CN217453934U - Robot field self-positioning control system based on Beidou navigation - Google Patents

Abstract

The utility model discloses a robot field self-localization control system based on big dipper navigation, but including self-movement's robot and rather than matched with backstage management center, it has the power component who supports the robot walking to carry on it, power component is configured to include: a frame-type frame; at least two groups of wheel bodies which are arranged at the bottom of the frame and are oppositely arranged; each group of wheel bodies are configured to be off-road wheels, each off-road wheel is provided with a power mechanism which is matched with the off-road wheel, and each power mechanism is electrically connected with a control assembly of the robot. The utility model provides a robot field self-localization control system based on big dipper navigation patrols the control to the field through setting up the robot, and it can patrol according to the patrol route that the field was reserved, further sets up through each round to the robot for it can adapt to complicated operational environment, and adaptability is better.

Description

Robot field self-positioning control system based on Beidou navigation

Technical Field

The utility model relates to an agricultural mechanical equipment. More specifically, the utility model relates to a robot field self-orientation control system based on big dipper navigation in farming.

Background

Along with the modernization of agricultural planting, basically mechanized operation is realized for seeding, fertilizing and harvesting, for agricultural planting, daily patrol and protection of planted crops are needed to ensure that the growth cycles and different states of different crops can be scientifically managed according to monitored data in the modernization management of crop growth, furthermore, along with the intensification and block management of land, the current periodical patrol of crops usually adopts a manual mode, wastes time and labor, and certainly, a plurality of mechanisms are required to be installed in the planting field to fix the cameras, so that the operations of harvesting the farmland by large-scale mechanical equipment in the later period are influenced;

furthermore, in the prior art, a robot is adopted for field patrol, but the conventional robot adopts a crawler-type structure, has a single power driving source, cannot adapt to patrol work in a complex field environment, and is easy to block and cannot walk.

SUMMERY OF THE UTILITY MODEL

An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages which will be described later.

In order to realize the basis the utility model discloses a these objects and other advantages provide a robot field self-orientation control system based on beidou navigation, include: the robot comprises a robot capable of moving by itself and a background management center matched with the robot, and a power assembly supporting the robot to walk is loaded on the robot, and is characterized in that the power assembly is configured to comprise:

a frame-type frame;

at least two groups of wheel bodies which are arranged at the bottom of the frame and are oppositely arranged;

each group of wheel bodies are configured to be off-road wheels, each off-road wheel is provided with a power mechanism which is matched with the off-road wheel, and each power mechanism is electrically connected with a control assembly of the robot.

Preferably, the robot is further configured to include:

the robot comprises a control assembly, a Beidou positioning assembly and a sensing assembly, wherein the control assembly is used for carrying out navigation operation on a power assembly, the Beidou positioning assembly is used for acquiring position information of the robot in real time, and the sensing assembly is used for acquiring external environment information;

and the background management center performs data interaction through a first communication module arranged on the robot.

Preferably, a transmission shaft matched with each group of wheel bodies is arranged below the frame through at least one bearing seat matched with the frame, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first matched gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a second matched gear;

the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.

Preferably, the control assembly is configured to employ an industrial board;

the Beidou positioning component is configured to employ a Beidou positioning module;

the sensing assembly is configured to include:

at least one camera for collecting environmental information;

a gyroscope for acquiring position information of the robot;

the infrared ranging or ultrasonic ranging module is used for detecting barrier information of the external robot;

and the inclination angle sensor is used for detecting the current horizontal offset angle of the robot.

Preferably, a shell for encapsulating the control assembly, the camera and the Beidou positioning module is arranged in the frame;

the camera and the Beidou navigation module are respectively matched with a mounting seat arranged in the shell;

wherein, each mount pad is connected through matched with second telescopic machanism with the casing bottom, and is provided with rotatory cloud platform between mount pad and the telescopic machanism.

Preferably, the shell part is provided with a window for the camera and the Beidou navigation module to extend out, and the window is pivoted with a door body matched with the window;

the shell is provided with a stopping part for limiting the closing position of the door body, and the stopping part is provided with a sealing strip matched with the stopping part.

The utility model discloses at least, include following beneficial effect: one of the two, the utility model discloses set up the robot and patrol control to the field, it can patrol according to the patrol route that the field was reserved, sets up through each round to the robot for it can adapt to complicated operational environment, and adaptability is better.

And secondly, the utility model discloses a camera of carrying on the robot can accomplish the inspection work in field when the robot walks, and based on big dipper location for it fixes a position accurately reliably.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic cross-sectional structure view of a frame according to an embodiment of the present invention;

fig. 2 is the utility model discloses an embodiment is based on the constitution block diagram of the robot field self-localization control system of beidou navigation.

Detailed Description

The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

It should be noted that in the description of the present invention, the terms indicating the orientation or the positional relationship are based on the orientation or the positional relationship shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, such as "connected," which may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a connection between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention in a specific context.

Furthermore, in the present disclosure, unless explicitly stated or limited otherwise, a first feature may be "on" or "under" a second feature in direct contact with the first and second features, or in indirect contact with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Fig. 1-2 show according to the utility model discloses a robot field self-orientation control system implementation form based on big dipper navigation, include wherein:

the self-moving robot 1 is provided with a power assembly 10 supporting the robot to walk, a control assembly 11 for navigating the power assembly, a Beidou positioning assembly 12 for acquiring position information of the robot in real time and an induction assembly 13 for acquiring external environment information, wherein the induction assembly, the Beidou navigation assembly and the power assembly are configured to be in communication connection with the control assembly, in the structure, the robot walks according to the power provided by the power assembly, the control assembly controls the walking of the robot according to map navigation in the field so as to patrol according to a map stored by the robot, the Beidou positioning assembly is used for positioning the position of the robot in real time so as to correct the walking position of the robot in real time according to navigation, and simultaneously can return the current patrol position to a background management center in real time according to the navigation positioning, the robot position acquisition is facilitated for operators, and the sensing assembly is used for acquiring obstacles in the walking direction of the robot in real time so as to facilitate real-time obstacle avoidance of the robot;

the background management center 2 is used for performing data interaction through a first communication module 14 arranged on the robot, is used for an operator to perform background real-time tracking and checking on the working state of the robot and simultaneously send a working instruction to the robot in real time, and the first communication module is set as a wireless communication module as required;

the power assembly is configured to include:

the frame type frame 3 is used for carrying the control assembly, the Beidou positioning assembly and the induction assembly, and equipment contained in the machine is fixed and protected through the frame type frame;

the at least two sets of wheel bodies 4 are arranged at the bottom of the frame and are oppositely arranged, the robot can walk as required through the plurality of sets of wheel bodies which are oppositely arranged, the patrol operation is completed, and the layout of the wheel bodies can be configured according to the size of the robot body;

the wheel bodies of each group are configured to be off-road wheels, the power mechanisms 5 which are matched with each other are arranged on the off-road wheels respectively, and each power mechanism is electrically connected with the control assembly;

under the frame, a transmission shaft 51 matched with each group of wheel bodies is arranged through at least one bearing seat 50 matched with each other, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first gear 52 matched with each other, the other end of the transmission shaft is meshed with the outside of the other power mechanism arranged oppositely through a second gear 53 matched with each other, in the structure, each wheel body can work independently, and the power of the wheel body on one side can be transmitted to the other side through the action of the transmission shaft, so that a group of transmission wheels can be driven to be in a working state only by one power mechanism in the working state, under the matching of the structure, a group of wheel bodies arranged oppositely is taken as an example, a cylindrical packaging shell of one power mechanism is arranged under the frame through the bearing seat 53 matched with each other, so that the power mechanisms can rotate under the action of external force, and the power output ends are connected with the corresponding off-road wheels through first couplers, the power output end of another power mechanism is connected with the corresponding cross-country wheel by a second coupling in-line way, a first gear arranged on the power output end of the power mechanism is matched with a first gear on the transmission shaft to output rotary acting force to the other end, the second gear arranged on the other end of the transmission shaft is meshed with a second gear arranged outside the power mechanism (the outside of the power mechanism is matched with a bearing seat and fixed at the bottom of the frame by a cylindrical structure), so that power transmission is realized, the power mechanism can drive a group of wheel bodies to rotate under the condition that the power mechanism works, and the bearing seat matched with the transmission shaft can be arranged into a telescopic structure as required, namely, the bearing seat is connected with a first telescopic mechanism arranged at the bottom of the frame, namely, when the power mechanism is used, the position of the bearing seat is adjusted to adjust the first gear, And the second gear is meshed to adapt to switching of different working states.

The frame bottom still is provided with the first telescopic machanism with bearing frame matched with, under this condition, through the setting of first telescopic machanism, make the space height of transmission shaft adjust as required, with the meshing condition of adjusting the epaxial first gear of transmission, second gear and power output axle, motor housing, when using promptly, just down the position of transmission shaft, make its meshing accomplish a motor and drive two wheel motions, all the other times, the transmission shaft does not contact with power output axle, motor housing, each motor controls the wheel that corresponds respectively and is in operating condition, with the needs of walking under the different occasions of adaptation.

In another example, as shown in FIG. 2, the control component is configured to employ an industrial board for transmission;

the Beidou positioning component is configured to adopt a Beidou positioning module, and is used for realizing real-time positioning of the robot in work;

the sensing assembly is configured to include:

the at least one camera 130 for collecting the environmental information can be set into a plurality of cameras through a telescopic mechanism according to needs so as to adapt to the collection of the environmental information or crop information at different heights, and meanwhile, the cameras can be arranged at different positions of a rack of the robot according to needs so as to adapt to the collection needs of different environmental information;

a gyroscope 131 for acquiring positional information of the robot;

an infrared ranging or ultrasonic ranging module 132 for detecting external robot obstacle information;

the tilt sensor 133 for detecting the current horizontal offset angle of the robot is configured with a matched sensing component design in this scheme, so that the robot can rapidly acquire the required environmental data information, thereby facilitating the requirement of patrol and the requirement of navigation patrol.

As shown in fig. 1, in another example, a housing 6 for encapsulating the control assembly, the camera and the beidou positioning module is arranged in the frame;

the camera and the Beidou navigation module are respectively matched with a mounting seat 60 which is arranged in the shell;

wherein, each mount pad is connected through matched with second telescopic machanism 61 with the casing bottom, and be provided with rotatory cloud platform 62 between mount pad and the telescopic machanism, in this kind of structure, accomplish the encapsulation to equipment through the casing, protect each equipment, to the camera through the mount pad, big dipper navigation module installs, the effect lies in making the camera, big dipper navigation module can carry out height control by the setting of second telescopic machanism, and the effect of rotatory cloud platform, make the camera fix a position as required and make a video recording, make big dipper navigation module can adjust its position appearance, realize more stable location, in order to adapt to complicated changeable operational environment.

As shown in fig. 1, in another example, a window 63 through which a camera and a beidou navigation module can extend is formed in the housing portion, and a door body 64 matched with the window is pivotally connected to the window;

wherein, be provided with backstop portion 65 of injecing door body closed position on the casing, just be provided with the matched with sealing strip on the backstop portion, in this kind of structure, the effect of the door body lies in when camera, big dipper navigation module are in off-working condition, encapsulates it, and the effect of backstop portion lies in to injecing the door body position that the pin joint set up, prevents that it from being absorbed in too deeply, causes the damage to equipment, and the effect of sealing strip lies in making the equipment sealed effect outward better, vibrations and the noise that produces when can alleviate the door body and close simultaneously.

The above embodiments are merely illustrative of a preferred embodiment, but not limited thereto. When the utility model is implemented, the proper replacement and/or modification can be carried out according to the requirements of users.

The number of apparatuses and the scale of the process described here are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

While embodiments of the invention have been disclosed above, it is not intended to be limited to the applications listed in the specification and the examples. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art. The invention is therefore not to be limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims (6)

1. The utility model provides a robot field self-localization control system based on big dipper navigation, includes but self-movement's robot and rather than matched with backstage management center, and it has the power component that supports the robot walking to carry on it, its characterized in that, power component is configured to include:

a frame-type frame;

at least two groups of wheel bodies which are arranged at the bottom of the frame and are oppositely arranged;

each group of wheel bodies are configured to be off-road wheels, each off-road wheel is provided with a power mechanism which is matched with the off-road wheel, and each power mechanism is electrically connected with a control assembly of the robot.

2. The beidou navigation-based robot field self-positioning control system of claim 1, wherein the robot is further configured to include:

the robot comprises a control assembly, a Beidou positioning assembly and a sensing assembly, wherein the control assembly is used for carrying out navigation operation on a power assembly, the Beidou positioning assembly is used for acquiring position information of the robot in real time, and the sensing assembly is used for acquiring external environment information;

and the background management center performs data interaction through a first communication module arranged on the robot.

3. The Beidou navigation based robot field self-positioning control system is characterized in that a transmission shaft matched with each group of wheels is arranged below the frame through at least one matched bearing seat, one end of the transmission shaft is meshed with a power output shaft of one power mechanism through a first matched gear, and the other end of the transmission shaft is meshed with the outside of the other power mechanism through a second matched gear;

the bottom of the frame is also provided with a first telescopic mechanism matched with the bearing seat.

4. The beidou navigation-based robotic field self-positioning control system of claim 2, wherein the control assembly is configured to employ an industrial board;

the Beidou positioning component is configured to employ a Beidou positioning module;

the sensing assembly is configured to include:

at least one camera for collecting environmental information;

a gyroscope for acquiring position information of the robot;

the infrared ranging or ultrasonic ranging module is used for detecting barrier information of the external robot;

and the inclination angle sensor is used for detecting the current horizontal offset angle of the robot.

5. The Beidou navigation based robot field self-positioning control system of claim 3, wherein a shell for encapsulating the control assembly, the camera and the Beidou positioning module is arranged in the frame;

the camera and the Beidou navigation module are respectively matched with a mounting seat arranged in the shell;

wherein, each mount pad is connected through matched with second telescopic machanism with the casing bottom, and is provided with rotatory cloud platform between mount pad and the telescopic machanism.

6. The Beidou navigation based robot field self-positioning control system according to claim 5, characterized in that a window for a camera and a Beidou navigation module to extend out is arranged on the shell, and a door body matched with the window is pivoted on the window;

the shell is provided with a stopping part for limiting the closing position of the door body, and the stopping part is provided with a sealing strip matched with the stopping part.

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