Wheeled farmland management robot with flexible profiling chassis and profiling control method

A robot and chassis technology, applied in the field of agricultural machinery, which can solve problems such as staying away from crops, touching the ground or damaging seedlings

Active Publication Date: 2020-09-11
NANJING AGRI MECHANIZATION INST MIN OF AGRI
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  • Application Information

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Problems solved by technology

However, when it is working on a slope, one end of the work tool on the body may tou

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  • Wheeled farmland management robot with flexible profiling chassis and profiling control method
  • Wheeled farmland management robot with flexible profiling chassis and profiling control method
  • Wheeled farmland management robot with flexible profiling chassis and profiling control method

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[0078] In order to clarify the technical solution and working principle of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0079] like figure 1 Shown is a wheeled farmland management robot with a flexible profiling chassis, including a body 27, a detection system, a control system, and four wheel-leg mechanisms that independently control steering. The detection system includes a three-dimensional terrain detection sensor 24, a satellite positioning module (satellite antenna and receiver) 23, an inertial sensor 25, a non-contact distance sensor (preferably an ultrasonic or laser distance sensor) and other components, and the control system includes: CPU.

[0080] The three-dimensional terrain detection sensor 24 may use a device such as a laser radar or a depth camera. In this embodiment, a three-dimensional laser radar sensor is preferably used. like figure 1 As shown, the...

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Abstract

The invention provides a wheeled farmland management robot with a flexible profiling chassis and a profiling control method. The robot can carry out flexible profiling control on the posture of a vehicle body chassis according to an uneven crop canopy/ground surface; a machine hung on a chassis rack of the vehicle body is basically parallel to a crop canopy/ground below the vehicle body; the chassis/machine tool is prevented from touching the ground or damaging seedlings, the distance between the chassis/machine tool and the crop canopy/ground is always controlled within an ideal range, the robot is suitable for multiple terrains and can adapt to growth changes of crops, the application scene and the use time period of the robot are effectively widened, the operation efficiency is improved, and the overall use cost of the robot is reduced. According to the further scheme, a stable and reliable wheel leg driving structure is further provided, shaking of an operation machine tool can beeffectively reduced, the operation quality is improved, and the wheel leg driving structure is particularly suitable for the profiling control process of real-time adjustment of a wheel leg mechanismand has good durability.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, in particular to a wheeled farmland management robot with a flexible profiling chassis and a profiling control method. Background technique [0002] The application of autonomous robots in agriculture is gaining popularity as it can have a huge impact on food security, sustainability, resource efficiency, reduction of chemical agent use, reduction of human labor and maximization of yield. Various agricultural robots have appeared in recent years, covering a variety of agricultural application scenarios, such as crop phenotype monitoring, data sampling, precise and variable application of pesticides and fertilizers, and autonomous weeding, etc., however, so far, It has not fully entered the stage of commercial application of autonomous field operations. The main reason is that most wheeled agricultural robots have a fixed chassis structure and a single purpose. They can only perform...

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Application Information

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IPC IPC(8): B60G17/0165A01B51/02
CPCA01B51/026B60G17/0165B60G2500/30
Inventor 崔龙飞薛新宇乐飞翔孙涛金永奎丁素明张宋超秦维彩杨风波
Owner NANJING AGRI MECHANIZATION INST MIN OF AGRI
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