Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method

Abstract

The invention relates to an automatic rail changing walking chassis of a facility leaf vegetable harvesting robot. According to the technical scheme, the automatic rail changing walking chassis comprises a rail car chassis, a movement mechanism, a steering mechanism, a control mechanism and a storage battery. The movement mechanism is used for driving a rail car to move and stop on rails and driving all walking wheels to rotate and walk in the rail changing process. The steering mechanism is used for controlling all the walking wheels to conduct steering work for determining angles three times in the rail changing process. The control mechanism is used for positioning all the working positions of the rail car, controlling the timing sequence matching of the movement mechanism and the steering mechanism and controlling the displacement in all the movement processes. The automatic rail changing walking chassis can be used for bearing other operation machines to complete conveying work and can move along the rails stably and quickly to precisely stop at a set stopping position at the tail ends of the rails, so that various complex functions of parallel rail changing work and the like are achieved autonomously. The automatic rail changing walking chassis is simple in structure, compact in car body, small in occupied area in the rail changing process, free of other auxiliary facilities, high in degree of automation and capable of conducting full-automatic or remote control greenhouse operation.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to an automatic track-changing walking chassis and a track-changing method of a facility leaf vegetable harvesting robot, which are used for walking and changing tracks on parallel tracks in a greenhouse. technical background [0002] The rail car is a kind of driving route that can move along the track and use the track to achieve the purpose of logistics transportation. The rail car can automatically drive along the planned route without driving, can do acceleration, deceleration and braking planning, and the parking position is accurate. Compared with other automatic guided vehicles (AGV), rail cars have the characteristics of simple control, reliability and good adaptability. [0003] In the production of facility agriculture, solar greenhouses only rely on solar radiation to obtain heat in cold winter, which cannot fully meet the needs of crop growth and development. Heating...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the defects of the prior art, the present invention solves the problems of complex on-track walking and changing methods, high cost and low efficiency of changing tracks, and invents an automatic track-changing chassis and a track-changing method for a facility leaf vegetable harvesting robot. The walking chassis is equipped with load-carrying machinery to complete the transportation work, can move stably and quickly along the track, accurately park at the set position, and independently complete parallel track changing work and other composite functions.

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