An unmanned field operation machine, operation device and control method

Abstract

The invention discloses an unmanned field operation machine, an operation device and a control method. The field operation machine includes a traveling device, an operating device, a control device and a space positioning device; it is characterized in that the supporting wheels of the traveling device are coaxially arranged and connected through a bridge device, and the supporting wheels include symmetrically arranged bridge devices. The first driving wheel and the second driving wheel at both ends, the first driving wheel is connected with the first driving motor, the second driving wheel is connected with the second driving motor, the input end of the first driving motor is connected with the first output of the control device The input end of the second drive motor is connected to the second output end of the control device; the working device is fixed on the bridge device, and its center of gravity is located below the central axis of the first drive wheel and the second drive wheel.

Description

Technical field [0001] The present invention belongs to the field of agricultural machinery automation, and more particularly to an unhaly driving field operation machinery, operation device and control method. Background technique [0002] Existing agricultural machinery includes walking devices and work devices, thereby having functions in field walking and homework. In order to keep the walking balance and steering, the walking device includes three or 4 wheels, a portion of the guide wheel, a portion or all of the wheels. The above agricultural machinery has the characteristics of high walking stable and load capacity, but its self-weight is not easy to reduce, the turn radius is large, and the walking flexibility is poor, which is not applicable to certain field light operation, such as sowing, seedlings, etc.. [0003] Patent Document CN2016 101395271 discloses an electric plant using a balancing car principle, a battery drive, two-wheeled walking, automatic balance, flexib...

AI Technical Summary

Problems solved by technology

The above-mentioned agricultural machinery has the characteristics of stable walking and large load capacity, but its own weight is not easy to reduce, the turning radius is large, and the walking flexibility is poor, so it is not suitable for some light operations in the field, such as sowing, seedling transplanting, etc.

[0003] Patent document CN2016101395271 discloses an electric plant protection vehicle utilizing the principle of a balance vehicle. It is driven by a battery and walks on two wheels. It has the advantages of automatic balance and flexible turning. High, small wheels, not suitable for field walking conditions; at the same time, it is necessary to set up a counterweight medicine box and a buffer medicine box to ensure the balance of the center of gravity of the vehicle body

Secondly, because the electric plant protection vehicle does not have the function of spatial positioning, its control device can only play the role of driving or maintaining balance, and cannot plan the trip according to the current position

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