating a position of the walking chassis in step (2.4), and fig. 15 is a schematic diagram illustrating a position of the walking chassis in step (2.5).
Detailed Description
In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1-2, the embodiment discloses a paddy field agricultural robot with four wheels steering independently, which comprises a walking chassis for walking and steering, a control system for controlling the walking chassis to walk and steer and a navigation system for navigating the walking chassis; the control system is respectively connected with the walking chassis and the navigation system.
Referring to fig. 1 to 3, the walking chassis comprises a chassis frame 1 for mounting a working implement, four wheels 2 arranged on the chassis frame 1, and a walking steering mechanism arranged between the chassis frame 1 and each wheel 2 for driving the wheels 2 to walk and steer, that is, the four wheels 2 correspond to the four walking steering mechanisms, and the four wheels 2 are independently controlled respectively; wherein the upper end of the walking steering mechanism is connected with the chassis frame 1, and the lower end of the walking steering mechanism is connected with the wheels 2; the walking and steering mechanism comprises a base 3, a steering driving mechanism 4 and a walking driving mechanism 5, wherein the base 3 is arranged between the chassis frame 1 and the wheels 2, the upper end of the base 3 is connected with the chassis frame 1, and the lower end of the base 3 is connected with the wheels 2; the steering driving mechanism 4 is used for driving the wheels 2 to steer for 360 degrees; the walking driving mechanism 5 is used for driving the wheels 2 to walk.
Referring to fig. 1-3, the paddy field agricultural robot in the embodiment drives each wheel 2 to independently turn for 360 degrees through the steering driving mechanism 4, during paddy field operation, omnidirectional translation and in-situ rotation can be realized, during line changing, the robot can translate to a new line without turning for 180 degrees, and retreats during the new line, so that operation can be realized, and through adopting two operation modes of advancing and retreating, the problem of large-area seedling pressing during line changing and turning of the traditional agricultural robot is solved, so that the seedling is not damaged during field operation of the walking chassis. Through setting up navigation, navigation can realize global navigation and plan the route, and control system can turn to the control with the walking to the walking chassis, realizes accurate alignment, can independently accomplish field work, and intelligent high level. Every wheel 2 can independently carry out 360 and turn to, and whole robot compact structure walks more nimble lightly on the paddy field, and trafficability characteristic is stronger.
Referring to fig. 2 to 5, the steering driving mechanism 4 includes a steering driving gear 4-1 rotatably provided on the base 3, a steering driven gear 4-2 fixedly provided on the chassis frame 1, and a steering driving motor 4-3 mounted on the base 3; the steering driving gear 4-1 and the steering driven gear 4-2 are meshed with each other, the driving end of the steering driving motor 4-3 is connected with the steering driving gear 4-1, and the base 3 is rotatably connected to the chassis frame 1. By adopting the structure, the steering driving gear 4-1 is driven to rotate by the steering driving motor 4-3, and the steering driven gear 4-2 is fixed on the chassis frame 1, so that the steering driving gear 4-1 rotates around the steering driven gear 4-2, the base 3 is driven to rotate, and the wheels 2 are driven to realize 360-degree steering.
Referring to fig. 2-5, the walking driving mechanism 5 comprises a walking driving motor 5-1, a supporting arm 5-2, a transmission shaft and a bevel gear reducer 5-3, wherein the upper end of the supporting arm 5-2 is fixedly arranged at the lower end of the base 3, the bevel gear reducer 5-3 is arranged at the lower end of the supporting arm 5-2, and the walking driving motor 5-1 is arranged at the upper end of the base 3; the supporting arm 5-2 is of a hollow structure, and the transmission shaft is arranged inside the supporting arm 5-2; the upper end of the transmission shaft is connected with the driving end of the walking driving motor 5-1, the lower end of the transmission shaft is connected with the input end of the bevel gear reducer 5-3, and the wheel 2 is connected with the output end of the bevel gear reducer 5-3. By arranging the walking driving mechanism 5, the walking driving motor 5-1 drives the transmission shaft to rotate, so as to drive the bevel gear reducer 5-3 to rotate and then drive the wheel 2 to rotate, thereby realizing the walking function of the wheel 2; by arranging the supporting arm 5-2 and installing the walking driving motor 5-1 on the base 3, the structure around the wheel 2 is compact, the steering range of the wheel 2 is reduced, the walking driving motor 5-1 and other structures are guaranteed to damage rice when steering is carried out, and the problem of seedling injury is reduced.
Referring to fig. 5, the bevel gear reducer 5-3 comprises a housing 5-31 mounted at the lower end of the support arm 5-2, and a driving bevel gear and a driven bevel gear arranged inside the housing 5-31; the driving bevel gear is meshed with the driven bevel gear, and the driving bevel gear is connected with the lower end of the transmission shaft; the driven bevel gear is connected with the wheel 2. Through the arrangement of the structure, the walking driving motor 5-1 drives the transmission shaft to rotate to drive the driving bevel gear to rotate, so that the driven bevel gear is driven to rotate, the wheel 2 is driven to rotate, and the walking function of the wheel 2 is realized.
Referring to fig. 3, the axes of the steering driven gears 4-2 are located on the same plane as the wheels 2 at the corresponding positions, and the purpose is to reduce the torque required by the wheels 2 during steering, so that the structure becomes more compact, further reduce the steering range of the wheels 2, and implement omnidirectional translation and pivot rotation of the walking chassis by matching with the four steering driving mechanisms 4.
Referring to fig. 1-4 and 6, the chassis frame 1 includes a frame 1-1, and a front axle 1-2 and a rear axle 1-3 disposed at front and rear ends of the chassis frame 1; two ends of the front axle 1-2 and the rear axle 1-3 are respectively provided with a flange plate 1-4, the base 3 is rotatably connected to the flange plates 1-4 of the front axle 1-2 and the rear axle 1-3 through a bearing 15, and the steering driven gear 4-2 is fixed on the flange plates 1-4 of the front axle 1-2 and the rear axle 1-3; a wheel base adjusting mechanism 6 for adjusting the distance between the front axle 1-2 and the rear axle 1-3 is arranged between the rear axle 1-3 and the frame 1-1; the wheel base adjusting mechanism 6 comprises a guide assembly for guiding the rear axle 1-3 to slide on the vehicle frame 1-1 and a wheel base driving assembly for driving the rear axle 1-3 to slide along the vehicle frame 1-1. By adopting the structure, the wheel base driving component can drive the rear axle 1-3 to slide on the frame 1-1, so as to adjust the distance between the front axle 1-2 and the rear axle 1-3 and further adjust the wheel base between the front end wheel 2 and the rear end wheel 2; by realizing the adjustment of the wheelbase, the wheelbase can be adaptively adjusted according to the line spacing between the rice, so that the rice is prevented from being damaged when the wheels 2 are steered in situ; in addition, the guide assembly can enable the rear axle 1-3 to move on the vehicle frame 1-1 more stably.
Referring to fig. 2 and 6, the wheel base driving component is an electric push rod 6-1, one end of the electric push rod 6-1 is connected with the rear axle 1-3, and the other end is connected with the frame 1-1. The electric push rod 6-1 drives the telescopic rod to move, so that the rear axle 1-3 can be driven to move on the frame 1-1, and the axle distance is adjusted.
Referring to fig. 2 and 6, the guide assembly includes two guide rods 6-2 arranged in parallel on the rear axle 1-3 and a guide groove 6-3 arranged on the frame 1-1 and slidably engaged with the guide rods 6-2. Through the matching of the guide groove 6-3 and the guide rod 6-2, the rear axle 1-3 moves more stably on the frame 1-1 in the process of adjusting the wheel base.
Referring to fig. 2-3 and 6-7, the front axle 1-2 is connected to the frame 1-1 through an elastic swing mechanism, the elastic swing mechanism includes a hinge structure disposed in the middle of the front axle 1-2 and shock absorbers 7 disposed at two ends of the front axle 1-2, the middle of the front axle 1-2 is hinged to the frame 1-1 through the hinge structure, one end of the shock absorber 7 is hinged to the frame 1-1, and the other end is hinged to the front axle 1-2. By arranging the elastic swing mechanism, the left-right swing of the front axle 1-2 can be realized, the walking chassis can adapt to an uneven road surface, and the effects of buffering and shock absorption are achieved.
Referring to fig. 6-7, lifting lugs 8 are welded on two sides of the frame 1-1, four shock absorbers 7 are provided, two shock absorbers are provided at each end of the front axle 1-2, one end of each shock absorber 7 is hinged on the lifting lug 8, and the other end of each shock absorber is hinged on a hole position on the front axle 1-2 through a stepped shaft. Two shock absorbers 7 are arranged at each end, are symmetrically arranged in the left and right direction, and are four in total, so that the swinging amplitude is reduced, and the effect of reducing the impact is achieved.
Referring to fig. 6-7, the hinge structure includes a front fork plate 9 welded to the frame 1-1, a swing shaft, and a stepped hole provided in the middle of the front axle 1-2; the swing shaft is arranged on a step hole in the middle of the front axle 1-2 through two tapered roller bearings; the front fork plate 9 is hinged on the swing shaft. The front axle 1-2 can swing left and right around the swing shaft by hinging the swing shaft with the front fork plate 9, so that the front axle 1-2 can float, and when the front axle meets irregular road surfaces, the elastic swing mechanism can ensure that the four wheels 2 are in contact with the ground, thereby ensuring the effective output of power.
Referring to fig. 2 and fig. 6-7, the frame 1-1 is a U-shaped groove sheet metal structure, six U-shaped plates are installed in the U-shaped groove for reinforcement, an upper supporting plate and a lower supporting plate are installed in the middle of the frame 1-1, the upper supporting plate 11 mainly has a fixing function, and the lower supporting plate 12 is used for fixing the frame 1-1 and an installation tool, an electric push rod 6-1 or a mechanical arm; the front axle 1-2 is arranged at the front end of the frame 1-1 through a swing frame 10, and the rear axle 1-3 is arranged at the other end of the frame 1-1 through four angle irons.
Referring to fig. 8, the control system includes a bottom layer control unit, a terminal execution node, a motor driver, a remote controller, and a receiver; 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; the bottom layer control unit is connected with the motor driver to realize the forward, backward and steering of the walking chassis; the bottom layer control unit is connected with the terminal execution node; and the terminal execution node is connected with the operating machine tool and used for controlling the starting and stopping of the operating machine tool. In the structure, the remote controller sends a command to the receiver, the receiver receives the command sent by the remote controller and then sends the command to the bottom layer control unit, and the motor driver and the terminal execution node respectively control the advancing, retreating, steering and starting and stopping of the operation machine tool of the walking chassis, so that the remote control of the robot is realized.
Referring to fig. 8, the navigation system includes an onboard computer, an inertial measurement unit, a global positioning system, a visual camera, a wireless communication module, and a remote terminal; the inertial measurement unit, the global positioning system and the vision camera are respectively connected with the airborne computer through serial ports; the remote terminal is connected with the airborne computer through the wireless communication module; the airborne computer is connected with the bottom layer control unit. By arranging the mechanism, automatic navigation of the robot can be realized; the global positioning system and the inertial measurement unit provide position and attitude information (i.e., positioning information) for automatic navigation; the visual camera can acquire the information (namely visual information) of the seedling belts or the weeds in real time, and can prevent the walking chassis from pressing seedlings in the operation process; the remote terminal can set walking chassis parameters and operation parameters of the robot and send parameter setting information to the airborne computer through the wireless communication module; the airborne computer can fuse the positioning information and the visual information and receive the parameter setting information, and sends a control command to the bottom layer control unit to control the walking chassis to automatically drive according to a set path.
Referring to fig. 8, the onboard computer is an upper computer, the model of the onboard computer is TX2, an inertial measurement unit (IUM), a visual camera and a Global Positioning System (GPS for short) are all connected with the upper computer through a USB, the wireless communication module is a router and is connected with the upper computer through a local area network and a remote terminal, the remote terminal CAN be a mobile phone, a tablet computer or a computer, and the bottom control unit is a core control module and is connected with a terminal execution node through a CAN bus; the working machine can be a fertilizing device or a pesticide spraying device.
Referring to fig. 8, automatic navigation of the walking chassis may be implemented by the navigation system, specifically, the automatic navigation includes path planning and path tracking, the path tracking includes straight line tracking and line feed; during linear tracking, the global positioning system provides position information, the airborne computer can control the direction of the walking chassis according to the pose information, so that the running path of the chassis is overlapped with the planned path, namely the advancing speed and the course angle of the walking chassis are adjusted in real time through the position and posture information provided by the inertial measurement unit and the global positioning system to track the path; during operation, firstly, a global positioning system is adopted to realize absolute positioning, then a visual camera is used for identifying crop rows and is used as a navigation line to realize relative positioning, and an onboard computer fuses data and data of the crop rows to enable the robot to accurately walk between the crop rows; when the line is changed, the four wheels can rotate 90 degrees simultaneously, so that the chassis can be laterally translated to a new line to continue operation, and the operation is completed by advancing, translating and retreating during the line changing, so that the large-area seedling pressing caused by line changing and turning is avoided. In addition, the inter-row crops can be detected in real time through the vision camera, the global positioning system navigation is adopted as a main part, the vision navigation is adopted as an auxiliary part, the problem that the crop rows are not accurate due to the fact that only the global positioning system navigation is adopted in the operation process can be solved through the vision navigation, accurate row alignment is achieved, and seedling pressing during operation is avoided.
The walking chassis of the robot in the embodiment is an electric chassis, the power supply is a lithium battery, and the lithium battery is arranged in a battery box and can output voltages of 48V, 24V and 5V and supply power for the walking driving mechanism 5, the steering driving mechanism 4, the control system, the navigation system and the working machine.
Referring to fig. 1, the wheel 2 is a paddy field wheel and has strong trafficability. The robot of the embodiment comprises a remote control mode and an autonomous mode, wherein the autonomous mode can be set by a remote terminal, a walking chassis can autonomously plan a path and autonomously complete operation, the remote control mode can be switched under any condition, and the walking chassis of the robot can be remotely operated by a remote controller in the mode.
Referring to fig. 1-3, the working principle of the paddy field agricultural robot is as follows:
when the four-wheel steering mechanism works, the four wheels 2 are independently driven through the walking steering mechanism respectively, and the steering driving mechanism 4 drives the wheels 2 to steer for 360 degrees; because each wheel 2 and the chassis frame 1 are provided with the walking steering mechanism, the four wheels 2 can realize independent steering, omnidirectional translation and in-situ rotation can be realized during paddy field operation, the navigation system can realize global navigation and planning of paths, the control system can control steering and walking of the walking chassis, and field management is realized after carrying operation machines.
Referring to fig. 8-15, the embodiment also discloses a navigation method of a paddy field agricultural robot with four wheels turning independently, which comprises the following steps:
(1) Planning a path of the target paddy field 13;
(2) The navigation system acquires current position information and attitude information, generates a command by combining a planned path and sends the command to the control system, and the control system controls the traveling path 14 of the traveling chassis to coincide with the planned path; the specific steps of the traveling chassis for performing the operation by changing the next line path 14 are as follows:
(2.1) the four wheels 2 are positioned at the position where the center line a between the two longitudinal rows of crops 16 is intersected with the center line b between the two transverse rows of crops 16; wherein, the channel formed between two longitudinal rows of crops is a longitudinal channel 17, the channel formed between two transverse rows of crops is a transverse channel 18, and the longitudinal channel 17 and the transverse channel 18 are arranged in a staggered way; the central line a between two longitudinal rows of crops is the central line a of the longitudinal channel 17, and the central line b between two transverse rows of crops is the central line b of the transverse channel 18; at this time, the transverse channel 18 in which each wheel 2 is located is the initial transverse channel for line feed;
(2.2) the steering driving mechanism 4 simultaneously drives the four wheels 2 to steer in place (clockwise in place), so that each wheel 2 points to the middle point between two crops 16 on the next transverse channel 18 on the longitudinal row close to the side of the wheel 2, and the walking driving mechanism 5 drives each wheel 2 to walk to the corresponding middle point position (namely, the wheel 2 is positioned on the central line of the transverse channel 18);
(2.3) the steering driving mechanism 4 simultaneously drives the four wheels 2 to steer in place (steer in place clockwise) towards the same direction, so that the direction pointed by each wheel 2 is superposed with the central line b of the transverse channel 18, and the walking driving mechanism 5 drives each wheel 2 to walk, so that the walking chassis is translated to the next row of paths, and at the moment, each wheel 2 is positioned at the middle point between two crops on the longitudinal row;
(2.4) the steering driving mechanism 4 simultaneously drives the four wheels 2 to steer in place (clockwise in place) towards the same direction, so that each wheel 2 points to a position where the center line b of the line-feed initial transverse channel intersects with the center line a of the next longitudinal channel 17, and the walking driving mechanism 5 drives each wheel 2 to walk to the position;
(2.5) the steer-drive mechanism 4 simultaneously drives the four wheels 2 to steer in place in the same direction (clockwise steer in place) such that each wheel 2 points in a direction coincident with the centerline of the longitudinal channel 17.
And (5) after the line changing is finished, changing the forward moving of the walking chassis into the backward moving, operating, and repeating the steps (2.1) - (2.5) when the line changing operation needs to be continued.
According to the navigation method of the paddy field agricultural robot with four wheels turning independently in the embodiment, the wheels 2 are finely adjusted step by step, the line changing operation of the walking chassis is realized under the condition that seedlings are not damaged completely, the walking precision is high, the route planning is reasonable, the walking chassis cannot damage crops during the operation period, and the operation effect is improved; by means of the visual camera, the crop can be identified so that the four wheels 2 walk to the position of the centre lines of the transverse 18 and longitudinal 17 channels, and the midpoint of the two-bead crop.
Referring to fig. 8, in step (1), the specific steps of performing path planning on the target paddy field include: an operator holds the remote terminal by hand, the position of the boundary point of the target paddy field is recorded, the onboard computer automatically generates the shape of the target paddy field according to the position information of the boundary point, an operation path is planned according to the shape of the target paddy field, and the operation path is transmitted back to the remote terminal to be displayed in a graph mode.
Referring to fig. 8, in step (2), the navigation system acquires current position information and attitude information, and generates a command in combination with a planned path, and sends the command to the control system, and the specific steps of the control system controlling the running path of the walking chassis to coincide with the planned path are as follows: the global positioning system acquires current position information, the inertial measurement unit acquires current attitude information and sends the position information and the attitude information to the airborne computer, the airborne computer generates a command according to the position information, the attitude information and the planned path and sends the command to the bottom layer control unit, and the bottom layer control unit controls the direction of the walking chassis so that the running path of the walking chassis coincides with the planned path.
Referring to fig. 10 to 15, in steps (2.2) and (2.3), the steering drive mechanism 4 drives the wheels 2 at a cumulative steering angle of 90 °, and in steps (2.4) and (2.5), the steering drive mechanism 4 drives the wheels 2 at a cumulative steering angle of 90 °. Through the accumulated steering of 90 degrees, when the next line of path is changed, the walking chassis can transversely translate to a new line of path to continue to work, so that the precise work is realized, and the second damage is avoided.
Referring to fig. 2, in step (2.1), the distance between front axle 1-2 and rear axle 1-3 is adjusted by wheel base adjustment mechanism 6 so that wheel 2 on front axle 1-2 and wheel 2 on rear axle 1-3 are both located on the centerline of lateral passage 18.
Example 2
The other structure in this embodiment is the same as embodiment 1, except that the wheel base driving assembly may be a hydraulic push rod or a combination of a motor and a lead screw.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (9)
1. A navigation method of a paddy field agricultural robot with four wheels turning independently is characterized in that the navigation method is realized by the paddy field agricultural robot, and the paddy field agricultural robot comprises a walking chassis, a control system for controlling the walking chassis to walk and turn and a navigation system for navigating the walking chassis; the control system is respectively connected with the walking chassis and the navigation system;
the walking chassis comprises a chassis frame used for installing a working machine, four wheels arranged on the chassis frame and a walking steering mechanism arranged between the chassis frame and each wheel and used for driving the wheels to walk and steer; the upper end of the walking steering mechanism is connected with the chassis frame, and the lower end of the walking steering mechanism is connected with the wheels; the walking steering mechanism comprises a base, a steering driving mechanism and a walking driving mechanism, wherein the base is arranged between the chassis frame and the wheels, the upper end of the base is connected with the chassis frame, and the lower end of the base is connected with the wheels; the steering driving mechanism is used for driving the wheels to steer for 360 degrees; the walking driving mechanism is used for driving the wheels to walk;
the navigation method comprises the following steps:
(1) Planning a path of a target paddy field;
(2) The navigation system acquires current position information and attitude information, generates a command by combining a planned path and sends the command to the control system, and the control system controls the running path of the walking chassis to coincide with the planned path; the specific steps of the walking chassis for carrying out operation by changing the path of the next line are as follows:
(2.1) the four wheels are positioned at the intersection position of the center line between the two longitudinal rows of crops and the center line between the two transverse rows of crops; the channel formed between the two longitudinal rows of crops is a longitudinal channel, the channel formed between the two transverse rows of crops is a transverse channel, and the longitudinal channel and the transverse channel are arranged in a staggered mode; the central line between two longitudinal rows of crops is the central line of the longitudinal channel, and the central line between two transverse rows of crops is the central line of the transverse channel; at the moment, the transverse channel where each wheel is located is the line-changing initial transverse channel;
(2.2) the steering driving mechanism simultaneously drives four wheels to steer in situ, so that each wheel points to the midpoint between two crops on the longitudinal row close to the side of the wheel on the next transverse channel, and the walking driving mechanism drives each wheel to walk to the corresponding midpoint position;
(2.3) the steering driving mechanism simultaneously drives the four wheels to steer in situ in the same direction, so that the direction pointed by each wheel is superposed with the central line of the transverse channel, the walking driving mechanism drives each wheel to walk, the walking chassis is translated to the next row of path, and at the moment, each wheel is positioned at the midpoint between two crops on the longitudinal row;
(2.4) the steering driving mechanism simultaneously drives the four wheels to steer in situ in the same direction, so that each wheel points to a position where the center line of the line-changing initial transverse channel intersects with the center line of the next longitudinal channel, and the walking driving mechanism drives each wheel to walk to the position;
(2.5) the steering driving mechanism simultaneously drives the four wheels to steer in place towards the same direction, so that the direction pointed by each wheel is coincident with the central line of the longitudinal channel.
2. The navigation method of a paddy field agricultural robot with four wheels steering independently as claimed in claim 1, wherein the steering driving mechanism comprises a steering driving gear rotatably provided on the base, a steering driven gear fixedly provided on the chassis frame and a steering driving motor mounted on the base; the steering driving gear is meshed with the steering driven gear, the driving end of the steering driving motor is connected with the steering driving gear, and the base is rotatably connected to the chassis frame.
3. The navigation method of the agricultural robot for paddy field with four wheels turning independently as claimed in claim 1, wherein the walking driving mechanism comprises a walking driving motor, a supporting arm, a transmission shaft and a bevel gear reducer, wherein the upper end of the supporting arm is fixedly arranged at the lower end of the base, the bevel gear reducer is arranged at the lower end of the supporting arm, and the walking driving motor is arranged at the upper end of the base; the supporting arm is of a hollow structure, and the transmission shaft is arranged inside the supporting arm; the upper end of the transmission shaft is connected with the driving end of the walking driving motor, the lower end of the transmission shaft is connected with the input end of the bevel gear reducer, and the wheels are connected with the output end of the bevel gear reducer.
4. The method for navigating the paddy field agricultural robot with four wheels steering independently as claimed in claim 1, wherein the chassis frame comprises a frame, a front axle and a rear axle arranged at the front and rear ends of the chassis frame, and the base is rotatably connected to the front axle and the rear axle; a wheel base adjusting mechanism for adjusting the distance between the front axle and the rear axle is arranged between the rear axle and the frame; the wheel base adjusting mechanism comprises a guide assembly used for guiding the rear axle to slide on the vehicle frame and a wheel base driving assembly used for driving the rear axle to slide along the vehicle frame.
5. The method for navigating the paddy field agricultural robot with four wheels steering independently as claimed in claim 4, wherein the front axle is connected with the frame by an elastic swing mechanism, the elastic swing mechanism comprises a hinge structure arranged in the middle of the front axle and dampers arranged at two ends of the front axle, the middle of the front axle is hinged on the frame by the hinge structure, one end of the damper is hinged on the frame, and the other end of the damper is hinged on the front axle.
6. The navigation method of the paddy field agricultural robot with four independent wheels for steering according to claim 1, characterized in that the control system comprises a bottom layer control unit, a terminal execution node, a motor driver, a remote controller and a receiver; 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; the bottom layer control unit is connected with the motor driver to realize the forward, backward and steering of the walking chassis; the bottom layer control unit is connected with the terminal execution node; and the terminal execution node is connected with the operating machine tool and used for controlling the starting and stopping of the operating machine tool.
7. The navigation method of the agricultural robot for paddy field with four wheels turning independently as claimed in claim 6, wherein the navigation system comprises an onboard computer, an inertial measurement unit, a global positioning system, a vision camera, a wireless communication module and a remote terminal; the inertial measurement unit, the global positioning system and the vision camera are respectively connected with the airborne computer through serial ports; the remote terminal is connected with the airborne computer through the wireless communication module; the airborne computer is connected with the bottom layer control unit.
8. The navigation method of the paddy field agricultural robot with four wheels turning independently as claimed in claim 1, wherein in the step (1), the specific steps of planning the path of the target paddy field are as follows: an operator holds the remote terminal by hand, the boundary point position of the target paddy field is recorded, the onboard computer automatically generates the shape of the target paddy field according to the boundary point position information, an operation path is planned according to the shape of the target paddy field, and the operation path is transmitted back to the remote terminal to be displayed in a graph.
9. The navigation method of a paddy field agricultural robot with four wheels turning independently as claimed in claim 1, characterized in that in steps (2.2) and (2.3), the cumulative steering angle of the steering driving mechanism driving wheels is 90 °, and in steps (2.4) and (2.5), the cumulative steering angle of the steering driving mechanism driving wheels is also 90 °.
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| CN116945807B (en) * | 2023-09-20 | 2023-11-28 | 盐城满田星农业装备有限公司 | Wheel structure of transplanter |
| CN117681952B (en) * | 2024-02-02 | 2024-04-23 | 深圳市德富莱智能科技股份有限公司 | Farmland walking platform with independent steering function |
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| CN114987609A (en) | 2022-09-02 |
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