An all-terrain intelligent agricultural multifunctional power chassis

Abstract

The present invention relates to an all-terrain intelligent agricultural multifunctional power chassis, belonging to the field of vehicle technology. The present invention includes a contour-profiling drive system, which includes four groups of drive devices, which are respectively installed under the chassis, and each group of drive devices has the same structure, and each group of drive devices includes a connecting rod suspension, a contour-profiling wheel group, a suspension link spring, an angle encoder, a steering rod, a hydraulic cylinder, a cantilever, and a motor. The present invention provides an all-terrain intelligent agricultural multifunctional power chassis to adapt to the driving requirements of various terrains and improve the terrain adaptability and passability of agricultural machinery during re-cultivation. It solves the problems of poor ground adaptability, poor anti-skid performance, insufficient adhesion, poor passability, and difficulty in adjusting the body of agricultural equipment in complex farmland environments.

Description

Technical Field

[0001] The invention relates to an all-terrain intelligent agricultural multifunctional power chassis, belonging to the technical field of vehicles. Background Art

[0002] Agricultural machinery works in fields or mountains and other non-road environments with harsh driving conditions. Good driving smoothness can greatly improve the working conditions of operators, improve the quality of work, improve driving safety, and extend the service life of the vehicle or machine. Most of my country's cultivated land is small plots with complex terrain such as ridges, ditches, and ridges. Simple wheel systems cannot effectively solve the problems of driving and overcoming obstacles in complex terrain. Summary of the invention

[0003] The technical problem to be solved by the present invention is: the present invention provides an all-terrain intelligent agricultural multifunctional power chassis for complex terrain represented by hilly and mountainous areas, so as to adapt to the driving requirements of various terrains and improve the terrain adaptability and passability of agricultural machinery during re-cultivation.

[0004] The technical solution of the present invention is: an all-terrain intelligent agricultural multifunctional power chassis, including a contour driving system, the contour driving system includes four sets of driving devices, which are respectively installed under the chassis 5, and each set of driving devices has the same structure, and each set of driving devices includes a connecting rod suspension 7, a contour wheel group 11, a suspension link spring 12, an angle encoder 13, a steering rod 14, a hydraulic cylinder 15, a cantilever 17, and a motor 18;

[0005] The upper end of the connecting rod suspension 7 is hinged to the chassis 5, and the lower end is movably hinged to the first flange disc 19. The upper ends of the two cantilevers 17 are movably connected between the first flange disc 19 and the second flange disc 20. The lower ends of the two cantilevers 17 are respectively installed with contoured wheel groups 11, and a suspension link tension spring 12 is installed between the lower ends of the two cantilevers 17. A hydraulic cylinder 15 is installed on the first rib plate 21 of the second flange disc 20, and the upper end of the telescopic end of the hydraulic cylinder 15 is installed on the lower bottom surface of the chassis 5. A steering rod 14 is installed on the second rib plate 22 of the second flange disc 20, and the steering rod 14 is connected to the motor 18. The angle encoder 13 is installed on the second flange disc, and the controller 4 is respectively connected to the angle encoder 13, the hydraulic cylinder 15, and the motor 18.

[0006] As a further solution of the present invention, the link suspension 7 includes two telescopic rods and a telescopic link mechanism, the upper ends of the two telescopic rods and the telescopic link mechanism are hinged to the chassis 5, and the lower ends are movably hinged to the first flange disc 19.

[0007] As a further solution of the present invention, it also includes a field environment perception system; the field environment perception system includes a laser radar 1 installed on the front side of the frame chassis and a TOF depth camera 16 installed on the side of the laser radar closer to the center position. The frame is installed in front of the agricultural machinery and is used to collect information about the working environment of the agricultural machinery; the TOF depth camera 16 is responsible for obtaining more detailed terrain information within a local range during operation; several sensors are placed in the sensor box 6, and field environment information is collected by several sensors. The data collected by each sensor in the sensor box 6 is transmitted to the controller 4, and an elevation map model is constructed through a coordinate transformation system.

[0008] As a further solution of the present invention, it also includes a path planning and navigation system; the path planning and navigation system includes a navigation system module and a path planning module, and the navigation system module uses the SLAM system as the core module of the entire navigation system; the path planning and navigation system first receives the data information collected by the field environment perception system after coordinate transformation, and according to the motion model and observation model of the chassis 5, uses a probabilistic or optimized SLAM algorithm to complete landmark extraction, data association, sensor data fusion, chassis positioning, and incremental map construction, and provides accurate positioning and map models for the path planning module; secondly, the path planning module receives the positioning information, odometer information and surrounding environment map information of the chassis, and autonomously plans the walking route under the premise of accurate positioning, and avoids obstacles in real time and effectively. At the same time, the angle encoder 13 feeds back the ground undulations to the contouring drive system.

[0009] As a further solution of the present invention, it also includes a human-computer interaction system; the human-computer interaction system is used for visual interface display of maps and chassis models, realizing incremental creation of two-dimensional maps, and image display of the actual environment in front of the chassis; at the same time, it can specify target points for the path planning system in autonomous mode, realize chassis motion control through a keyboard or handle in manual control mode, complete the determination of physical information of soil moisture and soil firmness, and summarize and upload it to the cloud platform for storage.

[0010] As a further solution of the present invention, it also includes a power supply system; the power supply system is composed of a lithium battery pack 2, a motor 18, and a power management system. The power management system is responsible for managing the power distribution of the battery output power to each subsystem to achieve power supply management and protection.

[0011] The beneficial effects of the present invention are as follows: compared with the prior art, the all-terrain intelligent agricultural multifunctional power chassis of the present invention has the following advantages:

[0012] 1. Designed a full-range multi-degree-of-freedom all-terrain contouring walking mechanism, with angle encoders and linear sensors for precise contouring, better solving problems such as poor ground adaptability, easy wheel slippage, and insufficient adhesion;

[0013] 2. Use LiDAR and depth cameras to build map elevation models in real time, and use SLAM algorithms for path planning to achieve intelligent autonomous obstacle avoidance and driving of the chassis;

[0014] 3. A TDR measuring instrument is installed on the chassis, which measures the conductivity to obtain various physical properties of the soil and uploads them to the cloud for storage, increasing the practical functions of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a left view of the mechanical structure of the present invention;

[0016] Figure 2 It is a partial enlarged view of the mechanical structure of the present invention;

[0017] Figure 3 is a partial schematic diagram of the contour driving system of the present invention;

[0018] Figure 4 is an axonometric view of the mechanical structure of the present invention;

[0019] Figure 5 is a front view of the mechanical structure of the present invention;

[0020] Figure 6 It is a schematic diagram of the mechanical structure control flow of the present invention.

[0021] Figure 1-6 The numbers in it are: 1-lidar, 2-lithium battery pack, 3-DC transformer, 4-controller, 5-chassis, 6-sensor box, 7-link suspension, 8-IMU module, 9-wire slot, 10-driver, 11-contact wheel set, 12-suspension link spring, 13-angle encoder, 14-steering rod, 15-hydraulic cylinder, 16-TOF depth camera, 17-cantilever, 18-motor, 19-first flange disc, 20-second flange disc, 21-first rib plate, 22-second rib plate. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] Example 1: Figure 1-6 As shown, an all-terrain intelligent agricultural multifunctional power chassis includes a contour driving system, wherein the contour driving system includes four sets of driving devices, which are respectively installed under the chassis 5, and each set of driving devices has the same structure, and each set of driving devices includes a connecting rod suspension 7, a contour wheel set 11, a suspension link spring 12, an angle encoder 13, a steering rod 14, a hydraulic cylinder 15, a cantilever 17, and a motor 18;

[0024] The upper end of the connecting rod suspension 7 is hinged to the chassis 5, and the lower end is movably hinged to the first flange disc 19. The upper ends of the two cantilevers 17 are movably connected between the first flange disc 19 and the second flange disc 20. The lower ends of the two cantilevers 17 are respectively installed with contoured wheel groups 11, and a suspension link tension spring 12 is installed between the lower ends of the two cantilevers 17. A hydraulic cylinder 15 is installed on the first rib plate 21 of the second flange disc 20, and the upper end of the telescopic end of the hydraulic cylinder 15 is installed on the lower bottom surface of the chassis 5. A steering rod 14 is installed on the second rib plate 22 of the second flange disc 20, and the steering rod 14 is connected to the motor 18. The angle encoder 13 is installed on the second flange disc, and the controller 4 is respectively connected to the angle encoder 13, the hydraulic cylinder 15, and the motor 18.

[0025] As a further solution of the present invention, the link suspension 7 includes two telescopic rods and a telescopic link mechanism, the upper ends of the two telescopic rods and the telescopic link mechanism are hinged to the chassis 5, and the lower ends are movably hinged to the first flange disc 19.

[0026] As a further solution of the present invention, it also includes a field environment perception system; the field environment perception system includes a laser radar 1 installed on the front side of the frame chassis and a TOF depth camera 16 installed on the side of the laser radar closer to the center position. The frame is installed in front of the agricultural machinery and is used to collect information about the working environment of the agricultural machinery; the TOF depth camera 16 is responsible for obtaining more detailed terrain information within a local range during operation; several sensors are placed in the sensor box 6, and field environment information is collected by several sensors. The data collected by each sensor in the sensor box 6 is transmitted to the controller 4, and an elevation map model is constructed through a coordinate transformation system.

[0027] As a further solution of the present invention, it also includes a path planning and navigation system; the path planning and navigation system includes a navigation system module and a path planning module, and the navigation system module uses the SLAM system as the core module of the entire navigation system; the path planning and navigation system first receives the data information collected by the field environment perception system after coordinate transformation, and according to the motion model and observation model of the chassis 5, uses a probabilistic or optimized SLAM algorithm to complete landmark extraction, data association, sensor data fusion, chassis positioning, and incremental map construction, and provides accurate positioning and map models for the path planning module; secondly, the path planning module receives the positioning information, odometer information and surrounding environment map information of the chassis, and autonomously plans the walking route under the premise of accurate positioning, and avoids obstacles in real time and effectively. At the same time, the angle encoder 13 feeds back the ground undulations to the contouring drive system.

[0028] As a further solution of the present invention, it also includes a human-computer interaction system; the human-computer interaction system is used for the visualization interface display of the map and chassis model, realizing the incremental creation of the two-dimensional map, and the image display of the actual environment in front of the chassis; at the same time, it can specify the target point for the path planning system in the autonomous mode, realize the movement control of the chassis through the keyboard or handle in the manual control mode, complete the determination of the physical information of soil moisture and soil firmness, and summarize and upload it to the cloud platform for storage. A TDR measuring instrument is installed on the chassis, and various physical properties of the soil are obtained by measuring the conductivity, and uploaded to the cloud for storage, which increases the practical functions of the chassis;

[0029] As a further solution of the present invention, it also includes a power supply system; the power supply system is composed of a lithium battery pack 2, a motor 18, and a power management system. The power management system is responsible for managing the power distribution of the battery output power to each subsystem to achieve power supply management and protection.

[0030] The working principle of the present invention is as follows: the angle encoder 13 is responsible for detecting the angle signal between the two cantilevers 17;

[0031] When the contoured wheel set 11 encounters a raised obstacle, the change value of the angle between the two cantilevers 17 is collected by the angle encoder 13, and the analog signal is detected to be less than the set value. The angle encoder 13 converts the analog signal into a digital signal and transmits it to the controller 4; the controller 4 controls the integrated power switch of the hydraulic cylinder 15 to open, connects the contraction oil circuit of the hydraulic cylinder 15, and the telescopic end of the hydraulic cylinder 15 contracts and presses the first rib plate 21 connected thereto, thereby driving the first flange disc 19 and the second flange circle 20 to move downward, so that the angle between the two cantilevers 17 increases. At this time, the two telescopic rods and one telescopic connecting rod mechanism of the connecting rod suspension 7 are both extended and retracted, and swing longitudinally, thereby adjusting the suspension height to be lowered, and realizing the dynamic balance of bionic walking adjustment;

[0032] When encountering a concave ground, the change value of the angle between the two cantilevers 17 is collected by the angle encoder 13, and the analog signal is detected to be greater than the set value. The angle encoder 13 converts the analog signal into a digital signal and transmits it to the controller 4; the controller 4 controls the integrated power switch of the extension action of the hydraulic cylinder 15 to turn on, connects the extension oil circuit of the hydraulic cylinder 15, and the telescopic end of the hydraulic cylinder 15 extends to reduce the pressure on the first rib plate 21 connected thereto, thereby driving the first flange disc 19 and the second flange circle 20 to move upward, so that the angle between the two cantilevers 17 is reduced. At this time, the two telescopic rods and a telescopic connecting rod mechanism of the connecting rod suspension 7 are all extended and swung longitudinally, thereby adjusting the suspension height to be higher, and realizing the dynamic balance of bionic walking adjustment;

[0033] The linear displacement sensor installed under the chassis feeds back the telescopic displacement of the hydraulic cylinder 15 to the controller 4. After analyzing the adjustment signal, the controller 4 outputs a control signal to ensure the dynamic balance. When there is an obstacle ahead that needs to be bypassed, the controller 4 outputs an electrical signal to the driver 10, and the driver 10 controls the motor 18 to rotate. The motor 18 rotates and transmits torque to the steering rod 14. The steering rod 14 forms a rotation offset due to its length, rotates around the center of the flange, and completes the steering.

[0034] like Figure 1 As shown: Figure 1 It is a left view of the mechanical structure of the all-terrain intelligent agricultural multifunctional power chassis. The lithium battery pack 2 provides energy for the whole system. The DC transformer 3 is fixed on the chassis 5. Through AD / DA conversion, the output current is sent to the rising coil of the solenoid valve, so that the coil attracts the valve core. According to the unevenness of the ground, the extension / contraction oil circuit of the hydraulic cylinder 15 is connected, and the suspension angle changes through the contraction of the suspension link tension spring 12, and the suspension height is adjusted, thereby realizing the profiling drive. The degree of angle change is read by the inclination sensor. The relative motion angle of the cantilever is called the lateral profiling angle α. The range of angle adjustment is achieved by the tension spring, and the chassis is used to laterally profile the ground in cooperation with the sensor. The angle between the rear cantilever and the frame is the longitudinal profiling angle β. The profiling angles corresponding to different installation positions are β1, β2, β3, and β4 respectively. The four profiling angles are collected and fed back by the angle encoder as the terrain changes, realizing the longitudinal profiling of the chassis to the ground.

[0035] like Figure 2 As shown: Figure 2 It is a partial enlarged view of the mechanical part of the all-terrain intelligent agricultural multifunctional power chassis, including a suspension 7, a contoured wheel group 11, a suspension link spring 12, an angle encoder 13, and a cantilever 14. The four contoured wheel groups 11 are respectively installed on both sides of the suspension link spring 12, and the four motors 18 are respectively vertically connected to the front, rear, left, and right four steering rods 14, and fixed to the side of the chassis 5. When the contoured wheel group 11 encounters a raised obstacle, the angle encoder 13 detects that the analog signal is less than the set value, and the analog signal is converted into a digital signal and transmitted to the controller. The digital signal output by the controller after processing is converted into an analog signal, and the integrated power switch for controlling the hydraulic cylinder 15 to receive the signal to retract the action, the retracting oil circuit of the hydraulic cylinder 15 is connected, and the angle of the cantilever 17 increases. When encountering a concave ground, the angle encoder 13 detects that the analog signal is higher than the set value, and the analog signal is input to the input end of the controller 4. The integrated power switch for controlling the extension action of the hydraulic cylinder is connected to the extension oil circuit of the hydraulic cylinder 15, and the angle of the cantilever 17 is reduced.

[0036] like Figure 4 As shown: Figure 4It is an axonometric diagram of the mechanical structure of the all-terrain intelligent agricultural multifunctional power chassis. A variety of sensors are placed in the sensor box 6, where each sensor collects data and transmits it to the controller 4, and constructs an elevation map model through a coordinate transformation system. At the same time, the displacement sensor in the sensor box 6 feeds back the telescopic displacement of the hydraulic cylinder to the controller, and the controller outputs a control signal after analyzing and adjusting the signal, and the chassis 5 adjusts the dynamic balance. The controller 4 receives various sensor information after coordinate transformation, and according to the motion model and observation model of the chassis, uses a probabilistic or optimized SLAM algorithm to complete tasks such as landmark extraction, data association, sensor data fusion, chassis positioning, and incremental map construction, providing accurate positioning and map models for the path planning system.

[0037] like Figure 5 As shown: Figure 5 Front view of the mechanical structure of the all-terrain intelligent agricultural multifunctional power chassis. The laser radar 1, the TOF depth camera 16 and the IMU module 8 installed on the side of the laser radar closer to the center, the IMU module 8 can collect the current chassis posture status of the chassis, and the laser radar 1 and the TOF depth camera 16 obtain more detailed terrain information within the local range during operation. Based on the obtained environmental depth information, the SLAM algorithm is used to provide accurate positioning and map models for the path planning system. The angle encoder 13 is used as an odometer to feed back the signal to the host computer, and integrates multiple sensors such as laser radar and depth camera to explore dynamic obstacle avoidance and local path planning methods, so as to achieve safe obstacle avoidance of the mobile chassis in a dynamic environment, so as to improve the efficiency of the power chassis path planning, the stability and safety of operation. The sensor box 6 sends the collected data to the controller 4 for information collection on the future working environment of the agricultural machinery.

[0038] The specific embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. An all-terrain intelligent agricultural multifunctional power chassis, characterized by: The vehicle comprises a profiling drive system, wherein the profiling drive system comprises four sets of drive devices, each of which is respectively installed below a chassis (5), and each set of drive devices has the same structure. Each set of drive devices comprises a connecting rod suspension (7), a profiling wheel set (11), a suspension link spring (12), an angle encoder (13), a steering tie rod (14), a hydraulic cylinder (15), a cantilever (17), and a motor (18); The upper end of the connecting rod suspension (7) is hinged to the chassis (5), and the lower end is movably hinged to the first flange disc (19). The upper ends of the two cantilevers (17) are movably connected between the first flange disc (19) and the second flange disc (20). The lower ends of the two cantilevers (17) are respectively installed with a contoured wheel set (11). A suspension link tension spring (12) is installed between the lower ends of the two cantilevers (17). A hydraulic cylinder (15) is installed on the first rib plate (21) of the second flange disc (20). The upper end of the telescopic end of the hydraulic cylinder (15) is installed on the lower bottom surface of the chassis (5). A steering rod (14) is installed on the second rib plate (22) of the second flange disc (20). The steering rod (14) is further connected to the motor (18). The angle encoder (13) is installed on the second flange disc. The controller (4) is respectively connected to the angle encoder (13), the hydraulic cylinder (15), and the motor (18). The link suspension (7) comprises two telescopic rods and a telescopic link mechanism, the upper ends of the two telescopic rods and the telescopic link mechanism are both hinged to the chassis (5), and the lower ends are both movably hinged to the first flange disc (19); It also includes a field environment perception system; the field environment perception system includes a laser radar (1) installed on the front side of the frame chassis and a TOF depth camera (16) installed on the side of the laser radar closer to the center; the frame is installed in front of the agricultural machinery and is used to collect information about the working environment of the agricultural machinery; the TOF depth camera (16) is responsible for obtaining relatively detailed terrain information within a local range during operation; a plurality of sensors are placed in a sensor box (6), and field environment information is collected by the plurality of sensors. The collected data of each sensor in the sensor box (6) is transmitted to the controller (4), and an elevation map model is constructed through a coordinate transformation system.

2. The all-terrain intelligent agricultural multifunctional power chassis according to claim 1 is characterized by: It also includes a path planning and navigation system; the path planning and navigation system includes a navigation system module and a path planning module, and the navigation system module uses the SLAM system as the core module of the entire navigation system; the path planning and navigation system first receives the data information collected by the field environment perception system after coordinate transformation, and uses a probability or optimized SLAM algorithm to complete the work of landmark extraction, data association, sensor data fusion, chassis positioning, and incremental map construction according to the motion model and observation model of the chassis (5), and provides accurate positioning and map model for the path planning module; secondly, the path planning module receives the positioning information, odometer information and surrounding environment map information of the chassis, and autonomously plans the walking route under the premise of accurate positioning, and avoids obstacles in real time and effectively, and at the same time, the angle encoder (13) feeds back the ground undulation to the contour driving system.

3. The all-terrain intelligent agricultural multifunctional power chassis according to claim 1 is characterized by: It also includes a human-computer interaction system; the human-computer interaction system is used for the visual interface display of the map and chassis model, realizes the incremental creation of the two-dimensional map, and the image display of the actual environment in front of the chassis; at the same time, it can specify the target point for the path planning system in the autonomous mode, realize the movement control of the chassis through the keyboard or handle in the manual control mode, complete the determination of the physical information of soil moisture and soil firmness, and summarize and upload it to the cloud platform for storage.

4. The all-terrain intelligent agricultural multifunctional power chassis according to claim 1 is characterized by: It also includes a power supply system; the power supply system is composed of a lithium battery pack (2), a motor (18), and a power management system, and the power management system is responsible for managing the distribution of power output by the battery to various subsystems, thereby achieving power supply management and protection.

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