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An unmanned agricultural robot driven by flexible cables in parallel and its control method

A robot and flexible cable technology, applied in the control field of unmanned agricultural robots, can solve the problems of low degree of automation of ground operations and low precision of aerial operations, so as to ensure the stability and accuracy of movement, improve the degree of automation, and reduce inclination Effect of torsional error

Active Publication Date: 2021-08-24
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problems of low accuracy of aerial work and low degree of automation of ground work in existing agricultural robots, the present invention provides an unmanned agricultural robot driven by cables in parallel and its control method

Method used

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  • An unmanned agricultural robot driven by flexible cables in parallel and its control method
  • An unmanned agricultural robot driven by flexible cables in parallel and its control method
  • An unmanned agricultural robot driven by flexible cables in parallel and its control method

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Embodiment 1

[0045] see Figure 1-7 , the present embodiment provides an unmanned agricultural robot driven in parallel by cables, and the robot is used for hoisting at least one agricultural equipment. The unmanned agricultural robot provided in this embodiment takes the four-cable parallel structure as the basic structure, and realizes the platform movement by controlling the expansion and contraction of the flexible cables for operation. In this embodiment, the unmanned agricultural robot includes a mobile platform 2, a tower system, a winch system 1, a cable 5, an ultrasonic module and a control system. Among them, the number of flexible cables 5 is at least four, and the mobile platform 2 is driven in parallel.

[0046] read on image 3 and Figure 4 , the mobile platform 2 includes a workbench 2004 and an automatic hook and lock device 2003 , and in this embodiment, the mobile platform 2 may further include a rope fixing part 2001 and a camera device 2002 . In this embodiment, th...

Embodiment 2

[0062] This embodiment provides an unmanned agricultural robot driven in parallel by cables, which adds some control functions of the control system on the basis of Embodiment 1. Among them, the control system is used to start the camera device 2002 to collect the image information of the agricultural equipment when the workbench 2004 is located above the agricultural equipment; Search and extract preset equipment features whose feature similarity reaches a preset ratio, then obtain the equipment information of agricultural equipment according to the preset equipment features, and finally drive the winch system 1 to adjust the position of the workbench 2004 according to the equipment information, so that The automatic hook lock device 2003 can be aligned with the hook lock parts of the agricultural equipment.

[0063] In this embodiment, the control system can extract the features of the image according to the collected image information, and then compare the extracted feature...

Embodiment 3

[0065] This embodiment provides an unmanned agricultural robot driven in parallel by flexible cables, which adds an alarm system and a detection system on the basis of Embodiment 1. Wherein, the detection system includes a ranging sensor. The ranging sensor is installed on the workbench 2004 and is used to detect the real-time distance between the agricultural equipment and the workbench 2004 when the workbench 2004 is located above the agricultural equipment. The control system is also used to judge whether the real-time distance is less than a preset distance. When the real-time distance is less than the preset distance, the control system drives the alarm system to send out an alarm message. In this way, when the distance between the workbench and the agricultural equipment is too small, the alarm system will send out an alarm message, so that the hoisting process can be stopped in time, preventing the mobile platform from smashing the agricultural equipment or the agricul...

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Abstract

The invention discloses an unmanned agricultural robot driven in parallel by cables and a control method thereof. The unmanned agricultural robot includes a mobile platform, a tower system, a winch system, four flexible cables, an ultrasonic module and a control system. The mobile platform includes a workbench and an automatic hook and lock device. The tower system includes a rigid support and four pulley blocks. The hoisting system includes four hoisting mechanisms located at the four corners of the rigid support and corresponding to the four pulley blocks. The same ends of the four flexible cables are respectively fixed on the four corners of the workbench, and the other ends are wound on the corresponding rollers. The ultrasonic module is used to generate ultrasonic waves to collect the spatial position information of the agricultural equipment under the moving space. The control system is used to move the workbench to the top of the agricultural equipment through four flexible cables, and hoist the agricultural equipment. The invention can improve the stability and precision of the agricultural robot without manual guidance, so that the automation degree of the operation is greatly improved.

Description

technical field [0001] The present invention relates to an unmanned agricultural robot in the field of planting technology, in particular to an unmanned agricultural robot driven in parallel by cables, and also to a control method of the unmanned agricultural robot. Background technique [0002] Agricultural robot is a kind of machine, which is the application of robot in agricultural production. It can be controlled by different program software to adapt to various operations. It can sense and adapt to crop types or environmental changes. It has detection (such as vision, etc.) and calculation functions. A new generation of unmanned automatic machinery such as artificial intelligence. The wide application of agricultural robots has changed the traditional agricultural labor methods, improved the labor force of farmers, and promoted the development of modern agriculture. [0003] Moreover, with the rapid development of smart agriculture, many traditional manual labor links ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00F16M11/22F16M11/04F16M11/18B66F7/02B66F7/28B66D1/12B66D1/14B66D1/46B66D1/48
CPCB66D1/12B66D1/14B66D1/46B66D1/485B66F7/02B66F7/28F16M11/043F16M11/18F16M11/22
Inventor 董方方丁志钱宸李晓阳殷远洋杜爽安宁
Owner HEFEI UNIV OF TECH
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