Agricultural robot with posture capable of being adjusted in self-adaptive mode
By designing an agricultural robot with adaptively adjustable posture, the fuselage position is adjusted using real-time monitoring and adjustment of the movement of the adjustment part, the problem of poor stability of agricultural robots in complex terrain is solved, and safer and more efficient farmland operations are achieved.
Patent Information
- Application Number
- CN202411773163.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2025-03-21
AI Technical Summary
Agricultural robots are difficult to maintain stability in complex terrain such as hilly and mountainous areas, and are prone to tilt or rolling due to shifts in the center of gravity and changes in the terrain, resulting in safety hazards and economic losses.
Design an agricultural robot with adaptively adjustable attitude. Through the combination of support chassis racks, monitoring modules and controllers, the low point position of the support chassis racks is monitored in real time, and the fuselage is adjusted to the high point through the action of the adjustment piece, adjusting the center of gravity to reduce the risk of overturning.
It effectively reduces the risk of agricultural robots rolling over in complex terrain, improves walking stability, and ensures that the robot can carry out farmland operations safely and efficiently.
Smart Images
Figure CN119659806A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of agricultural robots, and in particular to an agricultural robot with adaptively adjustable posture. Background Art
[0002] As the level of global agricultural automation continues to improve, agricultural machinery and agricultural robots have been increasingly used in various farmland operations, especially in sowing, fertilizing, weeding and harvesting. Agricultural robots can significantly improve production efficiency, reduce labor costs, and promote the modernization of agricultural production. However, the application of agricultural robots in complex terrain still faces many challenges, especially in areas with drastic terrain changes such as hills and mountains.
[0003] In mountainous and hilly areas, due to the steep slope and uneven terrain, agricultural robots are easily affected by the shift of center of gravity and sudden changes in terrain during operation, and often tilt or even roll over, posing safety hazards and economic losses to agricultural production. Summary of the invention
[0004] In order to solve the technical problems existing in the background technology, the present invention proposes an agricultural robot with adaptively adjustable posture.
[0005] The present invention provides an agricultural robot with adaptively adjustable posture, comprising:
[0006] A supporting chassis frame, a plurality of traveling mechanisms are installed below the supporting chassis frame, a fuselage is installed above the supporting chassis frame, and a plurality of adjusting parts are connected between the supporting chassis frame and the fuselage;
[0007] Monitoring module, the monitoring module obtains the low point position of the supporting chassis frame in real time;
[0008] The controller, when detecting the low point position, controls the actions of multiple adjusting parts to adjust the part of the fuselage above the low point position to the high point.
[0009] Preferably, the adjusting member is specifically a first cylinder, the free end of the piston rod of the first cylinder is connected to a first connection point on the bottom side of the fuselage through a universal joint, and the base of the first cylinder is fixedly connected to a second connection point on the top side of the supporting chassis frame.
[0010] Preferably, the action of the adjusting member is specifically that the piston rod moves to increase or decrease the distance between the first connection point and the second connection point.
[0011] Preferably, the plurality of first connection points are always coplanar.
[0012] Preferably, the controller controls the movement of multiple adjustment members to enable the plane where the first connection point is located to move as a whole and to transform the portion of the fuselage above the low point position into the high point of the plane where the first connection point is located.
[0013] Preferably, the multiple second connection points are in the same plane, and the low point position is specifically the lowest point position of the plane where the multiple second connection points are located.
[0014] Preferably, the body has a storage groove, the bottom wall of the storage groove is parallel to the plane where the multiple first connection points are located, and the storage groove contains one or more counterweight blocks that can slide or roll freely on the bottom of the storage groove.
[0015] Preferably, an electromagnet whose circuit is turned on / off controlled by a controller is provided at the bottom of the storage slot; an adsorption block that can be magnetically adsorbed is embedded inside the counterweight block, or the surface of the counterweight block is coated with an adsorption layer that can be magnetically adsorbed, or the counterweight block itself is made of a material that can be magnetically adsorbed; and when the position of the fuselage above the low point is adjusted to the high point, the controller controls the electromagnet to cut off the power.
[0016] Preferably, it also includes a calculation module, which detects the difference between the low point position and the threshold value when the monitoring module obtains the low point position of the supporting chassis frame; the controller controls the electromagnet to cut off power when the difference reaches a preset value and the part of the fuselage above the low point position is adjusted to the high point.
[0017] Preferably, the plurality of first connection points are evenly distributed on the annular bottom frame at the bottom of the fuselage.
[0018] Preferably, the traveling mechanism specifically includes a traveling wheel assembly with a built-in hub motor and a second cylinder, the traveling wheel assembly is connected to the supporting chassis frame through the second cylinder, and the controller is also used to control the movement of the second cylinder relatively close to the low point position to increase the distance between the traveling wheel assembly associated with the second cylinder and the supporting chassis frame.
[0019] In the present invention, a plurality of travel mechanisms are installed below the supporting chassis frame, a fuselage is installed above the supporting chassis frame, and a plurality of adjustment members are connected between the supporting chassis frame and the fuselage. When the robot is working, the travel mechanism is used to move. During the moving process, the monitoring module obtains the low point position of the supporting chassis frame in real time. After the low point position is detected, the controller controls the movement of the plurality of adjustment members to adjust the part of the fuselage located above the low point position to the high point. When the robot is in the moving process and the low point position is generated due to tilt or other reasons, the monitoring module obtains the low point position of the supporting chassis frame, and the controller controls the movement of the plurality of adjustment members to adjust the part of the fuselage located above the low point position to the high point, so that the center of gravity of the robot is shifted in the direction of the anti-low point position, thereby reducing the risk of rollover, improving the stability of the robot in walking in complex terrains such as mountains and hills, and ensuring that the robot can safely and efficiently perform farmland operations. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1A schematic diagram of the working process structure of an agricultural robot with adaptively adjustable posture proposed by the present invention;
[0021] Figure 2 This is a schematic diagram of the distribution of the first connection points at the bottom of the body of the agricultural robot with adaptively adjustable posture proposed by the present invention. DETAILED DESCRIPTION
[0022] Reference Figure 1 , the present invention proposes an agricultural robot with adaptively adjustable posture, comprising: a supporting chassis frame 1, a monitoring module and a controller;
[0023] A supporting chassis frame 1 is provided, and a plurality of traveling mechanisms 2 are installed below the supporting chassis frame 1, a fuselage 3 is installed above the supporting chassis frame 1, and a plurality of adjusting parts 4 are connected between the supporting chassis frame 1 and the fuselage 3. When the robot is working, the supporting chassis frame 1, the fuselage 3 and the plurality of adjusting parts 4 are carried by the traveling mechanism 2 to move. During the walking process, the low point position of the supporting chassis frame 1 is obtained in real time by the monitoring module. When the low point position is detected, the controller controls the movement of the plurality of adjusting parts 4 to adjust the part of the fuselage 3 above the low point position to the high point, so that the center of gravity of the fuselage 3 is shifted to the side away from the low point position, so as to reduce the risk of rollover and ensure that the robot can perform farmland operations safely and efficiently.
[0024] Furthermore, the adjusting member 4 is specifically a first cylinder, the free end of the piston rod of the first cylinder is connected to the first connection point a on the bottom side of the fuselage 3 through a universal joint, and the base of the first cylinder is fixedly connected to the second connection point b on the top side of the supporting chassis frame 1. The specific action of the adjusting member 4 is: the piston rod moves to increase or decrease the distance between the first connection point a and the second connection point b, so that the corresponding position of the fuselage 3 is raised or lowered, and then the part above the low point position is transformed into a high point.
[0025] Furthermore, the plurality of second connection points b are located in the same plane, and the low point position is specifically the lowest point position of the plane where the plurality of second connection points b are located. The piston rod axial direction is perpendicular to the plane where the plurality of second connection points b are located.
[0026] In addition, the multiple first connection points a in this embodiment are always coplanar, and the controller controls the multiple adjustment members 4 to move so that the plane where the first connection points a are located moves as a whole and the part of the fuselage 3 located above the low point position is transformed into the high point of the plane where the first connection points a are located. During operation, when the supporting chassis frame 1 has a low point position, all the adjustment members 4 are adjusted together to complete the tilting of the fuselage 3 in the opposite direction to the low point position. The specific adjustment method is: the adjustment member 4 located near the low point position moves so that the distance between the first connection point a and the second connection point b connected thereto increases, and the adjustment member 4 located far from the low point position moves so that the distance between the first connection point a and the second connection point b connected thereto decreases.
[0027] In this embodiment, the fuselage 3 has a storage groove, the bottom wall of the storage groove is parallel to the plane where the multiple first connection points a are located, and the storage groove contains one or more counterweight blocks that can slide or roll freely at the bottom of the storage groove. When the fuselage 3 tilts in the opposite direction of the low point position, the counterweight block slides to the opposite direction of the low point position to increase the weight of the robot's tilted side, thereby further reducing the risk of the robot rolling over.
[0028] Furthermore, an electromagnet whose circuit is turned on / off and controlled by a controller is provided at the bottom of the storage slot; an adsorption block that can be magnetically adsorbed is embedded inside the counterweight block, or the surface of the counterweight block is coated with an adsorption layer that can be magnetically adsorbed, or the counterweight block itself is made of a material that can be magnetically adsorbed; the controller controls the electromagnet to cut off power when the position of the fuselage 3 above the low point is converted to a high point, and the specific working method is: in the initial state, the electromagnet is energized to generate magnetic force, at this time, the configuration block remains fixed in the storage slot under the adsorption of the magnetic force and does not slide; when the position of the fuselage 3 above the low point is adjusted to the high point, the controller controls the electromagnet to cut off power, at this time, the electromagnet loses magnetic force, the configuration block loses magnetic adsorption, and automatically slides to the low position of the fuselage 3, that is, away from the side of the low point of the supporting chassis frame 1.
[0029] Furthermore, the agricultural robot with adaptively adjustable posture proposed by the present invention also includes a calculation module, which obtains the difference between the low point position and the threshold value when the monitoring module obtains the low point position of the supporting chassis frame 1; the controller controls the electromagnet to cut off the power when the difference obtained by the calculation module reaches the preset value and the part of the fuselage 3 above the low point position is adjusted to the high point. That is, when the robot tip over, when the tipping amplitude is less than the preset value, the electromagnet is always in the power-on state, and the configuration block will not move. When the tipping arc is greater than the preset value, the electromagnet will be cut off when the part of the vehicle fuselage 3 above the low point position is adjusted to the high point, so that the counterweight block slides in the anti-tilting direction.
[0030] Reference Figure 2 , multiple first connection points a are evenly distributed on the annular bottom frame 6 at the bottom of the fuselage 3.
[0031] Furthermore, the storage groove is located on the inner side of the annular bottom frame.
[0032] In addition, the travel mechanism 2 specifically includes a travel wheel assembly with a built-in wheel hub motor and a second cylinder. The travel wheel assembly is connected to the supporting chassis frame 1 through the second cylinder. Specifically, the free end of the piston rod of the second cylinder is connected to the supporting chassis frame 1, and the base of the second cylinder is fixed on the travel wheel assembly. The controller is also used to control the movement of the second cylinder relatively close to the low point position so that the distance between the travel wheel assembly associated with the second cylinder and the supporting chassis frame 1 is increased. When the travel wheel assembly falls into a pit or steps on a convex surface so that the supporting chassis frame 1 has a low point, the second cylinder corresponding to the travel wheel assembly drives the travel wheel assembly to be raised or lowered.
[0033] As can be seen from the above, in the present invention, a plurality of travel mechanisms 2 are installed below the supporting chassis frame 1, a fuselage 3 is installed above the supporting chassis frame 1, and a plurality of adjustment members 4 are connected between the supporting chassis frame 1 and the fuselage 3. When working, the robot walks through the travel mechanism 2. During the walking process, the monitoring module obtains the low point position of the supporting chassis frame 1 in real time. After the low point position is detected, the controller controls the actions of the plurality of adjustment members 4 to adjust the part of the fuselage 3 located above the low point position to the high point, so that when the robot has a low point position due to tilt or other reasons during walking, the monitoring module obtains the low point position of the supporting chassis frame 1, and the controller controls the actions of the plurality of adjustment members 4 to adjust the part of the fuselage 3 located above the low point position to the high point, so that the center of gravity of the robot is shifted in the direction of the anti-low point position, thereby reducing the risk of rollover, improving the stability of the robot walking in complex terrains such as mountains and hills, and ensuring that the robot can safely and efficiently perform farmland operations.
[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.
Claims
1. An agricultural robot with adaptively adjustable posture, characterized in that: include: A supporting chassis frame (1), a plurality of traveling mechanisms (2) are installed below the supporting chassis frame (1), a fuselage (3) is installed above the supporting chassis frame (1), and a plurality of adjusting members (4) are connected between the supporting chassis frame (1) and the fuselage (3); A monitoring module, the monitoring module acquires the low point position of the supporting chassis frame (1) in real time; The controller, when detecting the low point, controls the plurality of adjusting members (4) to move so as to adjust the portion of the fuselage (3) above the low point to the high point.
2. The agricultural robot with adaptively adjustable posture as claimed in claim 1, characterized in that: The adjusting member (4) is specifically a first cylinder, the free end of the piston rod of the first cylinder is connected to a first connection point (a) on the bottom side of the fuselage (3) via a universal joint, and the base of the first cylinder is fixedly connected to a second connection point (b) on the top side of the supporting chassis frame (1).
3. The agricultural robot with adaptive posture adjustment as claimed in claim 2, characterized in that: The specific action of the adjusting member (4) is that the piston rod moves so as to increase or decrease the distance between the first connection point (a) and the second connection point (b).
4. The agricultural robot with adaptively adjustable posture as claimed in claim 3, characterized in that: The plurality of first connection points (a) are always coplanar.
5. The agricultural robot with adaptively adjustable posture as claimed in claim 4, characterized in that: The controller controls the movement of the plurality of adjusting members (4) so that the plane where the first connection point (a) is located moves as a whole and the part of the fuselage (3) above the low point position is transformed into the high point of the plane where the first connection point (a) is located.
6. The agricultural robot with adaptively adjustable posture as claimed in claim 2, characterized in that: The multiple second connection points (b) are located in the same plane, and the low point position is specifically the lowest point position of the plane where the multiple second connection points (b) are located.
7. The agricultural robot with adaptively adjustable posture as claimed in claim 2, characterized in that: The body (3) has a storage groove, the bottom wall of which is parallel to the plane where the plurality of first connection points (a) are located, and the storage groove contains one or more counterweight blocks that can slide or roll freely on the bottom of the storage groove.
8. The agricultural robot with adaptively adjustable posture as claimed in claim 7, characterized in that: An electromagnet whose circuit is turned on / off and controlled by a controller is disposed at the bottom of the storage slot; an adsorption block that can be adsorbed by magnetic force is embedded inside the counterweight block, or the surface of the counterweight block is coated with an adsorption layer that can be adsorbed by magnetic force, or the counterweight block itself is made of a material that can be adsorbed by magnetic force; and when the position of the fuselage (3) above the low point is adjusted to the high point by the controller, the electromagnet is controlled to be powered off. Preferably, the agricultural robot with adaptively adjustable posture further comprises a computing module, which detects the difference between the low point position and a threshold value when the monitoring module obtains the low point position of the supporting chassis frame (1); and the controller controls the electromagnet to cut off power when the difference reaches a preset value and the part of the body (3) above the low point position is adjusted to a high point.
9. The agricultural robot with adaptively adjustable posture as claimed in claim 2, characterized in that: A plurality of first connection points (a) are evenly distributed on the annular bottom frame (6) at the bottom of the fuselage (3).
10. The agricultural robot with adaptively adjustable posture as claimed in claim 1, characterized in that: The travel mechanism (2) specifically comprises a travel wheel assembly with a built-in wheel hub motor and a second cylinder, wherein the travel wheel assembly is connected to the supporting chassis frame (1) via the second cylinder, and the controller is also used to control the movement of the second cylinder located relatively close to the low point so as to increase the distance between the travel wheel assembly associated with the second cylinder and the supporting chassis frame (1).