A high-precision automated laser weeding robot

Abstract

A high-precision automated laser weeding robot, which relates to the technical field of agricultural machinery. The present invention solves the problems that in the existing laser weeding device, due to the inclination of the vehicle body, bumps or vibrations during the driving process, the data collection is inaccurate and the crop seedlings are accidentally damaged. The four wheel legs of the present invention are respectively installed at the four corners of the main frame. The wheel legs are liftable wheel legs to achieve height compensation when the main frame is inclined; the laser weeding device is installed under the main frame through the weeding device connecting frame body, and the laser weeding device is driven by the four wheel legs to perform multi-degree-of-freedom adjustment to make the laser weeding device parallel to the ground; the hydraulic mounting frame is installed at the lower end of the main frame, and the hydraulic drive system is respectively installed on the hydraulic mounting frame and the main frame, and the hydraulic drive system drives the wheel legs to turn, drive, lift and wheelbase adjustment; the hydraulic drive system drives the weeding device connecting frame body to move with multiple degrees of freedom. The present invention is used for laser weeding in the field.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and particularly relates to a high-precision automated laser weeding robot. Background Art

[0002] Weeds are a major enemy of agricultural production, and on average, the annual food production loss due to weeds is as high as 7.5% - 25%. Weeds between crop rows and among crops can be effectively controlled by automatic weeders. With the continuous development of agricultural technology, for the precise control of weeds within crops, a new physical weeding method - laser weeding method has emerged. Since a large amount of energy can be concentrated on a very narrow light beam in a short time by laser, with the help of machine vision technology to identify and locate weeds, the laser can be quickly and accurately irradiated on the meristem at the top of the weeds to achieve the purpose of weeding.

[0003] Currently, the structures and forms of laser weeding robots are gradually diversified. For example, in a patent for invention with the publication number CN116965394B and the name of a laser weeding device, it discloses a device including a visual image system, a control system, a sensing system, and a laser weeding component. The visual image system, the sensing system, and the laser weeding component are respectively communicatively connected to the control system. The visual image system includes a first image acquisition unit and a second image acquisition unit. The sensing system includes a speed measurement encoder, and the laser weeding component includes a laser and a two-dimensional scanning galvanometer connected by an optical path. The control system controls the operation of the laser weeding component according to the data obtained by the visual image system and the sensing system, and uses laser technology to solve the problem of field weeding, and can realize synchronous photographing, identification, and laser weed removal during the movement of the device.

[0004] However, as is well known, the terrain in the field is not always flat, and it will encounter sundries such as bricks, large granular stones, etc. or uneven ground, which will cause bumps and vibrations during the driving process of the laser weeding device. When the laser weeding device takes pictures and collects data under the conditions of bumps and vibrations, the pictures are not clear, which will lead to the problem that the visual image system cannot identify or identify inaccurately, resulting in the situation of accidentally injuring crop seedlings or even missing weeds. When the laser weeding device travels on an inclined ground, the pictures it takes are at a certain angle with the crop seedlings and weeds, and there is even a situation where the crop seedlings block the weeds, which is not conducive to accurately collecting the meristem of the weed shoots. At the same time, during the laser weeding process, due to the crop seedlings blocking the meristem of the weeds, there is also an easy problem of accidentally injuring the seedlings, resulting in low laser weeding accuracy.

[0005] In summary, due to the situation of vehicle body inclination, bumps or vibrations during the driving process of the existing laser weeding device, problems such as inaccurate data collection and accidental injury to crop seedlings occur. Summary of the Invention

[0006] The object of the present invention is to solve the problems that in the existing laser weeding device, due to the tilting of the vehicle body and bumps or vibrations during driving, the data collection is inaccurate and the crop seedlings are accidentally damaged, and further to provide a high-precision automatic laser weeding robot.

[0007] The technical solution of the present invention is as follows:

[0008] A high-precision automatic laser weeding robot includes a frame, and it also includes a laser weeding device and a hydraulic system; the frame includes an agricultural machinery chassis and four wheel legs, the four wheel legs are respectively installed at the four corners of the agricultural machinery chassis, and the wheelbase between the front and rear wheel legs of the agricultural machinery chassis is adjustable. The wheel legs are lifting wheel legs to achieve height compensation when the agricultural machinery chassis is tilted; the laser weeding device includes a weeding device connecting frame body and a laser weeding device. The laser weeding device is installed under the agricultural machinery chassis through the weeding device connecting frame body, and the laser weeding device makes multi-degree-of-freedom adjustment driven by the four wheel legs to make the laser weeding device parallel to the ground; the hydraulic system includes a hydraulic mounting frame and a hydraulic drive system. The hydraulic mounting frame is installed at the lower end of the agricultural machinery chassis, and the hydraulic mounting frame is located above the laser weeding device. The hydraulic drive system is respectively installed on the hydraulic mounting frame and the agricultural machinery chassis, and the hydraulic drive system drives the wheel legs to turn, travel, lift and adjust the wheelbase; the hydraulic drive system drives the weeding device connecting frame body to move with multiple degrees of freedom.

[0009] The present invention has the following effects compared with the prior art:

[0010] 1. The present invention adopts a hydraulic system as the driving method for the power of the entire laser weeding robot. The hydraulic drive has a large power and can be used in complex environments and environments with large loads. At the same time, since the entire hydraulic system has been started before the laser weeding robot weeds, this avoids the instantaneous impact problem caused by the start of the hydraulic system during the weeding process and also avoids the vibration problem generated when driving with an electric motor. That is to say, the present invention maximally avoids and reduces the vibration problem of the laser weeding robot, ensures the data collection accuracy of the laser weeding device, and thus improves the laser weeding accuracy.

[0011] 2. The present invention uses a hydraulic system to drive the lifting of the wheel legs, so that the four wheel legs can cooperate according to the actual terrain conditions, ensuring that the main frame can be parallel to the ground whether it is walking on a sloping field or a region with frequent undulations or bumps in the terrain. In this way, it can be ensured that during the weeding process of the laser weeding device, the laser shoots vertically downward and is not blocked by the crop seedlings, improving the laser weeding accuracy. Brief Description of the Drawings

[0012] Figure 1It is an axonometric schematic diagram of the laser weeding robot of the present invention in State 1; Figure 2 It is an axonometric schematic diagram of the laser weeding robot of the present invention in State 2; Figure 3 It is the front view of the present invention; Figure 4 It is the top view of the present invention; Figure 5 It is the side view of the present invention; Figure 6 It is a schematic structural diagram when the agricultural machinery chassis A-1 and the wheel leg A-2 of the present invention are combined; Figure 7 It is an axonometric drawing of the wheel leg A-2; Figure 8 It is a partial sectional view of the wheel leg A-2; Figure 9 It is a schematic structural diagram after the hydraulic mounting frame C-1 and part of the hydraulic system are assembled; Figure 10 It is an overall structural schematic diagram of the hydraulic drive system C-2; Figure 11 It is a schematic structural diagram of the auxiliary oil path subsystem; Figure 12 It is a schematic structural diagram of the driving subsystem; Figure 13 It is a schematic structural diagram of the wheelbase changing subsystem; Figure 14 It is a schematic structural diagram of the jacking and steering subsystem; Figure 15 It is an overall structural schematic diagram of the laser weeder B-2; Figure 16 It is Figure 15 A partial enlarged view at Z; Figure 17 It is the bottom view of the laser weeder B-2. Detailed implementation manners

[0013] Detailed implementation manner 1: In combination with Figures 1 to 17 This embodiment is described. This embodiment includes a frame A, and it further includes a laser weeding device B and a hydraulic system C; the frame A includes an agricultural machinery chassis A-1 and four wheel legs A-2. The four wheel legs A-2 are respectively installed at the four corners of the agricultural machinery chassis A-1, and the wheelbase between the wheel legs A-2 at the front and rear of the agricultural machinery chassis A-1 is adjustable. The wheel leg A-2 is a lifting wheel leg to realize height compensation when the agricultural machinery chassis A-1 is tilted; the laser weeding device B includes a weeder connecting frame body B-1 and a laser weeder B-2. The laser weeder B-2 is installed under the agricultural machinery chassis A-1 through the weeder connecting frame body B-1, and the laser weeder B-2 is driven by the four wheel legs A-2 for multi-degree-of-freedom adjustment to make the laser weeder B-2 parallel to the ground; the hydraulic system C includes a hydraulic mounting frame C-1 and a hydraulic drive system C-2. The hydraulic mounting frame C-1 is installed at the lower end of the agricultural machinery chassis A-1, and the hydraulic mounting frame C-1 is located above the laser weeder B-2. The hydraulic drive system C-2 is respectively installed on the hydraulic mounting frame C-1 and the agricultural machinery chassis A-1, and the hydraulic drive system C-2 drives the wheel legs A-2 to turn, travel, lift and adjust the wheelbase; the hydraulic drive system C-2 drives the weeder connecting frame body B-1 to move with multiple degrees of freedom.

[0014] Specific Embodiment 2: In combination with Figures 1 to 8 This embodiment will be described. The wheel-leg A-2 of this embodiment includes a traveling mechanism, a steering drive mechanism, a wheelbase adjustment assembly, a sliding shaft A-2-10, a connecting frame A-2-14 horizontally slidably mounted on the front and rear end faces of the agricultural machinery chassis A-1, and a lifting drive assembly. The steering drive mechanism is mounted on the connecting frame A-2-14. The upper part of the sliding shaft A-2-10 is inserted into the steering drive mechanism, and the lower part of the sliding shaft A-2-10 is connected to the traveling mechanism. The steering drive mechanism drives the rotation of the sliding shaft A-2-10 to drive the traveling mechanism to achieve steering. One end of the wheelbase adjustment assembly is mounted at the front and rear ends of the agricultural machinery chassis A-1, and the other end of the wheelbase adjustment assembly is connected to the connecting frame A-2-14 and drives the connecting frame A-2-14 to move horizontally, realizing the adjustment of the wheelbase between two adjacent wheel-legs A-2 in the horizontal direction; the lifting drive assembly is mounted at the upper end of the sliding shaft A-2-10 and is connected to the sliding shaft A-2-10.

[0015] In this embodiment, the longitudinal cross-sectional shape of the connecting frame A-2-14 is "hui"-shaped, and the connecting frame A-2-14 is provided with mounting holes. It is convenient for sliding connection with the guide rail in the agricultural machinery chassis A-1, and also provides a mounting space for the gear transmission pair and the wheelbase adjustment assembly. The connection between the connecting frame A-2-14 and the agricultural machinery chassis A-1 is realized by a plurality of sliders mounted on the outer end face of the connecting frame.

[0016] The steering drive mechanism in this embodiment includes a steering oil cylinder 12 and a gear transmission pair. The gear transmission pair includes a driven gear A-2-11 and a driving gear A-2-12; the steering oil cylinder 12 is mounted on the connecting frame A-2-14, the gear transmission pair is mounted inside the connecting frame A-2-14, the output shaft of the steering oil cylinder 12 is connected to the driving gear A-2-12 of the gear transmission pair, and a swing cylinder sensor is integrated in the steering oil cylinder 12. The upper part of the sliding shaft A-2-10 slides through the driven gear A-2-11 of the gear transmission pair, and the driven gear A-2-11 meshes with the driving gear A-2-12. It is convenient to realize the rotation of the driven gear A-2-11 and the driving gear A-2-12 under the drive of the steering oil cylinder 12, and then drive the sliding shaft A-2-10 to rotate to achieve steering. Among them, the gear transmission pair includes a driven gear A-2-11 and a driving gear A-2-12, and the driven gear A-2-11 and the driving gear A-2-12 are respectively rotatably mounted inside the connecting frame A-2-14, and the driven gear A-2-11 and the driving gear A-2-12 mesh with each other.

[0017] The track width adjustment component in this embodiment includes a telescopic oil cylinder 8 and a pin shaft A-2-13. A connection hole is provided at the end of the extending end of the telescopic oil cylinder 8. After the pin shaft A-2-13 is inserted into the mounting hole of the connecting frame A-2-14, it passes through the connection hole of the piston rod on the telescopic oil cylinder 8, and the horizontal position of the connecting frame A-2-14 is moved under the drive of the telescopic oil cylinder 8. The cylinder body of the telescopic oil cylinder 8 is fixed on the agricultural machinery chassis A-1, the telescopic end of the telescopic oil cylinder 8 is connected to the pin shaft A-2-13, and the pin shaft A-2-13 fixes the piston rod of the telescopic cylinder on the connecting frame A-2-14. The connecting frame A-2-14 slides in the connecting frame fixed to the agricultural machinery chassis A-1. When this embodiment is actually used, multiple mounting holes can be provided on the connecting frame A-2-14 in advance, and the mounting holes at appropriate positions can be selected according to actual use requirements. The track width adjustment mechanism of this embodiment is connected to the chute fixed on the chassis of the agricultural robot body and forms a translation kinematic pair with the chute fixed on the agricultural robot body. Through the expansion and contraction of the telescopic oil cylinder 8 in the track width adjustment mechanism, the translation movement of the connecting frame A-2-14 relative to the chute fixed on the agricultural robot body is driven, and thus the increase or decrease of the track width of the agricultural machinery chassis A-1 is realized.

[0018] The lifting drive component in this embodiment is installed at the upper end of the sliding shaft A-2-10 and is connected to the sliding shaft A-2-10. The lifting mechanism is installed on the connecting frame A-2-14 and is connected to the sliding shaft A-2-10. Through the expansion and contraction of the lifting cylinder, the lifting movement of the sliding shaft A-2-10 relative to the connecting frame A-2-14 is driven, and thus the lifting of the clearance between the agricultural machinery chassis A-1 and the ground is realized. Among them, the lifting drive component includes a fixed seat A-2-3 and a jacking oil cylinder 13. The fixed seat A-2-3 is vertically installed on the upper end surface of the connecting frame A-2-14, the jacking oil cylinder 13 is vertically installed on the fixed seat A-2-3, and the telescopic end of the jacking oil cylinder 13 is located inside the fixed seat A-2-3 and is connected to the upper end of the sliding shaft A-2-10. It is convenient to drive the sliding shaft A-2-10 and the traveling mechanism to lift relative to the connecting frame A-2-14 by the jacking oil cylinder 13. A position sensor A-2-1 is also installed at the upper end of the jacking oil cylinder 13, which is convenient to accurately measure the height of the entire wheel leg and provide an effective reference basis for the lifting amplitude.

[0019] The sliding shaft A-2-10 in this embodiment is a stepped sliding shaft, and the outer diameter of the upper part of the sliding shaft A-2-10 is smaller than the outer diameter of the lower part. During actual use, the upper part of the sliding shaft A-2-10 participates in the lifting action of the wheel leg, and the lower part of the sliding shaft A-2-10 participates in the steering movement of the wheel leg.

[0020] This embodiment further includes an outer sleeve, which includes an upper outer sleeve A-2-4, a lower outer sleeve A-2-17, and two sleeve-type bearing seats A-2-5. The upper end of the upper outer sleeve A-2-4 is connected to the lower end surface of the connecting frame A-2-14, the lower end of the upper outer sleeve A-2-4 is connected to the upper end of the lower outer sleeve A-2-17, and the two sleeve-type bearing seats A-2-5 are mirror-sleeved on the lower part of the sliding shaft A-2-10. The lower outer sleeve A-2-17 is sleeved on the two sleeve-type bearing seats A-2-5, and the lower end of the lower outer sleeve A-2-17 is connected to the bottom of the sleeve-type bearing seat A-2-5. A bearing A-2-9 is embedded in the sleeve-type bearing seat A-2-5, and a clearance fit is adopted between the bearing A-2-9 and the sliding shaft A-2-10. When the wheel leg is lifted or lowered, after the telescopic end of the jacking oil cylinder 13 is connected to the sliding shaft A-2-10, it drives the sliding shaft A-2-10 to slide up and down in the sleeve-type bearing seat A-2-5. In addition, in order to ensure that the sliding shaft A-2-10 can not only move up and down but also transmit the torque of the driven gear A-2-11, a spline connection is adopted between the sliding shaft A-2-10 and the driven gear A-2-11. Furthermore, while ensuring the wheel leg can turn, it can also realize the lifting function. The whole movement process is an organic whole, and the movement is more reliable. In this embodiment, the sleeve-type bearing seat A-2-5 is fixed to the outer ring of the bearing A-2-9, the sliding shaft A-2-10 is fixed to the inner ring of the bearing A-2-9, the housing of the steering oil cylinder 12 is fixed to the connecting frame A-2-14, the output shaft of the steering oil cylinder 12 is connected to the driving gear A-2-12, the sliding shaft A-2-10 is fixedly connected to the driven gear A-2-11, and the driven gear A-2-11 meshes with the driving gear A-2-12 for transmission.

[0021] Specific Embodiment Three: With reference to Figures 7 to 8 This embodiment is described. The traveling mechanism of this embodiment includes a wheel A-2-7, a hydraulic motor 15, and a motor connection bracket A-2-6. The motor connection bracket A-2-6 is installed upside down on the wheel A-2-7, the hydraulic motor 15 is installed on the outer wall of one side of the motor connection bracket A-2-6, and the output shaft of the hydraulic motor 15 is connected to the axle of the wheel A-2-7. With such a setting, the motor connection bracket A-2-6 is connected to the housing of the hydraulic motor 15, and the output shaft of the hydraulic motor 15 is connected to the axle of the wheel A-2-7. The hydraulic motor 15 is light in weight and is suitable for use in environments with large loads. Other components and connection relationships are the same as those in Specific Embodiment One.

[0022] The upper surface of the motor connection bracket A-2-6 of this embodiment is a horizontal plane. A hydraulic motor sensor is integrated on the hydraulic motor 15. The setting of the horizontal plane facilitates the connection with the lower end of the sliding shaft A-2-10, facilitates providing a large torque to the traveling mechanism, and thus realizes the field traveling with large-load driving. The motor connection bracket A-2-6 is connected to the outer shell of the hydraulic motor 15, and the output shaft of the hydraulic motor 15 is connected to the axle of the wheel A-2-7. In addition, the traveling mechanism of this embodiment uses a hydraulic motor 15 to replace the motor drive in the prior art, reducing and avoiding the vibration problems generated during the motor drive process, and providing a stable working environment for the subsequent data collection.

[0023] The traveling mechanism of this embodiment is connected to the sliding shaft A-2-10. The traveling mechanism drives the sliding shaft A-2-10 to move forward, backward, and brake, thereby realizing the normal traveling of the agricultural machinery chassis A-1; the steering drive mechanism is composed of a steering cylinder 12 and a gear transmission pair, and is connected to the connecting frame A-2-14. The steering drive mechanism is connected to the sliding shaft A-2-10. The swing generated by the steering cylinder 12 drives the rotation of the sliding shaft A-2-10 of the wheel leg relative to the connecting frame A-2-14 through gear meshing, and thus realizes the steering movement of the agricultural machinery chassis A-1.

[0024] Specific embodiments two to three are all specific introductions to the structure of the wheel leg A-2. Now in combination with Figures 1 to 8 Explain the working principle of the wheel leg A-2 of the present invention: The wheel leg A-2 of the present invention can walk, turn, adjust the wheelbase, and can also realize the lifting function. It can adapt to complex and changeable field operation environments.

[0025] First, install the four wheel legs on both sides of the front end and both sides of the rear end of the agricultural machinery chassis A-1 respectively. Among them, the four wheel legs are slidably connected to the agricultural machinery chassis A-1 through sliders and connecting frames. When the agricultural robot performs ordinary operations, it mainly uses the walking mechanism of the wheel legs. When steering is required, start the steering cylinder 12 to drive the gear transmission pair to rotate, and the gear transmission pair drives the sliding shaft A-2-10 and the walking mechanism to turn. When encountering undulating terrain, adjust the heights of the four wheel legs respectively through the lifting components so that the agricultural machinery chassis A-1 always remains parallel to the ground. In addition, when it is necessary to adjust the number of field ridges for operation, start the telescopic cylinder 8, and the telescopic cylinder 8 drives the connecting frame A-2-14 to slide horizontally until the appropriate wheelbase is reached. During the entire operation process, just operate according to actual needs, avoiding the situation that the existing agricultural robots are equipped with a large number of structural accessories to adapt to different usage environments, and still require on-site disassembly and assembly by staff, wasting time, manpower, and financial resources. The present invention does not require a large number of accessories and on-site disassembly, and has high operation efficiency.

[0026] The wheel legs of the present invention have the following technical effects:

[0027] 1. In the traveling mechanism of the present invention, a hydraulic motor 15 is directly used to drive the wheel A-2-7 to rotate, which is especially suitable for use in an environment where the entire agricultural robot is heavy, the farmland environment is complex, and a large driving force is required. The driving method is simpler, more direct, and more reliable.

[0028] 2. The wheel-leg of the present invention can achieve a steering function. This function is achieved by directly driving the gear transmission pair to rotate through the steering cylinder 12, and the gear transmission pair drives the sliding shaft A-2-10 to rotate. Since the lower part of the sliding shaft A-2-10 is connected to the traveling mechanism, the traveling mechanism can be rotated in any direction. In addition, the present invention uses a gear transmission pair for speed reduction, which ensures the transmission accuracy of steering. Moreover, the gear transmission pair is light in weight, the transmission is more stable, and the weight of the entire agricultural robot is reduced.

[0029] 3. The present invention can adjust the wheelbase between the two wheel-legs in the front and / or rear. The adjustment method is as follows: The two front wheel-legs and the two rear wheel-legs are respectively installed at the front end and the rear end of the chassis. Taking the adjustment method of the wheelbase between the two front wheel-legs as an example; the slide rail 14 is slidably connected to the front or rear of the chassis through a plurality of sliders. When the telescopic end of the telescopic cylinder 8 expands and contracts, it drives the slide rail 14 to slide horizontally through the pin shaft A-2-13, thereby realizing the adjustment of the distance between the two wheel-legs. It can be applied to the operation requirements of different crop varieties and different field environments, without replacing the wheel-legs, improving the operation efficiency of the agricultural robot and reducing the labor intensity of the staff.

[0030] 4. The present invention can achieve a height adjustment function. The wheel-legs of the present invention are installed on the chassis, and the wheel-legs can select a suitable height for operation according to the different types of crops in actual field operations, especially the different heights of the crops. This operation can be spraying pesticides or laser weeding.

[0031] 5. The wheel-legs of the present invention can also achieve a shock absorption function. It is mainly realized by an elastic member provided on the sliding shaft A-2-10. Specifically: When the agricultural robot walks on the undulating fields, in order to ensure the operation accuracy of the agricultural robot. For example, when an agricultural laser weeding robot is walking and needs to perform laser weeding, when walking in an area with a large terrain undulation, the elastic member is used to reduce and lower the vibration degree of the laser component. Thereby improving the operation accuracy of the agricultural robot and meeting the operation requirements of modern agricultural robots.

[0032] 6. The wheel-legs of the present invention simultaneously have functions of shock absorption, traveling including traveling states such as forward, backward, and braking, steering, lifting, and adjusting the wheelbase. They have multiple degrees of freedom, are flexible in movement, and have a compact structure, effectively improving the movement performance of the agricultural machinery chassis A-1 and the terrain passing ability.

[0033] Embodiment 4 in detail: In combination with Figures 1 to 6 , Figure 15 and Figure 16 describe this embodiment. The laser weeding machine B-2 of this embodiment includes a vision control cabinet B-3, a laser power supply box B-4, a laser control box B-5, two laser heat dissipation water tanks B-6, a frame assembly, a data acquisition part, a laser dust removal device, and a plurality of lasers B-2-1. The vision control cabinet B-3 is installed on the agricultural machinery chassis A-1. The two laser heat dissipation water tanks B-6 are respectively installed on the agricultural machinery chassis A-1 on the left and right sides of the vision control cabinet B-3. The laser power supply box B-4 and the laser control box B-5 are respectively installed on the two laser heat dissipation water tanks B-6. A plurality of lasers B-2-1 are installed in parallel and at equal intervals on the frame assembly. The data acquisition part is installed at the front end in the advancing direction of the frame assembly. The laser dust removal device is installed obliquely on the frame assembly, and the laser dust removal device blows towards the lenses of the plurality of lasers B-2-1 in the form of an air curtain to achieve real-time dust removal.

[0034] In this embodiment, the vision control cabinet B-3 is mainly used to place the server and industrial computer of the data acquisition part, etc., to store the pictures taken by the camera in the data acquisition part. The laser power supply box B-4 provides strong power for the lasers B-2-1. The laser control box B-5 is used to receive the signal of the weed position and cooperate with the data acquisition part to realize the start and stop control of the lasers B-2-1 for weeding.

[0035] The two laser heat dissipation water tanks B-6 in this embodiment are used to participate in the cooling cycle of the plurality of lasers B-2-1 and provide cooling for the plurality of lasers B-2-1. Ensure that the plurality of lasers B-2-1 can continuously and reliably weed.

[0036] In this embodiment, the number of lasers B-2-1 is preferably 6, 8 or 10. A plurality of lasers B-2-1 are arranged in parallel and at equal intervals from left to right in sequence, and each laser B-2-1 is an independent component. A handle is installed at each upper end of both sides in the length direction of the laser B-2-1. This handle facilitates horizontal pushing, taking, and disassembly during the installation process. Generally, the service life of each laser B-2-1 is 1-2 years.

[0037] The frame assembly of this embodiment includes an upper frame B-2-2, a front-end mounting plate B-2-4, multiple lower connecting crossbeams B-2-3, multiple moving plates B-2-5, and multiple groups of laser mounting limiters B-2-6. The multiple lower connecting crossbeams B-2-3 are arranged side by side, and multiple groups of laser mounting limiters B-2-6 are equidistantly installed on the frontmost lower connecting crossbeam B-2-3. The front part of each laser B-2-1 is inserted into a group of laser mounting limiters B-2-6. The upper frame B-2-2 is connected to the multiple lower connecting crossbeams B-2-3. The front-end mounting plate B-2-4 is installed in front of the frontmost lower connecting crossbeam B-2-3. One end of the multiple moving plates B-2-5 is installed on the front-end mounting plate B-2-4, and the other end of the multiple moving plates B-2-5 is installed on the upper frame B-2-2, and the distance between the multiple moving plates B-2-5 and the frontmost lower connecting crossbeam B-2-3 is adjustable. The upper frame B-2-2 is a "day"-shaped frame, and the front-end mounting plate B-2-4 is preferably a channel steel, which is convenient for embedding the first row of shadowless light strips B-2-17 inside, not only ensuring the reliability of the installation of the entire light strip, but also avoiding damage to the light strip due to accidents during the walking and weeding of the agricultural robot, playing a good protective role for the light strip.

[0038] During the actual use of this embodiment, in order to ensure the installation accuracy, the laser B-2-1 and the lower connecting crossbeam B-2-3 are adjusted by installing rubber gaskets. The rubber gasket can also protect the laser B-2-1 from being worn and can also play a shock-absorbing role.

[0039] The frame assembly of this embodiment further includes multiple connecting plates B-2-8. The upper frame B-2-2 and the multiple lower connecting crossbeams B-2-3 are connected by the multiple connecting plates B-2-8. The connecting plate B-2-8 is a hollow connecting plate, which plays a connecting role between the upper frame B-2-2 and the lower connecting crossbeam B-2-3 on the premise of ensuring the connection strength.

[0040] Since the laser weeding device of the present invention is installed under the agricultural weeding robot during actual use, using the lower connecting crossbeam B-2-3 can reduce the weight of the entire agricultural robot. The connection part between the moving plate B-2-5 and the connecting plate B-2-8 is in a long-strip hollow shape, which can ensure that when connecting with the connecting plate B-2-8, the front and rear positions of the front-end mounting plate B-2-4 can be moved by adjusting the connection position. The position adjustment of the front-end mounting plate B-2-4 is more convenient and flexible.

[0041] The laser installation limit part B-2-6 of this embodiment includes two clamping strips B-2-7 arranged in mirror symmetry. The two clamping strips B-2-7 are installed on the lower connecting cross beam B-2-3 in the front row, and the openings on the sides of the two clamping strips B-2-7 facing the laser B-2-1 expand outward. The bottom of the clamping strip B-2-7 is an installation seat, and the clamping strip B-2-7 is fixedly installed on the lower connecting cross beam B-2-3 in the front row through bolts. The upper part of the clamping strip B-2-7 includes an end limit baffle B-2-21, a side limit baffle B-2-22, and a guide plate B-2-23. One end of the side limit baffle B-2-22 is perpendicular to the end limit baffle B-2-21, the other end of the surface limit baffle 22 is connected to the guide plate B-2-23, and the guide plate B-2-23 inclines outward to form an outward expansion. The end limit baffle B-2-21, the side limit baffle B-2-22, and the guide plate B-2-23 are integrally formed. The end limit baffle B-2-21 plays a role in limiting the ends of the laser B-2-1 in the width direction, the side limit baffle B-2-22 plays a role in limiting the laser B-2-1 in the length direction, and the guide plate B-2-23 facilitates quick positioning and guiding the insertion of the laser B-2-1. The entire clamping strip B-2-7 plays a role in guiding and limiting the laser B-2-1 during the installation process. The tail of the laser B-2-1 in this embodiment is installed on the lower connecting cross beam B-2-3 through angle codes, and the clamping strip B-2-7 facilitates positioning and preliminary installation.

[0042] The data acquisition part of this embodiment includes multiple rough positioning cameras B-2-9, and one rough positioning camera B-2-9 arranged downward is installed on each moving plate body B-2-5. The number of the rough positioning cameras B-2-9 is preferably 4. The main function of the four rough positioning cameras B-2-9 is to collect the lower field operation environment, determine the seedlings and weeds, and the specific acquisition position of the rough positioning camera B-2-9 is realized by the position where the moving plate body B-2-5 moves.

[0043] The data acquisition part of this embodiment also includes multiple fine positioning cameras B-2-10, and one fine positioning camera B-2-10 is integrated in the lens of each laser B-2-1. The fine positioning camera B-2-10 is integrated in the lens of the laser B-2-1, and the number of them is 8. By collecting images from multiple angles of the same area, the accuracy of data processing is ensured, and thus the weeding can be realized more precisely.

[0044] Specific Embodiment Five: Combine Figures 15 to 16Describing this embodiment, the laser dust removal device of this embodiment includes a hoisting beam B-2-11, a wind curtain wall B-2-12, and multiple hoisting plates B-2-13. The wind curtain wall B-2-12 is installed at the lower end of the hoisting beam B-2-11. One end of multiple hoisting plates B-2-13 is connected to the upper end of the hoisting beam B-2-11, and the other end of multiple hoisting plates B-2-13 is connected to the upper part of the frame assembly, the upper frame B-2-2. A plurality of air inlets B-2-16 are provided on one side of the wind curtain wall B-2-12. Part of the wind curtain blown out by the wind curtain wall B-2-12 blows obliquely onto the lens of the laser B-2-1 and then turns back downward, and the other part of the wind curtain blows obliquely upward to disperse dust or soot. The hoisting structure is simple. Moreover, during the connection process, by adjusting the connection position of the hoisting plate B-2-13 on the upper frame B-2-2 (including the horizontal position and the vertical position), the coordinated adjustment of the height and angle of the wind curtain is realized, and the adjustment method is simple and reliable.

[0045] The laser dust removal device of this embodiment uses the method of a wind curtain to remove dust from the lens of the laser B-2-1. Compared with the conventional dust removal technologies in other fields, the dust removal method of the present invention not only removes dust from the lens, but also removes dust from the area to be weeded on the entire head of the laser B-2-1. This dust removal process is mainly achieved by the air flow hitting the laser B-2-1 turning back downward for dispersion and blowing away dust or soot. In addition, the wind curtain of the laser dust removal device in this embodiment is a sheet-shaped continuous rectangular wind curtain. In order to ensure that the wind curtain will not damage the lens when it blows on the lens, the pressure of the air curtain is less than 1 Mpa.

[0046] The included angle between the laser dust removal device of this embodiment and the lens of the laser B-2-1 is 20 degrees - 70 degrees. During actual use, the included angle between the laser dust removal device and the lens of the laser B-2-1 is preferably 20 degrees - 40 degrees. In this case, the cutting angle of the wind curtain on the lens is relatively small, and the lens can be dusted in the largest range, especially suitable for use in the case where there are relatively few weeds in the field. For 40 - 65 degrees, the wind curtain at this angle can concentrate on a certain area for dust removal, and the wind curtain after turning back has a good effect on dispersing soot.

[0047] Since the air curtain in this embodiment directly acts on the lens of the laser B-2-1, compared with the conventional isolated air curtain, this embodiment can blow soot, dust and powder away from the lens, while the air curtain parallel to the conventional laser lens can only isolate soot, dust and powder directly below the lens. However, since the entire laser weeding device does not work in a clean and pollution-free environment, there will still be soot, dust or powder adhering to the laser lens through the gaps of the laser and the gap between the laser lens and the horizontal air curtain, and the dust removal of the laser lens cannot be fundamentally achieved. And the present invention fundamentally solves the problem of dust removal of the laser lens. In addition, the laser dust removal device in this embodiment directly blows onto the lens, and can also blow away the muddy water or impurities splashed onto the lens during walking.

[0048] The laser dust removal device of this embodiment is connected to a plurality of air inlets B-2-16 through an air pump and a conduit mounted on the chassis, and mixes the gas in the air duct and blows out the air evenly.

[0049] Specific Embodiment Six: Combining Figures 1 to 2 To illustrate this embodiment, the air curtain wall B-2-12 of this embodiment includes a lower air duct plate B-2-14 and an upper air duct plate B-2-15. The lower air duct plate B-2-14 and the upper air duct plate B-2-15 are sealed and fastened, and the air outlet sides of the lower air duct plate B-2-14 and the upper air duct plate B-2-15 face the lens of the laser B-2-1. Grooved air ducts are provided in the lower air duct plate B-2-14 and the upper air duct plate B-2-15, and the air ducts are through slots. Moreover, in actual use, the air outlet sides of the lower air duct plate B-2-14 and the upper air duct plate B-2-15 blow out air, and the air outlet thickness is 1-5 mm, which can not only ensure the air output, but also ensure the dust removal effect.

[0050] In addition, combining Figure 17 To illustrate, the laser weeder B-2 of this embodiment further includes a lighting device. The lighting device includes a first row of shadowless lamp belts B-2-17, a second row of shadowless lamp belts B-2-18, a third row of shadowless lamp belts B-2-19 and a channel steel B-2-20. The first row of shadowless lamp belts B-2-17 is installed on the lower end face of the front mounting plate B-2-4, the second row of shadowless lamp belts B-2-18 is installed on the lower connecting cross beam B-2-3 of the front row, and the third row of shadowless lamp belts B-2-19 is installed at the lower ends of a plurality of lasers B-2-1 through the channel steel B-2-20. It is convenient to illuminate the seedlings and weeds, ensure the clarity of the picture data collection, and improve the weeding accuracy.

[0051] In the actual use process of this embodiment, at least 3 shadowless lamps are respectively installed in the first row of shadowless lamp belts B-2-17, the second row of shadowless lamp belts B-2-18 and the third row of shadowless lamp belts B-2-19 to form the shadowless lamp belts.

[0052] The hydraulic drive system C-2 is used to drive the functions of the present invention such as traveling, steering, wheel-leg lifting, and wheelbase adjustment. The hydraulic drive system C-2 has been started when the agricultural laser weeding robot is walking. Therefore, there is no instantaneous start of the hydraulic system during the weeding process, avoiding the instantaneous impact during walking and also avoiding the vibration problem generated by the motor when the motor is used to drive the entire robot to walk in the prior art. When vibrating, the data acquisition part cannot capture clear pictures. The pictures taken under vibrating conditions are often blurred, resulting in poor weed recognition accuracy and easy to misidentify seedlings or miss weeds. This embodiment avoids the instantaneous impact and the vibration generated by using the motor in the prior art, improves the clarity of the pictures taken during the acquisition process, and further improves the accuracy of weed recognition. Moreover, after reducing the vibration, the error of the weeding angle and position caused by vibration is avoided during laser weeding, improving the accuracy during the weed removal process.

[0053] In addition, in this embodiment, the pose of the upper frame B-2-2 is adjusted with multiple degrees of freedom at any angle through the coordinated telescoping of the four wheel-legs A-2. When the agricultural machinery chassis A-1 is walking in the uneven field and causes the agricultural machinery chassis A-1 to roll, under the action of different telescopic lengths between the multiple adjusting cylinders 27, the upper frame B-2-2 generates at least translational motion up and down, pitching, rolling, and yawing relative to the agricultural machinery chassis A-1, thereby ensuring that the agricultural machinery chassis A-1 can still be level with the ground even when driving in the uneven or rough field, ensuring the effectiveness of data acquisition, and further ensuring the accuracy of weeding.

[0054] Combined with Figures 15 to 17 Explain the working principle of the laser weeder B-2 in the present invention:

[0055] Taking the weeds in the farmland where the planted crop is soybeans as an example.

[0056] After sowing in the farmland and growing into seedlings, there are often weeds among the seedlings. The weeding objects corresponding to the 8 lasers used in the laser weeding robot in this embodiment are 2 large ridges, with a width of about 2.2 meters. The crops are planted in about 6 - 8 rows.

[0057] When the present invention is installed on an agricultural robot, a laser weeding robot with multiple degrees of freedom is formed, which can realize forward walking, backward walking, turning, and braking. When the laser weeding robot with multiple degrees of freedom is working, start the laser dust removal device to start dust removal of the field environment.

[0058] At this time, the rough positioning camera B-2-9 and the fine positioning camera B-2-10 take pictures of the field environment simultaneously. The rough positioning camera B-2-9 takes pictures of the seedlings and weeds during the walking process, generally capable of photographing two ridges, and transmits the information collected by the photographing to the laser processor control system, and identifies the positions of the weeds in the obtained information.

[0059] At this time, the fine positioning camera B-2-10 also transmits the collected information to the laser processor control system. The laser processor control system matches the positions of the weeds in the two. When the positions match, the laser processor control system issues an instruction, and the laser is used to remove the weeds. The meristem of the weeds is damaged by the laser, thereby realizing the removal of the weeds.

[0060] When the multi-degree-of-freedom laser weeding robot is walking in the field and encounters uneven ground, in order to still be able to collect pictures at a suitable angle, through the coordinated adjustment of multiple adjusting cylinders 27, it is ensured that when driving in fields at different heights, the laser weeding device can still be parallel to the ground. Furthermore, the accuracy of data collection is guaranteed, and the problem of inaccurate data collection and poor weeding accuracy caused by the non-parallelism between the laser weeding device and the ground is avoided.

[0061] Embodiments 4 to 6 are the specific structures of the laser weeder B-2. The laser weeder B-2 has the following technical effects:

[0062] 1. The present invention adopts a laser dust removal device. The laser dust removal device blows air directly at the lens of the laser in an inclined manner and towards the laser, blowing away the soot and dust generated during the laser weeding process from near the lens, thereby avoiding the problem of ablation of the lens of the laser.

[0063] 2. The laser dust removal device of the present invention has a simple and small structure. It adopts a long strip-shaped air curtain. After the air curtain is blown out, it directly blows towards the lens and then folds back. Therefore, in addition to being able to remove soot and dust at the lens of the laser, it can also blow away the nearby soot and dust. It also provides a clearer and cleaner acquisition environment for the camera picture acquisition of the data acquisition part, provides a necessary condition for weed identification, and thus ensures the weeding accuracy of the laser weeding device. In addition, since the air curtain blown out by the laser dust removal device of the present invention is continuous in the length direction, part of the air curtain that does not directly blow onto the lens cleans the surrounding environment, cleaning the soot and dust floating above the present invention, so that the lower end surface of the laser lens and the upper part of the laser are in a state of less dust or no dust, and thus truly realizes the dust removal of the laser lens.

[0064] 3. The data acquisition part of the present invention includes two acquisition parts in total: one is the rough positioning camera B-2-9. The rough positioning camera B-2-9 can collect seedlings and weeds within a large range and send the collected pictures to the data controller for identifying the positions of the weeds in the pictures collected by the rough positioning camera B-2-9. The other is the fine positioning camera B-2-10. The fine positioning camera B-2-10 is embedded and integrated in the laser lens. Therefore, it can clearly collect the precise position area to be weeded and send the collected pictures to the data controller. The data controller identifies the positions of the weeds in the pictures collected by the fine positioning camera B-2-10. The data controller compares the positions of the weeds identified from the pictures collected by the rough positioning camera B-2-9 and the fine positioning camera B-2-10 respectively. If the positions of the weeds are the same, the laser directly performs weeding. During the entire laser weeding process, the data acquisition part continuously and uninterruptedly collects and identifies. While the agricultural robot is walking, it identifies and weeds at the same time. Through dual data acquisition and identification, the present invention can achieve precise weeding, avoid accidentally hurting the seedlings, and achieve the purpose of intelligent and precise weeding.

[0065] 4. By setting up multiple rows of lighting devices with adjustable positions, the present invention can provide a clear acquisition environment for the data acquisition part and provide necessary conditions for the identification of the acquired data. Moreover, the arrangement of the light belts of the present invention makes use of the advantage of adjustable positions on the frame assembly, making the arrangement positions of the light belts more flexible and practical.

[0066] Specific Embodiment Seven: Combine Figures 10 to 14To describe this embodiment, the hydraulic drive system C-2 of this embodiment includes an engine C-3, a generator C-4, a hydraulic oil tank 1, a motor 2, a closed pump 3, a gear pump 4, a piston pump 5, an auxiliary oil path subsystem, a driving subsystem, a wheelbase changing subsystem, and a jacking and steering subsystem. The engine C-3 is installed on the agricultural machinery chassis A-1. After converting chemical energy into electrical energy, the engine C-3 is connected to the generator C-4 installed on the agricultural machinery chassis A-1. The generator C-4 is connected to the motor 2 and supplies power to the motor 2. The output shaft of the motor 2 is sequentially connected to the shafts of the closed pump 3, the gear pump 4, and the piston pump 5 from left to right to drive the closed pump 3, the gear pump 4, and the piston pump 5 to work. The closed pump 3 includes a large-displacement variable pump and a small-displacement fixed pump. The A ports of the small-displacement fixed pump in the closed pump 3, the gear pump 4, and the piston pump 5 are all connected to the hydraulic oil tank 1. The A and B ports of the large-displacement variable pump in the closed pump 3 are respectively connected to the main oil path of the driving subsystem. The B port of the small-displacement fixed pump in the closed pump 3 is connected to the control oil path of the driving subsystem. The output shaft of the driving subsystem is connected to the wheels to control the forward and backward movement and braking of the agricultural machinery chassis; the B ports of the gear pump 4 and the piston pump 5 are connected to the auxiliary oil path subsystem. The auxiliary oil path subsystem is respectively connected to the wheelbase changing subsystem and the jacking and steering subsystem. The wheelbase changing subsystem drives the wheelbase adjustment mechanism to control the wheelbase change to adapt to different ridge widths; in the jacking and steering subsystem, the steering subsystem drives the steering mechanism to control the wheel steering to realize the turning of the agricultural machinery chassis; in the jacking and steering subsystem, the jacking subsystem drives the lifting mechanism to control the wheel steering to realize the turning of the agricultural machinery chassis A-1.

[0067] In this embodiment, the engine C-3 and the generator C-4 are installed in the middle of the upper end surface of the agricultural machinery chassis A-1. The engine C-3 is connected to the generator C-4 to convert chemical energy into electrical energy, and the generator C-4 is connected to the motor 2 to convert electrical energy into mechanical energy, realizing the conversion between energies and achieving the purpose of driving the entire robot to work.

[0068] Specific Embodiment Eight: In combination with Figures 10 to 11 To describe this embodiment, the auxiliary oil path subsystem of this embodiment includes a filter valve group 6, a first accumulator 9, an accumulator valve block 10, an oil return filter 17, a fourth one-way valve 19, a fifth one-way valve 20, and a radiator 22. The A2 of the filter valve group 6 is connected to the B port of the gear pump 4, and a fourth one-way valve 19 is provided on the oil path between the A2 of the filter valve group 6 and the B port of the gear pump 4; the A3 of the filter valve group 6 is connected to the B port of the piston pump 5, the B3 port of the filter valve group 6 is connected to the 2 port of the accumulator valve block 10, the 3 port of the accumulator valve block 10 is connected to the first accumulator 9, and the 1 port of the accumulator valve block 10 is connected to the B2 port of the filter valve group 6; the T port of the filter valve group 6 is connected to the hydraulic oil tank 1, and a fifth one-way valve 20, a radiator 22, and an oil return filter 17 are sequentially provided on the oil path between the T port of the filter valve group 6 and the hydraulic oil tank 1.

[0069] In this embodiment, a small-displacement gear pump 4 is provided to assist in the heat dissipation of the hydraulic system; the gear pump 4 sucks hydraulic oil from the hydraulic oil tank 1, and flows back to the hydraulic oil tank 1 through the fourth one-way valve 19, the fifth one-way valve 20, the radiator 22 and the return oil filter 17, completing the cooling cycle of the oil fluid.

[0070] A first accumulator 9 is provided in the oil circuit to reduce vibration and absorb shock; the B2 port of the filter valve group 6 is connected to the 1 port of the accumulator valve block 10, the B3 port of the filter valve group 6 is connected to the 2 port of the accumulator valve block 10, and the 3 port of the accumulator valve block 10 is connected to the first accumulator 9; the accumulator valve block 10 is provided with a stop valve for switching the accumulator on and off; the accumulator valve block 10 is provided with a relief valve to prevent damage to the accumulator due to excessive pressure.

[0071] The filter valve group 6 of this embodiment includes a first filter 61, a second filter 62, a first electromagnetic directional control valve 63, a first one-way valve 64 and a first relief valve 65; the A3 port of the filter valve group 6 is connected to the inlet of the second filter 62, and the outlet of the second filter 62 is respectively connected to the B4 port of the filter valve group 6, the P port of the first electromagnetic directional control valve 63, the P port of the first relief valve 65 and the B3 port of the filter valve group 6; the B2 port of the filter valve group 6, the T port of the first relief valve 65, the T port of the first electromagnetic directional control valve 63, the A port of the first electromagnetic directional control valve 63, the B5 port of the filter valve group 6, and the A2 port of the filter valve group 6 are all connected to the T port of the filter valve group 6, and a first one-way valve 64 is provided on the oil circuit between the T port of the first electromagnetic directional control valve 63 and the T port of the filter valve group 6; the A1 port of the filter valve group 6 is connected to the inlet of the first filter 61, and the outlet of the first filter 61 is connected to the B1 port of the filter valve group 6.

[0072] In this embodiment, the first electromagnetic directional control valve 63 is a system pressure unloading valve; when the first electromagnetic directional control valve 63 is in the upper position, the P port and the A port of the first electromagnetic directional control valve 63 are connected, and the hydraulic oil flows back to the hydraulic oil tank 1 through the first one-way valve 64, the fifth one-way valve 20, the radiator 22 and the return oil filter 17; when the first electromagnetic directional control valve 63 is in the lower position, the P port of the first electromagnetic directional control valve 63 is connected to the B port, and the hydraulic oil cannot directly flow back to the hydraulic oil tank 1 through the first one-way valve 64, the fifth one-way valve 20, the radiator 22 and the return oil filter 17; to adjust the system pressure, a first relief valve 65 is provided, and when the pressure is too high, the P port and the T port of the first relief valve 65 are connected, and the hydraulic oil flows back to the hydraulic oil tank 1 through the first one-way valve 64, the fifth one-way valve 20, the radiator 22 and the return oil filter 17.

[0073] The filter valve group 6 includes a first filter 61, a second filter 62, a first electromagnetic directional valve 63, a first check valve 64, and a first relief valve 65. The A1 port of the filter valve group 6 is connected to the B1 port of the filter valve group 6 through the first filter 61. The A3 port of the filter valve group 6 is connected to the B3, B4 ports of the filter valve group 6, the P port of the first electromagnetic directional valve 63, and the P port of the first relief valve 65 through the second filter 62. The B5 port of the filter valve group 6 is connected to the T, A ports of the first electromagnetic directional valve 63 and the T port of the first relief valve 65. The B5 port of the filter valve group 6 is connected to the T port of the filter valve group 6 through the first check valve 64.

[0074] Specific Embodiment Nine: In combination with Figures 10 to 12 This embodiment is described. The driving subsystem of this embodiment includes a variable and brake valve group 14, an anti-slip valve group 16, a sixth check valve 21, and four hydraulic motors 15. The A port of the anti-slip valve group 16 is connected to the A port of the large-displacement variable pump in the closed-loop pump 3. The A1, A2, A3, and A4 ports of the anti-slip valve group 16 are respectively connected to the A ports of the four hydraulic motors 15. The R ports of the four hydraulic motors 15 are all connected to the B port of the large-displacement variable pump in the closed-loop pump 3. The B port of the small-displacement fixed-displacement pump in the closed-loop pump 3 is connected to the inlet of the first filter 61. A sixth check valve 21 is provided on the oil path between the B port of the small-displacement fixed-displacement pump and the inlet of the first filter 61. The outlet of the first filter 61 is connected to the P port of the variable and brake valve group 14. The A port of the variable and brake valve group 14 is respectively connected to the Y ports of the four hydraulic motors 15. The B port of the variable and brake valve group 14 is respectively connected to the X ports of the four hydraulic motors 15. The T port of the variable and brake valve group 14 and the 1 port of the four hydraulic motors 15 are all connected to the hydraulic oil tank 1. The PS port of the anti-slip valve group 16 is connected to the inlet of the first filter 61. The T and L ports of the anti-slip valve group 16 are both connected to the hydraulic oil tank 1. The 2 ports of the four hydraulic motors 15 are all connected to the inlet of the fifth check valve 20.

[0075] In this embodiment, the variable pump of the closed-loop pump 3 pumps hydraulic oil into the A port of the anti-slip valve group 16 to provide high-pressure oil for the hydraulic motors 15.

[0076] The A port of the variable pump of the closed-loop pump 3 is connected to the A port of the anti-slip valve group 16. The A1, A2, A3, and A4 ports of the anti-slip valve group 16 are respectively connected to the A ports of the four hydraulic motors 15. The R ports of the four hydraulic motors 15 are connected to the B port of the closed-loop pump 3. The inlet A port of the fixed-displacement pump of the closed-loop pump 3 is connected to the hydraulic oil tank 1, and the outlet B port is connected to the A1 port of the filter valve group 6 through the sixth one-way valve 21. The B1 port of the filter valve group 6 is connected to the P port of the variable and braking valve group 14. The A port of the variable and braking valve group 14 is connected in parallel with the Y ports of the four hydraulic motors 15. The B port of the variable and braking valve group 14 is connected in parallel with the X ports of the four hydraulic motors 15. The port 1 of the four hydraulic motors 15 is connected to the hydraulic oil tank 1, the port 2 of the four hydraulic motors 15 is connected to the T port of the filter valve group 6, the B1 port of the filter valve group 6 is connected to the PS port of the anti-slip valve group 16, the L port of the anti-slip valve group 16 is connected to the hydraulic oil tank 1, and the T port of the anti-slip valve group 16 is connected to the hydraulic oil tank 1.

[0077] Specific Embodiment Ten: Combining Figures 10 to 13 To describe this embodiment, in this embodiment, the variable and braking valve group 14 includes a fourth electromagnetic directional valve 141 and a fifth electromagnetic directional valve 142. The port 1 of the fourth electromagnetic directional valve 141 and the port 1 of the fifth electromagnetic directional valve 142 are both connected to the P port of the variable and braking valve group 14. The port 2 of the fourth electromagnetic directional valve 141 and the port 2 of the fifth electromagnetic directional valve 142 are both connected to the P port of the variable and braking valve group 14. The port 3 of the fourth electromagnetic directional valve 141 is connected to the B port of the variable and braking valve group 14, and the port 3 of the fifth electromagnetic directional valve 142 is connected to the A port of the variable and braking valve group 14. This is convenient for accurately measuring the height of the entire wheel leg and providing an effective reference basis for the lifting range.

[0078] In this embodiment, the variable and braking valve group 14 includes a fourth electromagnetic directional valve 141 and a fifth electromagnetic directional valve 142. The P port of the variable and braking valve group 14 is connected to the port 1 of the fourth electromagnetic directional valve 141 and the fifth electromagnetic directional valve 142. The T port of the variable and braking valve group 14 is connected to the port 2 of the fourth electromagnetic directional valve 141 and the fifth electromagnetic directional valve 142. The A port of the variable and braking valve group 14 is connected to the port 3 of the fourth electromagnetic directional valve 141, and the B port of the variable and braking valve group 14 is connected to the port 3 of the fifth electromagnetic directional valve 142.

[0079] Specific Embodiment Eleven: Combining Figure 10 and Figure 12Regarding this embodiment, the anti-slip valve group 16 of this embodiment includes a first flow dividing and collecting valve 162, a second flow dividing and collecting valve 163, a third flow dividing and collecting valve 164, a seventh electromagnetic reversing valve 166, an eighth electromagnetic reversing valve 167, four sixth electromagnetic reversing valves 161, and four oil replenishing overflow valves 165. The A port of the first flow dividing and collecting valve 162 is connected to the A port of the anti-slip valve group 16. The B1 and B2 ports of the first flow dividing and collecting valve 162 are respectively connected to the A ports of the second flow dividing and collecting valve 163 and the third flow dividing and collecting valve 164. The B1 and B2 ports of the second flow dividing and collecting valve 163 are respectively connected to the A1 and A2 ports of the anti-slip valve group 16. The B1 and B2 ports of the third flow dividing and collecting valve 164 are respectively connected to the A3 and A4 ports of the anti-slip valve group 16. The A ports of the four sixth electromagnetic reversing valves 161 are all connected to the A port of the anti-slip valve group 16. The B ports of the four sixth electromagnetic reversing valves 161 are respectively connected to the A1, A2, A3, and A4 ports of the anti-slip valve group 16. The A ports of the four oil replenishing overflow valves 165 are respectively connected to the B ports of the four sixth electromagnetic reversing valves 161. The B1 and B2 ports of the second flow dividing and collecting valve 163 and the B1 and B2 ports of the third flow dividing and collecting valve 164 are respectively connected to the A ports of the four oil replenishing overflow valves 165. The B ports of the four oil replenishing overflow valves 165 are all connected to the T port of the anti-slip valve group 16. The P port of the seventh electromagnetic reversing valve 166 is connected to the PS port of the anti-slip valve group 16. The A port of the seventh electromagnetic reversing valve 166 is respectively connected to the 1 ports of the four sixth electromagnetic reversing valves 161. The 2 ports of the four sixth electromagnetic reversing valves 161 are all connected to the inlet of the eighth electromagnetic reversing valve 167. The outlet of the eighth electromagnetic reversing valve 167 is connected to the L port of the anti-slip valve group 16. The T port of the seventh electromagnetic reversing valve 166 is connected to the inlet of the eighth electromagnetic reversing valve 167.

[0080] In this embodiment, the anti-slip valve group 16 includes a sixth electromagnetic directional valve 161, a first flow dividing and collecting valve 162, a second flow dividing and collecting valve 163, a third flow dividing and collecting valve 164, a make-up oil overflow valve 165, a seventh electromagnetic directional valve 166, and an eighth electromagnetic directional valve 167. The A port of the anti-slip valve group 16 is connected to the A port of the first flow dividing and collecting valve 162. The B1 and B2 ports of the first flow dividing and collecting valve 162 are respectively connected to the A ports of the second flow dividing and collecting valve 163 and the third flow dividing and collecting valve 164. The B1 and B2 ports of the second flow dividing and collecting valve 163 and the third flow dividing and collecting valve 164 are respectively connected to the A1, A2, A3, and A4 ports of the anti-slip valve group 16. The B1 and B2 ports of the second flow dividing and collecting valve 163 and the third flow dividing and collecting valve 164 are respectively connected to the A ports of four make-up oil overflow valves 165. The B ports of the four make-up oil overflow valves 165 are connected to the T port of the anti-slip valve group 16. The A port of the anti-slip valve group 16 is connected to the A ports of four sixth electromagnetic directional valves 161. The B ports of the four sixth electromagnetic directional valves 161 are respectively connected to the B1 and B2 ports of the second flow dividing and collecting valve 163 and the third flow dividing and collecting valve 164. The PS port of the anti-slip valve group 16 is connected to the P port of the seventh electromagnetic directional valve 166. The A port connected to the seventh electromagnetic directional valve 166 is in parallel with the 1 ports of the four sixth electromagnetic directional valves 161. The 2 ports of the four sixth electromagnetic directional valves 161 are in parallel and connected to the T port of the seventh electromagnetic directional valve 166. The T port of the seventh electromagnetic directional valve 166 is connected to the L port of the anti-slip valve group 16 through the eighth electromagnetic directional valve 167.

[0081] Specific Embodiment Twelve: In combination with Figure 10 This embodiment is described. The variable track subsystem of this embodiment includes an auxiliary oil cylinder control valve group 7 and four telescopic oil cylinders 8. The P port of the auxiliary oil cylinder control valve group 7 is connected to the B4 of the filter valve group 6. The B1-1, B2-1, B3-1, and B4-1 ports of the auxiliary oil cylinder control valve group 7 are respectively connected to the 1 ports of the four telescopic oil cylinders 8. The 2 ports of the four telescopic oil cylinders 8 are respectively connected to the B1-2, B2-2, B3-2, and B4-2 ports of the auxiliary oil cylinder control valve group 7. The T port of the auxiliary oil cylinder control valve group 7 is connected to the B5 port of the filter valve group 6.

[0082] Among them, the inlet port A of the piston pump 5 is connected to the hydraulic oil tank 1, and the outlet port B is connected to the A3 port of the filter valve group 6. The B4 port of the filter valve group 6 is connected to the P port of the auxiliary oil cylinder control valve group 7. The B1-1, B2-1, B3-1, and B4-1 ports of the auxiliary oil cylinder control valve group 7 are respectively connected to the 1 ports of the four telescopic oil cylinders 8. The 2 ports of the four telescopic oil cylinders 8 are respectively connected to the B1-2, B2-2, B3-2, and B4-2 ports of the auxiliary oil cylinder control valve group 7. The T port of the auxiliary oil cylinder control valve group 7 is connected to the B5 port of the filter valve group 6. The T port of the filter valve group 6 is connected to the hydraulic oil tank 1 through the fifth one-way valve 20, the radiator 22, and the return oil filter 17.

[0083] In this embodiment, the plunger pump 5 sucks hydraulic oil from the hydraulic oil tank 1, reaches the P port of the auxiliary cylinder control valve group 7 through the second filter 62, and provides high-pressure oil for the telescopic cylinder 8.

[0084] Specific Embodiment Thirteen: In combination with Figure 10 This embodiment is described. The auxiliary cylinder control valve group 7 of this embodiment includes a pressure reducing valve 71, four second electromagnetic directional control valves 72, four first two-way hydraulic locks 73, and four one-way throttle valves 74. The P port of the auxiliary cylinder control valve group 7 is connected to the P port of the pressure reducing valve 71. The A port of the pressure reducing valve 71 is respectively connected to the P ports of the four second electromagnetic directional control valves 72. The A ports of the four second electromagnetic directional control valves 72 are respectively connected to the first inlets of the four first two-way hydraulic locks 73. The first outlets of the four first two-way hydraulic locks 73 are respectively connected to the first inlets of the four one-way throttle valves 74. The first outlets of the four one-way throttle valves 74 are respectively connected to the B1-1, B2-1, B3-1, B4-1 ports of the auxiliary cylinder control valve group 7. The B1-2, B2-2, B3-2, B4-2 ports of the auxiliary cylinder control valve group 7 are respectively connected to the second inlets of the four one-way throttle valves 74. The second outlets of the four one-way throttle valves 74 are respectively connected to the second inlets of the four first two-way hydraulic locks 73. The second outlets of the four first two-way hydraulic locks 73 are respectively connected to the B ports of the four second electromagnetic directional control valves 72. The T port of the pressure reducing valve 71 and the T ports of the four second electromagnetic directional control valves 72 are both connected to the T port of the auxiliary cylinder control valve group 7.

[0085] In this embodiment, the filter valve group 7 includes a pressure reducing valve 71, a second electromagnetic directional control valve 72, a first two-way hydraulic lock 73, and a one-way throttle valve 74; the P port of the filter valve group 7 is connected to the P port of the pressure reducing valve 71 and the P ports of the four second electromagnetic directional control valves 72. The T port of the filter valve group 7 is connected to the T port of the pressure reducing valve 71 and the T ports of the four second electromagnetic directional control valves 72. The A port of the pressure reducing valve 71 is connected to the B1-1, B2-1, B3-1, B4-1 ports of the filter valve group 7 through the second electromagnetic directional control valve 72, the first two-way hydraulic lock 73, and the one-way throttle valve 74. The B1-2, B2-2, B3-2, B4-2 ports of the filter valve group 7 are connected to the T port of the filter valve group 7 through the one-way throttle valve 74, the first two-way hydraulic lock 73, and the second electromagnetic directional control valve 72.

[0086] Specific Embodiment Fourteen: In combination with Figure 10To describe this embodiment, the lifting and steering subsystem of this embodiment includes four lifting and steering oil cylinder control valve groups 11, four steering oil cylinders 12, four lifting oil cylinders 13, and four second accumulators 18; the B3 port of the filter valve group 6 is respectively connected to the P1-1, P2-1, P3-1, and P4-1 ports of the four lifting and steering oil cylinder control valve groups 11, the B1-1, B2-1, B3-1, and B4-1 ports of the four lifting and steering oil cylinder control valve groups 11 are respectively connected to the 1 port of the four lifting oil cylinders 13, and the 2 ports of the four lifting oil cylinders 13 are respectively connected to the B1-2, B2-2, B3-2, and B4-2 ports of the four lifting and steering oil cylinder control valve groups 11; the B1-3, B2-3, B3-3, and B4-3 ports of the four lifting and steering oil cylinder control valve groups 11 are all connected to the inlets of the four second accumulators 18; the B3 port of the filter valve group 6 is respectively connected to the P1-2, P2-2, P3-2, and P4-2 ports of the four lifting and steering oil cylinder control valve groups 11, the B1-4, B2-4, B3-4, and B4-4 ports of the four lifting and steering oil cylinder control valve groups 11 are all connected to the 1 port of the four steering oil cylinders 12, and the 2 ports of the four steering oil cylinders 12 are respectively connected to the B1-5, B2-5, B3-5, and B4-5 ports of the four lifting and steering oil cylinder control valve groups 11; the T1-1, T2-1, T3-1, and T4-1 ports of the four lifting and steering oil cylinder control valve groups 11 are all connected to the B2 port of the filter valve group 6, and the T1-2, T2-2, T3-2, and T4-2 ports of the four lifting and steering oil cylinder control valve groups 11 are all connected to the hydraulic oil tank 1.

[0087] In this embodiment, the piston pump 5 sucks hydraulic oil from the hydraulic oil tank 1 and reaches the T1-1, T1-2, T2-1, T2-2, T3-1, T3-2, T4-1, and T4-2 ports of the lifting and steering oil cylinder control valve group 11 through the second filter 62 to provide high-pressure oil for the lifting oil cylinder 13 and the steering oil cylinder 12.

[0088] The four second accumulators 18 are used to absorb or release the hydraulic oil of the four lifting oil cylinders 13.

[0089] Port B3 of the filter valve group 6 is connected to ports P1-1, P1-2, P2-1, P2-2, P3-1, P3-2, P4-1, and P4-2 of the jacking and steering cylinder control valve group 11. Ports B1-1, B1-2, B2-1, B2-2, B3-1, B3-2, B4-1, and B4-2 of the jacking and steering cylinder control valve group 11 are respectively connected to ports 1 and 2 of the four jacking cylinders 13. Ports B1-3, B2-3, B3-3, and B4-3 of the jacking and steering cylinder control valve group 11 are respectively connected to the four second accumulators 18. Ports B1-4, B1-5, B2-4, B2-5, B3-4, B3-5, B4-4, and B4-5 of the jacking and steering cylinder control valve group 11 are respectively connected to ports 1 and 2 of the four steering cylinders 12. Ports B1-4, B1-5, B2-4, B2-5, B3-4, B3-5, B4-4, and B4-5 of the jacking and steering cylinder control valve group 11 are respectively connected to ports 1 and 2 of the four steering cylinders 12. Ports T1-1, T2-1, T3-1, and T4-1 of the jacking and steering cylinder control valve group 11 are connected to port B2 of the filter valve group 6. Ports T1-2, T2-2, T3-2, and T4-2 of the jacking and steering cylinder control valve group 11 are connected to the hydraulic oil tank 1.

[0090] Specific Embodiment Fifteen: In combination with Figure 10Referring to this embodiment, the lifting and steering oil cylinder control valve group 11 of this embodiment includes a first high-frequency response proportional valve 111, a third electromagnetic reversing valve 112, a second overflow valve 113, a second one-way valve 114, a third one-way valve 115, a third overflow valve 116, a fourth overflow valve 117, a second two-way hydraulic lock 118 and a second high-frequency response proportional valve 119. The P1-1 port of the lifting and steering oil cylinder control valve group 11 is connected to the P port of the first high-frequency response proportional valve 111. The A port of the first high-frequency response proportional valve 111 is connected to the P port of the third electromagnetic reversing valve 112. The A port of the third electromagnetic reversing valve 112 is respectively connected to the inlet of the second overflow valve 113, the inlet of the second one-way valve 114 and the B1-1 port of the lifting and steering oil cylinder control valve group 11. The B1-2 and B1-3 ports of the lifting and steering oil cylinder control valve group 11 are both connected to the inlet of the third one-way valve 115. The P1-2 port of the lifting and steering oil cylinder control valve group 11 is connected to the P port of the second high-frequency response proportional valve 119. The A port of the second high-frequency response proportional valve 119 is connected to the first inlet of the second two-way hydraulic lock 118. The first outlet of the second two-way hydraulic lock 118 is respectively connected to the inlet of the fourth overflow valve 117 and the B1-4 port of the lifting and steering oil cylinder control valve group 11. The B1-5 of the lifting and steering oil cylinder control valve group 11 is respectively connected to the inlet of the third overflow valve 116 and the second inlet of the second two-way hydraulic lock 118. The second outlet of the second two-way hydraulic lock 118 is connected to the B port of the second high-frequency response proportional valve 119. The outlets of the second overflow valve 113, the second one-way valve 114, the third one-way valve 115, the third overflow valve 116 and the fourth overflow valve 117 are all connected to the T1-1 port of the lifting and steering oil cylinder control valve group 11. The T port of the first high-frequency response proportional valve 111 and the T port of the second high-frequency response proportional valve 119 are both connected to the T1-2 port of the lifting and steering oil cylinder control valve group 11.

[0091] In this embodiment, the jacking and steering oil cylinder control valve group 11 includes a first high-frequency response proportional valve 111, a third electromagnetic reversing valve 112, a second overflow valve 113, a second one-way valve 114, a third one-way valve 115, a third overflow valve 116, a fourth overflow valve 117, a second two-way hydraulic lock 118, and a second high-frequency response proportional valve 119. Taking one of the jacking and steering control valve groups 11 as an example, the P1-1 port of the jacking and steering control valve group 11 is connected to the P port of the first high-frequency response proportional valve 111, the A port of the first high-frequency response proportional valve 111 is connected to the P port of the third electromagnetic reversing valve 112, the A port connected to the third electromagnetic reversing valve 112 is connected to the B1-1 port of the jacking and steering control valve group 11, and the B1-2 port and the B1-3 port of the jacking and steering control valve group 11 are connected; the P1-2 port of the jacking and steering control valve group 11 is connected to the P port of the second high-frequency response proportional valve 119, the A port of the second high-frequency response proportional valve 119 is connected to the B1-4 port of the jacking and steering oil cylinder control valve group 11 through the second two-way hydraulic lock 118, the B1-5 port of the jacking and steering oil cylinder control valve group 11 is connected to the B port of the second high-frequency response proportional valve 119 through the second two-way hydraulic lock 118, and the T port of the second high-frequency response proportional valve 119, the T port of the first high-frequency response proportional valve 111 are connected to the T1-2 port of the jacking and steering oil cylinder control valve group 11; the P1-1 port of the jacking and steering control valve group 11 is connected to the B1-1 port of the jacking and steering control valve group 11 through the second overflow valve 113 and the second one-way valve 114, the P1-1 port of the jacking and steering control valve group 11 is connected to the B1-2 port and the B1-3 port of the jacking and steering control valve group 11 through the third one-way valve 115, the P1-1 port of the jacking and steering control valve group 11 is connected to the B1-5 port of the jacking and steering control valve group 11 through the third overflow valve 116, and the P1-1 port of the jacking and steering control valve group 11 is connected to the B1-4 port of the jacking and steering control valve group 11 through the fourth overflow valve 117.

[0092] Combined with Figures 10 to 14 Describe the working principle of the hydraulic system C of the present invention:

[0093] The hydraulic system C of the present invention includes four telescopic cylinders 8, four steering cylinders 12, four jacking cylinders 13, and four hydraulic motors 15; the four telescopic cylinders 8 drive the wheelbase adjustment mechanism to control the change of the wheelbase to adapt to different ridge widths; the four steering cylinders 12 drive the steering mechanism to control the wheel steering to achieve the turning of the agricultural machinery chassis; the four jacking cylinders 13 drive the lifting mechanism to control the wheel steering to achieve the turning of the agricultural machinery chassis; the output shafts of the four hydraulic motors 15 are connected to the wheels to control the forward and backward movement and braking of the agricultural machinery chassis.

[0094] I. Driving process:

[0095] When the agricultural machinery chassis is driving straight, when the seventh electromagnetic reversing valve 166 is in the upper position, the P and A ports of the seventh electromagnetic reversing valve 166 are connected, the control oil enters from the PS port of the anti-slip valve group 16, and the A and B ports of the sixth electromagnetic reversing valve 161 are disconnected. At this time, the hydraulic oil entering from the A port of the anti-slip valve group 16 passes through the first flow dividing and collecting valve 162, the second flow dividing and collecting valve 163, and the third flow dividing and collecting valve 164, and is evenly distributed to the A ports of the four hydraulic motors 15 to keep the rotation speeds of the motors synchronized during straight driving; when the agricultural machinery chassis turns, when the seventh electromagnetic reversing valve 166 is in the lower position, the P and A ports of the seventh electromagnetic reversing valve 166 are disconnected, and the A and B ports of the sixth electromagnetic reversing valve 161 are connected. At this time, the hydraulic oil entering from the A port of the anti-slip valve group 16 is distributed to the A ports of the four hydraulic motors 15 through the sixth electromagnetic reversing valve 161, and the flow rates of the four hydraulic motors are automatically adjusted according to the different loads on each wheel during cornering; a make-up oil overflow valve 165 is provided between the A1, A2, A3, and A4 ports and the T port of the anti-slip valve group 16 to adjust the pressure of the hydraulic oil flowing into the hydraulic motor 15 and prevent damage to hydraulic components caused by excessive pressure;

[0096] When the fifth electromagnetic reversing valve 142 is in the upper position, the 1 and 3 ports of the fifth electromagnetic reversing valve 142 are disconnected, and the high-pressure control oil cannot enter the Y port of the hydraulic motor 15. At this time, the motor is in the large displacement gear; when the fifth electromagnetic reversing valve 142 is in the upper position, the 1 and 3 ports of the fifth electromagnetic reversing valve 142 are connected, and the high-pressure control oil enters the Y port of the hydraulic motor 15. At this time, the motor is in the small displacement gear; when the fourth electromagnetic reversing valve 141 is in the upper position, the 1 and 3 ports of the fourth electromagnetic reversing valve 141 are disconnected, and the motor rotates normally at this time; when the fourth electromagnetic reversing valve 141 is in the lower position, the 1 and 3 ports of the fourth electromagnetic reversing valve 141 are connected. At this time, regardless of the position of the fifth electromagnetic reversing valve 142, the high-pressure control oil enters the X port of the hydraulic motor 15, and the hydraulic motor 15 does not rotate, and the agricultural machinery chassis brakes; by adjusting the displacement of the variable pump of the closed-circuit pump 3, the rotation speed and direction of the hydraulic motor 15 can be adjusted, and then the driving speed of the agricultural machinery chassis can be adjusted.

[0097] II. Process of changing the wheelbase:

[0098] The hydraulic oil enters from the P port of the auxiliary oil cylinder control valve group 7. The pressure reducing valve 71 plays a role in limiting pressure to ensure that the pressure of the hydraulic oil does not exceed the set value of the pressure reducing valve 71. When the second electromagnetic reversing valve 72 is in the right position, the P port and the A port of the second electromagnetic reversing valve 72 are connected, and the T port and the B port are connected. The high-pressure oil reaches the rodless cavity of the telescopic oil cylinder 8 through the second electromagnetic reversing valve 72, the first double hydraulic lock 73 and the one-way throttle valve 74, pushing the piston of the telescopic oil cylinder 8 to move to the right, driving the connected wheelbase adjustment mechanism to complete the increase of the wheelbase. At this time, the liquid in the rod cavity of the telescopic oil cylinder 8 returns to the T port of the auxiliary oil cylinder control valve group 7 through the one-way throttle valve 74, the first double hydraulic lock 73 and the second electromagnetic reversing valve 72. When the second electromagnetic reversing valve 72 is in the left position, the P port and the B port of the second electromagnetic reversing valve 72 are connected, and the T port and the A port are connected. The high-pressure oil reaches the rod cavity of the telescopic oil cylinder 8 through the second electromagnetic reversing valve 72, the first double hydraulic lock 73 and the one-way throttle valve 74, pushing the piston of the telescopic oil cylinder 8 to move to the left, driving the connected wheelbase adjustment mechanism to complete the decrease of the wheelbase. At this time, the liquid in the rodless cavity of the telescopic oil cylinder 8 returns to the T port of the auxiliary oil cylinder control valve group 7 through the one-way throttle valve 74, the first double hydraulic lock 73 and the second electromagnetic reversing valve 72. When the second electromagnetic reversing valve 72 is in the middle position, the P and T ports of the second electromagnetic reversing valve 72 are not connected, and the hydraulic oil cannot enter the telescopic oil cylinder 8, and the wheelbase remains unchanged. The first double hydraulic lock 73 ensures that the wheelbase will not change due to external forces during normal operation. The one-way throttle valve 74 can control the flow rate of the hydraulic oil entering the telescopic oil cylinder 8.

[0099] III. Jacking process:

[0100] Taking the lifting and steering control valve group 11 as an example, hydraulic oil enters from the P1-1 port of the lifting and steering cylinder control valve group 11. When the third electromagnetic reversing valve 112 is in the left position, the main oil circuit of the lifting cylinder 13 is disconnected and the chassis height cannot be adjusted. When the third electromagnetic reversing valve 112 is in the right position, the main oil circuit of the lifting cylinder 13 is connected. When the first high-frequency response proportional valve 111 is in the first right position, the P port and the A port of the first high-frequency response proportional valve 111 are connected, and the T port and the B port are connected. High-pressure oil enters the rod chamber of the lifting cylinder 13 through the third electromagnetic reversing valve 112, pushing the piston of the lifting cylinder 13 downward to drive the connected lifting adjustment mechanism to complete the rise of the chassis height. At this time, the liquid in the non-rod chamber flows into the second accumulator 18. When the first high-frequency response proportional valve 111 is in the second right position, the P port and the T port of the first high-frequency response proportional valve 111 are connected, and the hydraulic oil directly flows to the T1-2 port of the first high-frequency response proportional valve 111. When the first high-frequency response proportional valve 111 is in the first left position, the P port and the A port of the first high-frequency response proportional valve 111 are not connected, and the high-pressure oil cannot continue to enter the rod chamber of the lifting cylinder 13. When the first high-frequency response proportional valve 111 is in the second left position, the T port and the port of the first high-frequency response proportional valve 111 are not connected. Driven by the load gravity and the pressure of the second accumulator 18, the piston of the lifting cylinder 13 moves upward to drive the connected lifting adjustment mechanism to complete the chassis height descent. At this time, the hydraulic oil in the rod chamber of the lifting cylinder 13 reaches the T1-1 port of the cylinder control valve group 11 through the third electromagnetic reversing valve 112 and the first high-frequency response proportional valve 111.

[0101] IV. Steering process:

[0102] The hydraulic oil enters from the P1-2 port of the jacking and steering cylinder control valve group 11. When the second high-frequency response proportional valve 119 is in the right position, the P port of the second high-frequency response proportional valve 119 is communicated with the A port, and the T port is communicated with the B port. The high-pressure oil reaches the left chamber of the steering cylinder 12 through the second high-frequency response proportional valve 119 and the second two-way hydraulic lock 118, pushing the piston of the steering cylinder 12 to move to the right, driving the connected steering adjustment mechanism to complete the rightward steering of the wheel. At this time, the liquid in the right chamber of the steering cylinder 12 returns to the T1-2 port of the jacking and steering cylinder control valve group 11 through the second two-way hydraulic lock 118 and the second high-frequency response proportional valve 119; when the second high-frequency response proportional valve 119 is in the left position, the P port of the second high-frequency response proportional valve 119 is communicated with the B port, and the T port is communicated with the A port. The high-pressure oil reaches the right chamber of the steering cylinder 12 through the second high-frequency response proportional valve 119 and the second two-way hydraulic lock 118, pushing the piston of the steering cylinder 12 to move to the left, driving the connected steering adjustment mechanism to complete the leftward steering of the wheel. At this time, the liquid in the left chamber of the steering cylinder 12 returns to the T1-2 port of the jacking and steering cylinder control valve group 11 through the second two-way hydraulic lock 118 and the second high-frequency response proportional valve 119; when the second high-frequency response proportional valve 119 is in the middle position, the P port of the second high-frequency response proportional valve 119 is not communicated with the A and B ports, and the T port is communicated with the A and B ports. At this time, the main oil circuit of the steering cylinder 12 is disconnected, and the wheel steering adjustment cannot be performed. At the same time, due to the existence of the second two-way hydraulic lock 118, it is ensured that the direction of the wheel will not be changed by external forces during normal operation.

[0103] The hydraulic system C of the present invention has the following technical effects:

[0104] 1. As a multi-degree-of-freedom agricultural machinery chassis hydraulic system, the present invention has a large load and a compact structure, and can simultaneously drive and control multiple hydraulic cylinders and motors on the agricultural machinery chassis, enabling it to have functions such as forward and backward driving, braking, speed regulation, steering, lifting, and wheelbase adjustment, improving the motion performance and terrain passing ability of the agricultural machinery chassis.

[0105] 2. As a multi-degree-of-freedom agricultural machinery chassis hydraulic system, the present invention has a driving function: when the agricultural machinery chassis is driving straight and turning, the sixth electromagnetic reversing valve 161 is in different working positions; when the agricultural machinery chassis is driving straight, the hydraulic oil is evenly distributed to the oil inlets of multiple hydraulic motors 15 through the multi-component flow dividing and collecting valve to keep the rotational speeds of the motors synchronous during straight running; when the agricultural machinery chassis is turning, the hydraulic oil is not distributed to the oil inlets of multiple hydraulic motors 15 through the multi-component flow dividing and collecting valve, and automatically adjusts the flow rates of multiple hydraulic motors 15 according to the different loads on each wheel during cornering. The fourth electromagnetic reversing valve 141 controls the rotation or braking of multiple hydraulic motors 15; the fifth electromagnetic reversing valve 142 controls the forward or reverse rotation of multiple hydraulic motors 15; by adjusting the displacement of the variable pump of the closed-circuit pump 3, the rotational speed and direction of the hydraulic motor 15 can be adjusted, and further the driving speed of the agricultural machinery chassis A-1 can be adjusted.

[0106] 3. As a hydraulic system for a multi-degree-of-freedom agricultural machinery chassis, the present invention has the function of changing the wheelbase: when the second electromagnetic reversing valve 72 in the auxiliary oil cylinder control valve group 7 is in different positions, it controls whether the high-pressure oil can reach the rodless or rod cavity of the telescopic oil cylinder 8 through the second electromagnetic reversing valve 72, the first double hydraulic lock 73 and the one-way throttle valve 74, to push the piston of the telescopic oil cylinder 8 to extend, shorten or keep the position unchanged, and drive the connected wheelbase adjustment mechanism to complete the increase, decrease or keep the position unchanged of the wheelbase;

[0107] 4. As a hydraulic system for a multi-degree-of-freedom agricultural machinery chassis, the present invention has the functions of jacking and steering: the third electromagnetic reversing valve 112 controls whether the main oil circuit of the jacking oil cylinder 13 can be connected; the first high-frequency response proportional valve 111 controls whether the high-pressure oil can reach the rodless or rod cavity of the jacking oil cylinder 13, to push the piston of the jacking oil cylinder 13 to extend, shorten or keep the position unchanged, and drive the connected jacking mechanism to complete the raising, lowering or keeping the position unchanged of the agricultural machinery chassis; the second high-frequency response proportional valve 119 controls whether the high-pressure oil can reach the steering oil cylinder 12, to push the steering oil cylinder 12 to complete forward and reverse rotation or keep the position unchanged, and drive the connected steering adjustment mechanism to complete the left and right steering of the wheels or keep the position unchanged; the second double hydraulic lock 118 ensures that the direction of the wheels will not be changed due to external forces during normal operation.

[0108] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision automated laser weeding robot, comprising a frame, characterized in that: It also includes a laser weeding device and a hydraulic system; The frame includes an agricultural machinery chassis and four wheel legs. The hydraulic system includes a hydraulic mounting frame and a hydraulic drive system, wherein the hydraulic mounting frame is mounted on the lower end of the agricultural machine chassis, and the hydraulic mounting frame is located above the laser weeder; The wheel legs include a traveling mechanism, a steering drive mechanism, a wheelbase adjustment assembly, a sliding shaft, a connecting frame horizontally slidably mounted on the front and rear surfaces of the agricultural machine chassis, and a lifting drive assembly; The longitudinal section of the connecting frame is in the shape of a "U" and is provided with mounting holes for easy sliding connection with the guide rail in the chassis; The steering drive mechanism includes a steering cylinder and a gear transmission pair, and the gear transmission pair includes a driven gear and a driving gear; the steering cylinder is installed on the connecting frame, the gear transmission pair is installed in the connecting frame, and the upper part of the sliding shaft slides through the driven gear of the gear transmission pair; The wheelbase adjustment assembly includes a telescopic oil cylinder and a pin shaft. A connecting hole is provided at the extended end of the telescopic oil cylinder. After the pin shaft is inserted into the mounting hole of the connecting frame, it passes through the connecting hole of the piston rod on the telescopic oil cylinder, and the horizontal position of the connecting frame is moved under the drive of the telescopic oil cylinder. The lifting drive assembly includes a fixed seat and a lifting cylinder, the fixed seat is vertically mounted on the upper end surface of the connecting frame, the lifting cylinder is vertically mounted on the fixed seat, and the telescopic end of the lifting cylinder is located in the fixed seat and connected to the upper end of the sliding shaft; The sliding shaft is a stepped sliding shaft, the outer diameter of the upper part is smaller than the outer diameter of the lower part, the upper part participates in the lifting and lowering movement of the wheel leg, and the lower part participates in the steering movement of the wheel leg; It also includes an outer sleeve, including an upper outer sleeve, a lower outer sleeve and two sleeve-type bearing seats, the upper end of the upper outer sleeve is connected to the lower end surface of the connecting frame, the lower end of the upper outer sleeve is connected to the upper end of the lower outer sleeve, the two sleeve-type bearing seats are mirror-mounted on the lower part of the sliding shaft, the lower outer sleeve is mounted on the two sleeve-type bearing seats, and the lower end of the lower outer sleeve is connected to the bottom of the sleeve-type bearing seat; A plurality of lasers are installed on a frame assembly in parallel and at equal intervals, and a laser dust removal device is installed on the frame assembly at an angle; the laser dust removal device comprises a hanging beam, a wind curtain wall and a plurality of hanging plates, the wind curtain wall is installed at the lower end of the hanging beam, one end of the plurality of hanging plates is connected to the upper end of the hanging beam, and the other end of the plurality of hanging plates is connected to the upper frame on the frame assembly, a plurality of air inlets are opened on one side of the wind curtain wall, a part of the wind curtain blown out by the wind curtain wall is tilted to blow onto the lens of the laser and turned back downward, and another part of the wind curtain is tilted upward to blow away dust or smoke; the angle between the dust removal device and the laser lens is 20-70 degrees, the wind curtain wall comprises a lower air duct plate and an upper air duct plate, which are sealed and buckled with each other, the lower air duct plate and the upper air duct plate are provided with air ducts with grooves, and the air outlet sides of the lower air duct plate and the upper air duct plate face the laser lens.

2. A high-precision automated laser weeding robot according to claim 1, characterized in that: The hydraulic system (C) includes an engine (C-3), a generator (C-4), a hydraulic oil tank (1), an electric motor (2), a closed pump (3), a gear pump (4), a plunger pump (5), an auxiliary oil circuit subsystem, a driving subsystem, a wheelbase changing subsystem, and a lifting and steering subsystem. The engine (C-3) is installed on the agricultural machinery chassis (A-1). The engine (C-3) converts chemical energy into electrical energy and is connected to a generator (C-4) installed on the agricultural machinery chassis (A-1). The generator (C-4) is connected to the motor (2) and supplies power to the motor (2). The output shaft of the motor (2) is connected to the shafts of the closed pump (3), the gear pump (4) and the plunger pump (5) from left to right in sequence to drive the closed pump (3), the gear pump (4) and the plunger pump (5) to work. The closed pump (3) includes a large-displacement variable displacement pump and a small-displacement fixed displacement pump. The closed pump (3) includes a small-displacement fixed displacement pump, a gear pump (4) and a plunger pump (5). The A ports of the pump (4) and the plunger pump (5) are connected to the hydraulic oil tank (1); the A and B ports of the large displacement variable pump in the closed pump (3) are respectively connected to the main oil circuit of the driving subsystem; the B port of the small displacement quantitative pump in the closed pump (3) is connected to the control oil circuit of the driving subsystem; the output shaft of the driving subsystem is connected to the wheel to control the forward and backward movement and braking of the agricultural machinery chassis; the B ports of the gear pump (4) and the plunger pump (5) are connected to the auxiliary oil circuit subsystem; the auxiliary oil circuit subsystem is respectively connected to the wheelbase changing subsystem and the jacking and steering subsystem; the wheelbase changing subsystem drives the wheelbase adjusting mechanism to control the wheelbase change to adapt to different ridge widths; The steering subsystem in the jacking and steering subsystem drives the steering mechanism to control the wheel steering to achieve the turning of the agricultural machinery chassis; the jacking subsystem in the jacking and steering subsystem drives the lifting mechanism to control the wheel steering to achieve the turning of the agricultural machinery chassis.

3. A high-precision automated laser weeding robot according to claim 2, characterized in that: The auxiliary oil circuit subsystem comprises a filter valve group (6), a first accumulator (9), an accumulator valve block (10), an oil return filter (17), a fourth check valve (19), a fifth check valve (20) and a radiator (22); the A2 port of the filter valve group (6) is connected to the B port of the gear pump (4); the fourth check valve (19) is provided on the oil circuit between the A2 port of the filter valve group (6) and the B port of the gear pump (4); the A3 port of the filter valve group (6) is connected to the plunger pump (5) The B port of the filter valve group (6) is connected to the B port of the accumulator valve block (10), the B3 port of the filter valve group (6) is connected to the 2 port of the accumulator valve block (10), the 3 port of the accumulator valve block (10) is connected to the first accumulator (9), and the 1 port of the accumulator valve block (10) is connected to the B2 port of the filter valve group (6); the T port of the filter valve group (6) is connected to the hydraulic oil tank (1), and the oil circuit between the T port of the filter valve group (6) and the hydraulic oil tank (1) is provided with a fifth non-return valve (20), a radiator (22) and an oil return filter (17) in sequence.

4. The high-precision automated laser weeding robot according to claim 3, characterized in that: The traveling mechanism comprises a wheel (A-2-7), a hydraulic motor (15) and a motor connecting bracket (A-2-6); the motor connecting bracket (A-2-6) is mounted upside down on the wheel (A-2-7); the hydraulic motor (15) is mounted on an outer wall of one side of the motor connecting bracket (A-2-6); and an output shaft of the hydraulic motor (15) is connected to the wheel axle of the wheel (A-2-7).

5. The high-precision automated laser weeding robot according to claim 4, characterized in that: The driving subsystem comprises a variable and brake valve group (14), an anti-skid valve group (16), a sixth one-way valve (21) and four hydraulic motors (15); the A port of the anti-skid valve group (16) is connected to the A port of the large-displacement variable pump in the closed pump (3); the A1, A2, A3 and A4 ports of the anti-skid valve group (16) are respectively connected to the A ports of the four hydraulic motors (15); the R ports of the four hydraulic motors (15) are all connected to the B port of the large-displacement variable pump in the closed pump (3); the B port of the small-displacement metering pump in the closed pump (3) is connected to the inlet of the first filter (61); and a sixth one-way valve (21) is provided on the oil circuit between the B port of the small-displacement metering pump and the inlet of the first filter (61). The first filter (61) is connected to the P port of the variable and brake valve group (14), the A port of the variable and brake valve group (14) is connected to the Y port of the four hydraulic motors (15), the B port of the variable and brake valve group (14) is connected to the X port of the four hydraulic motors (15), the T port of the variable and brake valve group (14) and the 1 port of the four hydraulic motors (15) are connected to the hydraulic oil tank (1); the PS port of the anti-skid valve group (16) is connected to the inlet of the first filter (61), and the T and L ports of the anti-skid valve group (16) are connected to the hydraulic oil tank (1); the 2 ports of the four hydraulic motors (15) are connected to the inlet of the fifth one-way valve (20).

6. The high-precision automated laser weeding robot according to claim 5, characterized in that: The variable and brake valve group (14) comprises a fourth electromagnetic reversing valve (141) and a fifth electromagnetic reversing valve (142); port 1 of the fourth electromagnetic reversing valve (141) and port 1 of the fifth electromagnetic reversing valve (142) are both connected to port P of the variable and brake valve group (14); port 2 of the fourth electromagnetic reversing valve (141) and port 2 of the fifth electromagnetic reversing valve (142) are both connected to port P of the variable and brake valve group (14); port 3 of the fourth electromagnetic reversing valve (141) is connected to port B of the variable and brake valve group (14); and port 3 of the fifth electromagnetic reversing valve (142) is connected to port A of the variable and brake valve group (14).

Images