CN211222947U - All-terrain mobile robot with independent suspension for farm based on ROS scheduling system - Google Patents

Abstract

The utility model relates to an all-terrain independent suspension mobile robot for farms based on a ROS scheduling system, comprising a chassis module and drive system modules symmetrically distributed on both sides of the chassis module; The independent suspension system module that is matched and can be adjusted in hardness, the chassis module, the body module, and the load-bearing module are all provided with ROS control system modules, and the symmetrically distributed drive system modules are connected with the chassis module for connection to the chassis module. A power balance distribution system module for suppressing the steering roll of a mobile robot. The utility model enhances the adaptability of the mobile robot to complex terrain, and improves the stability performance, the power utilization rate and the load capacity through the independent suspension system and the dynamic balance distribution system with adjustable hardness and softness. Through the sensing and ROS control system module, the outdoor autonomous navigation and walking of mobile robots, the intelligent, efficient and precise operation of a single vehicle, and the cooperative operation of multiple vehicles are realized.

Description

All-terrain mobile robot with independent suspension for farm based on ROS scheduling system

technical field

The utility model relates to the technical field of agricultural mobile robots, in particular to an all-terrain independent suspension mobile robot for farms based on a ROS scheduling system.

Background technique

With the development of science and technology and society, in the future, farms will be used as a common form of agricultural production organization, and there will be a strong demand for intelligent and generalized agricultural mobile platforms. Different from traditional industrial robots, the environment and technical systems involved in intelligent mobile robots are more extensive and complex. Information perception and navigation algorithms are not yet fully universal. Some navigation algorithms are still in the theoretical stage and have not been verified in the practical stage. It did not appear in people's work and life as much as people expected. This also leads to a hot issue in the field of robotics research and artificial intelligence today, that is, how to make the robot move autonomously in the environment more stable and reliable. At present, most of the all-terrain mobile platforms are crawler type and leg type, which have limited load capacity, low steering and walking control precision, and it is difficult to coordinate stable, precise and efficient operation of multiple machines in the farm environment.

For example, Chinese Patent No. 201711180569.0 discloses a coaxial all-terrain wheel-leg mobile robot, which includes a vehicle body, front legs symmetrically arranged on both sides of the front of the vehicle body, and rear legs symmetrically arranged at the rear of the vehicle body. The front leg and the rear leg realize the control part, and the front leg and the rear leg are connected with the body through the metal rudder; Front wheel hub motor, front right-angle support, front U-shaped support, front motor holder, front wheel, front leg connector and front steering motor holder, the rear leg is composed of rear boom lift motor, rear wheel steering motor, rear Metal steering wheel, rear wheel hub motor, rear right-angle support, rear U-shaped support, rear motor cage, rear wheel, backward connecting piece and front steering motor cage. This all-terrain mobile robot does not have an independent suspension shock absorption mechanism and a dynamic balance distribution system. The shock absorption effect is limited and the motor torque is difficult to distribute and balance. When walking in a farm environment, the body stability is low, and the single motor is easily overloaded when turning. The positioning accuracy is not high.

For example, Chinese Patent No. 201710324381.2 discloses a wheel-crawler composite omnidirectional mobile robot, which includes a chassis frame, a chassis crawler device and a chassis wheel device, and the chassis crawler device and the chassis wheel device are both installed on the chassis frame. The chassis wheel type device includes four traveling wheels, two traveling wheels are arranged at the longitudinal front end of the chassis frame, and are symmetrically arranged on the lateral sides of the chassis frame; the other two walking wheels are arranged at the longitudinal rear end of the chassis frame, symmetrically arranged at the The lateral sides of the chassis frame; the chassis crawler device has an annular crawler, which is arranged between the traveling wheels on both sides and surrounds in the longitudinal direction; the front end of the annular crawler extends to the front of the traveling wheel at the front end, and the rear end of the annular crawler extends to the rear The bottom of the endless track is higher than the bottom of the traveling wheel. This all-terrain mobile robot has a strong ability to overcome obstacles, but its walking wheels use Mecanum wheels, making it difficult to walk in a farm environment, and it does not have sensor and ROS control system modules, and does not have multi-mobile robots to work together.

China is a big manufacturing country and a big agricultural country. At present, most of the labor force is concentrated in these two industries. "Made in China 2025" has repeatedly mentioned intelligent agricultural construction machinery and mobile service platforms, and the development of agricultural all-terrain intelligent mobile platforms and their engineering applications. The agricultural mobile robot can adapt to multiple terrains and can match a variety of operating tools. It is equipped with a farm scheduling system to realize the coordinated work of multiple machines and tools, which can reduce the labor demand of the farm.

Therefore, a four-wheel drive, autonomous walking all-terrain mobile robot with independent suspension, dynamic balance distribution system, sensing and ROS control system has huge market application prospects and promotion value. This farm-oriented all-terrain mobile robot has the advantages of high stability and reliability, strong load capacity, and high degree of information intelligence.

The ROS-based all-terrain independent suspension mobile robot is an agricultural all-terrain intelligent mobile platform that can effectively deal with the complex environment of the farm, has information perception, autonomous navigation, and is equipped with a farm scheduling system.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the utility model proposes an all-terrain independent suspension mobile robot for farms based on the ROS scheduling system.

The technical problem to be solved by this utility model adopts the following technical solutions to realize:

The all-terrain independent suspension mobile robot for farms based on the ROS scheduling system includes a chassis module, a drive system module symmetrically distributed on both sides of the chassis module, a body module arranged on the chassis module, and a load-bearing module arranged on the body module. Between the drive system module and the chassis module, an independent suspension system module that matches the terrain and can be adjusted in hardness and softness is connected, and the chassis module, the body module, and the load-bearing module are all provided with sensing and ROS control system modules. Between the symmetrically distributed drive system modules, a power balance distribution system module connected to the chassis module for restraining the steering roll of the mobile robot is arranged.

Further, the independent suspension system module includes a vibration damping adjustment component connected with the drive system module, a vibration reduction preload limit component connected with the chassis module, and a vibration reduction adjustment component connected with the vibration reduction preload limit component. vibration components.

Further, the vibration damping adjustment assembly includes a damper movable support and a support adjustment fixing plate arranged on the drive system module, and a vibration damping is connected between the vibration damper movable support and the support adjustment fixing plate. A guide rod of the moving support and an adjusting bolt are installed on the adjusting bolt, and a non-slip nut is installed on the adjusting bolt.

Further, the vibration-damping and preloading limit assembly includes an upper limit plate, a lower limit plate and a flange bushing connected to the chassis module, and a preload which is installed between the upper limit plate and the lower limit and passes through the flange bushing. The spring guide rod is tightened, and a preload spring and a buffer disc spring are correspondingly arranged between the reducer mounting seat, the upper limit plate and the lower limit plate, and the preload spring is sleeved on the preload spring guide rod.

Further, the shock absorber assembly includes a shock absorber fixed support provided on the chassis module, a shock absorber connected with the shock absorber fixed support and the shock absorption adjustment assembly through a pin shaft.

Further, the power balance distribution system module includes a stabilizer bar body symmetrically hinged on the drive system module, a fixed sleeve swing rod symmetrically hinged on the chassis module, and the stabilizer bar bodies are connected by a universal coupling, The fixed sleeve swing rod is connected with the corresponding stabilizer rod body in a relative rotation manner.

Further, the sensing and ROS control system module includes an environment perception sensor and a ROS control system for receiving and controlling.

Further, the environment perception sensor includes a binocular camera arranged on the carrier module, a GPS sensor, a gyroscope, a laser radar, an ultrasonic sensor, a lighting lamp, a remote control antenna and a host computer wireless communication antenna arranged on the body module, Magnetic navigation sensor and RFID sensor arranged on the chassis module.

Further, the ROS control system includes a servo driver connected with the drive system module, a chassis controller connected with the servo driver, and an upper computer ROS controller connected with the chassis controller.

The beneficial effects of the present utility model are:

The utility model enhances the adaptability of the mobile robot to complex terrain and improves the mobile robot's ability to adapt to complex terrain through an independent suspension system that matches the terrain and can be adjusted in hardness and a high-performance load-bearing off-road chassis and a dynamic balance distribution system. stable performance, power utilization and load capacity. In addition, the utility model is provided with a sensing and ROS control system module, so that the mobile robot is equipped with multiple environment perception sensors and a farm scheduling system, and realizes the outdoor autonomous navigation and walking of the mobile robot, the intelligent, efficient and precise operation of a single vehicle, and the cooperative operation of multiple vehicles.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the utility model is further described:

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the exploded schematic diagram of the overall structure of the present utility model;

3 is a schematic structural diagram of a chassis vibration damping drive module of the present invention;

4 is a schematic structural diagram of a drive vibration damping system of the present invention;

5 is a schematic cross-sectional view of the drive vibration damping system of the present invention;

6 is a partial enlarged schematic view of the structure of the connection mode between the drive system module and the chassis module in the present invention.

Detailed ways

In order to make it easy to understand the technical means, creation features, achieved goals and effects of the present invention, the present invention will be further described below with reference to the accompanying drawings and embodiments.

As shown in Figures 1 to 6, the mobile robot with all-terrain independent suspension for farm based on the ROS scheduling system includes a chassis module 7 whose strength and deflection match the mobile robot, and a drive system module 4 symmetrically distributed on both sides of the chassis module 7, The body module 3 arranged on the chassis module 7 and the carrier module 1 arranged on the body module 3 . An independent suspension system module 6 that matches the terrain is connected between the drive system module 4 and the chassis module 7 , and the chassis module 7 , the body module 3 , and the bearing module 1 are all provided with sensing and ROS control system modules 2. A power balance distribution system module 5 connected to the chassis module 7 is arranged between the symmetrically distributed drive system modules 4 .

The body module 3 is installed on the upper part of the chassis module 7 , the bearing module 1 is installed on the upper part of the body module 3 , and the sensing and ROS control system module 2 is installed inside and around the body module 3 .

Specifically, the chassis module 7 includes an I-shaped bridge beam 705, a front wheel bridge 702 and a rear wheel bridge 704 correspondingly disposed at the front and rear ends of the I-shaped bridge beam 705. The front wheel bridge 702 and the rear wheel bridge The front bumper 701 and the rear bumper 703 are correspondingly installed on 704 .

The body module 3 includes a casing 302 disposed above the I-shaped bridge beam 705 , a casing top cover 301 located above the casing 302 , a fender 303 located on the front side of the casing 302 , and a rear of the casing 302 . side housing rear cover 304 .

The carrying module 1 includes a stage 101 disposed on the top cover 301 of the casing, a front stage support boss 102 located on the front side of the stage 101 and a rear stage located on the rear side of the stage 101 The support boss 103 is supported.

There are four drive system modules 4 , which are respectively installed at the front left, rear left, front right and rear right positions of the chassis module 7 . The drive system module 4 includes a reducer mount 401 connected to the chassis module 7 , a bearing mount module 402 arranged on the reducer mount 401 , and a right-angle reducer 404 , and a wheel module 405 is arranged on the bearing mount module 402 , the right-angle reducer 404 is connected with a servo motor 403; wherein, the right-angle reducer 404 forms an upward angle with the ground.

The number of the independent suspension system modules 6 is the same as that of the drive system modules 4 , and there are also four correspondingly; as shown in FIGS. 4 and 5 , it is a schematic structural diagram of a single independent suspension system module 6 . The independent suspension system module 6 includes a vibration damping adjustment component connected with the drive system module 4, a vibration reduction preload limit component connected with the chassis module 7, and a vibration reduction adjustment component connected with the vibration reduction preload limit component. vibration components.

The vibration damping adjustment assembly includes a damper movable support 614 and a support adjustment fixing plate 606 arranged on the reducer mounting base 401 , and the vibration damper movable support 614 is connected with the support adjustment fixing plate 606 . There are a guide rod 603 of a shock absorber moving support and an adjusting bolt 605 , and a non-slip nut 604 is installed on the adjusting bolt 605 .

The vibration-damping and pre-tightening limiting assembly includes an upper limiting plate 611 , a lower limiting plate 607 , a flange bushing 608 , and an upper limiting plate 611 and a lower limiting plate 607 respectively arranged on the upper and bottom of one side of the front wheel frame 702 . Between and through the pre-tightening spring guide rod 610 of the flange bushing 608, a pre-tightening spring 609 and a buffer disc spring 615 are correspondingly provided between the reducer mounting seat 401 and the upper limit plate 611 and the lower limit plate 607, The preload spring 609 is sheathed on the preload spring guide rod 610 .

The shock absorber assembly includes a shock absorber fixed support 601 arranged on the front wheel bridge 702, a shock absorber 602 connected with the shock absorber fixed support 601 and the shock absorber dynamic support 614 through a pin shaft 612.

Based on the above, when working in the complex environment of the farm, when the wheels are subjected to the force from the ground, the force is transmitted to the drive system module 4 and then to the independent suspension system module 6. When the force passes through the shock absorber 602, Most of it is worn away, and the force transmitted to the chassis module 7 is attenuated, which reduces the bumpiness of the mobile robot chassis module 7 and improves the stability of the chassis module 7; the vibration reduction adjustment component in the independent suspension system module 6 is the same as the The vibration reduction preload limit component plays the role of the soft and hard adjustment function of the independent suspension system module 6 during the vibration reduction process. The vibration reduction adjustment component has a small soft and hard adjustment range for the independent suspension system module 6. Adjust the vibration reduction by rotating the adjustment bolt 605 The inclination angle of the axis of the actuator 602 can change its ability to receive the force on the vertical plane, adjust the degree of softness and hardness of the independent suspension system module 6, and the vibration reduction preload limit component has a large range of softness and hardness adjustment for the independent suspension system module 6. The degree of softness and hardness of the independent suspension system module 6 is adjusted by replacing the preload springs with different stiffnesses, so that the independent suspension system module 6 is matched with the working terrain, and the stability of the chassis module 7 is improved. The L-shaped surface formed by the drive system module 4 and the right-angle reducer 404 and the servo motor 403 forms an upward angle with the ground, which enhances the obstacle-surmounting capability of the chassis module 7 .

The power balance distribution system module 5 includes a stabilizer bar body 505 symmetrically hinged on the drive system module 4, and a fixed sleeve swinging rod 503 symmetrically hinged on the chassis module 7. The stabilizer bar body 505 is connected by a universal coupling. The fixed sleeve swing rod 503 is connected with the corresponding stabilizer rod body 505 in a relative rotation manner.

Based on the above, in the dynamic balance distribution system module 5, when the mobile robot operates in a complex farm environment, when the two wheels on the left and right coaxial lines are subjected to different forces, since the mobile robot has an independent suspension system module 6, when the two wheels are subjected to different forces The jumping height of the wheel relative to the chassis module 7 is different, and the two ends of the stabilizer bar body 505 are not at the same level, then the stabilizer bar body 505 is deformed to generate torque, the stabilizer bar body 505 has the ability to resist torque, and the stabilizer bar body 505 returns to its original state The two ends of the stabilizer bar body 505 are kept at the same level to prevent the body from rolling over, and at the same time to ensure the stability of the body; when the mobile robot is turning, the mobile robot will roll, and the inner vehicle on the same axis on the left and right If the force on the ground is large and the force on the outer wheels from the ground is small, the friction force on the wheels is inconsistent, the output torque of the servo motor 403 is inconsistent, the output power of the inner servo motor 403 is large, and the output power of the outer servo motor 403 is small, which is easy to cause The inner servo motor 403 is overloaded, which reduces the load force of the mobile robot. The power balance distribution system module 5 suppresses the steering roll of the mobile robot, so that the wheels on the same axis on the left and right are kept at the same level, and the frictional force difference between the wheels on the ground is reduced, so that the Ensure that the power of the mobile robot is fully utilized to prevent the "barrel effect".

The sensing and ROS control system module 2 includes an environment perception sensor and a ROS control system for receiving and controlling.

The environmental perception sensor includes a binocular camera 202 arranged on the carrier module 1, a GPS sensor 203 arranged on the body module 3, a gyroscope 230, a lidar 205, an ultrasonic sensor 207, a lighting lamp 208, a remote control antenna 226 and The host computer wireless communication antenna 228 , the magnetic navigation sensor 210 and the RFID sensor 231 arranged on the chassis module 7 .

The ROS control system includes a servo driver 218 connected to the servo motor 403 , a chassis controller 219 connected to the servo driver 218 , and an upper computer ROS controller 224 connected to the chassis controller 219 .

Specifically, the host computer ROS controller 224 is used to receive and analyze the external information data obtained by the environmental perception sensor, identify the next action command of the mobile robot, and then transmit the next step command signal to the chassis controller connected to it. 219. The chassis controller 219 controls the servo driver 218 connected to the servo motor 403, and the servo driver 218 controls the operation of the servo motor 403 to realize the autonomous decision-making function of the mobile robot.

Based on the above, the magnetic navigation sensor 210 and the RFID sensor 231 in the sensing and ROS control system module 2 enable the mobile robot to have the indoor magnetic stripe tracking function; the binocular camera 202, the GPS sensor 203, and the gyroscope 230 enable the mobile robot to have outdoor autonomy Navigation and walking function; lidar 205 enables the mobile robot to have obstacle avoidance function; servo driver 218 and chassis controller 219 are used to control the mobile robot to move forward, backward and turn; the host computer ROS controller 224 enables the mobile robot to have the function of farm scheduling, It ensures the cooperative operation of multiple vehicles, and at the same time enables the mobile robot control system to control a variety of working tools.

The basic principles, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and the description are only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention There are also various changes and improvements that fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. Independent suspension mobile robot of full topography for farm based on ROS dispatch system, including chassis module (7), symmetric distribution at actuating system module (4) of chassis module (7) both sides, set up automobile body module (3) on chassis module (7), set up bearing module (1) on automobile body module (3), its characterized in that: be connected with between actuating system module (4) and chassis module (7) with topography phase-match and independent suspension system module (6) with adjustable hardness, all be equipped with sensing and ROS control system module (2) on chassis module (7), automobile body module (3), the bearing module (1), be equipped with between the actuating system module (4) of symmetric distribution and be connected with chassis module (7) and be used for restraining mobile robot turns to the power balance distribution system module (5) that heels.

2. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 1, wherein: the independent suspension system module (6) comprises a vibration damping adjusting assembly connected with the driving system module (4), a vibration damping pre-tightening limiting assembly connected with the chassis module (7), and a vibration damping assembly connected with the vibration damping adjusting assembly and the vibration damping pre-tightening limiting assembly.

3. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 2, wherein: the vibration damping adjusting assembly comprises a vibration damper movable support (614) and a support adjusting fixing plate (606) which are arranged on the driving system module (4), a vibration damper movable support guide rod (603) and an adjusting bolt (605) are connected between the vibration damper movable support (614) and the support adjusting fixing plate (606), and an anti-skidding nut (604) is installed on the adjusting bolt (605).

4. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 2, wherein: the damping pre-tightening limiting assembly comprises an upper limiting plate (611), a lower limiting plate (607) and a flange bushing (608) which are connected with the chassis module (7), and a pre-tightening spring guide rod (610) which is arranged between the upper limiting plate (611) and the lower limiting plate (607) and penetrates through the flange bushing (608), a pre-tightening spring (609) and a buffering disc spring (615) are correspondingly arranged between the driving system module (4) and the upper limiting plate (611) and the lower limiting plate (607), and the pre-tightening spring (609) is sleeved on the pre-tightening spring guide rod (610).

5. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 2, wherein: the vibration damping assembly comprises a vibration damper fixed support (601) arranged on the chassis module (7), and a vibration damper (602) connected with the vibration damper fixed support (601) and the vibration damping adjusting assembly through a pin shaft (612).

6. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 1, wherein: the power balance distribution system module (5) comprises a stabilizer bar body (505) symmetrically hinged on the driving system module (4) and a fixed sleeve swinging rod (503) symmetrically hinged on the chassis module (7), the stabilizer bar body (505) is connected with each other through a universal coupling (506), and the fixed sleeve swinging rod (503) is connected with the corresponding stabilizer bar body (505) in a relative rotation mode.

7. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 1, wherein: the sensing and ROS control system module (2) comprises a environmental sensing sensor and an ROS control system for receiving and controlling.

8. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 7, wherein: the environment perception sensor comprises a binocular camera (202) arranged on the bearing module (1), a GPS sensor (203), a gyroscope (230), a laser radar (205), an ultrasonic sensor (207), an illuminating lamp (208), a remote controller antenna (226), an upper computer wireless communication antenna (228), a magnetic navigation sensor (210) and an RFID sensor (231) which are arranged on the chassis module (7).

9. The ROS scheduling system based all-terrain independent suspension mobile robot for farms of claim 7, wherein: the ROS control system comprises a servo driver (218) connected with the driving system module (4), a chassis controller (219) connected with the servo driver (218), and an upper computer ROS controller (224) connected with the chassis controller (219).

Images