Unmanned agricultural machine and path planning navigation system

Abstract

The invention is suitable for the technical field of unmanned driving, and provides an unmanned agricultural machine and a path planning navigation system.The unmanned agricultural machine comprises a wheel assembly, and the wheel assembly is rotationally assembled on a driving frame assembly; the driving frame assembly transmits power to the wheel assembly through a transmission gear set included in the driving frame assembly. The transmission gear set comprises a transmission gear column, a power shaft, a transmission gear and a plurality of electric telescopic rods B. The transmission gear column is in power transmission connection to the supporting frame assembly through a gear installed at the top of the transmission gear column. The transmission gear is meshed with the transmission gear column; the power shaft is in power transmission connection with the wheel assembly; one ends of a plurality of electric telescopic rods B are fixed on the transmission gear; risk escape and risk avoiding are achieved when the device is blocked by large-size soil blocks or high-humidity soil sinks and is trapped, and unmanned driving is facilitated to advance on a planned agricultural operation path; the path planning navigation system comprises a sensing module and a decision control module which are connected to the unmanned agricultural machine.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and more specifically, to unmanned driving agricultural machinery and a path planning and navigation system. Background Art

[0002] Unmanned agricultural machinery is the core carrier of smart agriculture. It realizes unmanned operation throughout the entire process through the three capabilities of environmental perception, autonomous decision-making, and precise execution. Unmanned agricultural machinery is evolving from single-machine intelligence to group intelligence, and its core value lies in cost reduction, efficiency improvement, precision and sustainability. Unmanned agricultural machinery is not only a technical tool, but also the core engine of sustainable agricultural development. Unmanned agricultural machinery can cope with an aging population, fill the gap in the rural labor force, and ensure food security. With the continuous penetration of 5G, AI and new energy technologies, unmanned agricultural machinery is evolving from "replacing manpower" to "reshaping the agricultural ecology", becoming an indispensable infrastructure for smart agriculture.

[0003] When carrying out planned agricultural operations on complex fields, if the unmanned agricultural machinery is blocked by large clods of earth or trapped by high-humidity soil, it may cause the unmanned agricultural machinery to deviate from the planned agricultural operation path, thereby affecting the quality of the agricultural operation of the agricultural machinery; for example, the "front axle mechanism and rear axle mechanism" recorded in the prior art "Chinese patent, an unmanned agricultural implement mounting vehicle, authorization announcement number CN117643206B" does not have a risk avoidance and escape structure, and if the unmanned agricultural machinery is blocked by large clods of earth or trapped by high-humidity soil, it may cause the unmanned agricultural machinery to deviate from the planned agricultural operation path.

[0004] Based on this, an unmanned agricultural machinery and path planning navigation system are proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings existing in the prior art: when carrying out planned agricultural operations on complex fields, when encountering large-volume soil blocks on the fields or high-humidity soil sinking and being trapped, the unmanned agricultural machinery may deviate from the planned agricultural operation path, and an unmanned agricultural machinery and path planning navigation system are proposed.

[0006] The specific technical solution is: an unmanned agricultural machine, including an unmanned frame for towing agricultural machinery operations, the unmanned frame is equipped with a front axle mechanism and a rear axle mechanism, the front axle mechanism and the rear axle mechanism adopt the same structure, and the front axle mechanism includes: A support frame assembly, mounted on the unmanned vehicle frame, is used to provide power; A drive frame assembly, the power transmission is assembled on the support frame assembly and is used to receive the power provided by the support frame assembly; The wheel assembly is rotatably mounted on the drive frame assembly and is connected to the drive frame assembly in a power transmission manner; the drive frame assembly transmits power to the wheel assembly by using a transmission gear set included therein; Among them, the transmission gear set includes: The transmission gear column is connected to the support frame assembly through the gear power transmission installed on the top thereof, and is used to receive the power provided by the support frame assembly; A transmission gear meshed with the transmission gear column, wherein the ratio of the column length of the transmission gear column to the column length of the transmission gear is 15:1; A power shaft is inserted and fixed on the transmission gear; the power shaft is connected to the wheel assembly through power transmission; A plurality of electric telescopic rods B, one end of which is fixed in a circular array on the transmission gear, and the other end of which is fixed in a circular array on the positioning ring, and the positioning ring is rotatably assembled on the driving frame assembly; The driving frame assembly is used to receive the power provided by the supporting frame assembly, and the transmission gear set is used to transmit the power to the wheel assembly, so that the wheel assembly drives the agricultural machinery to perform agricultural operations on the planned agricultural operation path; when encountering a large volume of soil block blocking or high-humidity soil sinking and being trapped, a plurality of electric telescopic rods B are started for telescopic adjustment, so that the electric telescopic rods B are used to drive the power shaft and the transmission gear to move along the column direction of the transmission gear column, and the wheel assembly is adjusted to move horizontally through the lateral movement of the power shaft, so that the wheel assembly can escape and avoid danger when encountering a large volume of soil block blocking or high-humidity soil sinking and being trapped, which is conducive to the unmanned agricultural machinery to accurately move on the planned agricultural operation path and ensure the quality of the agricultural operation of the agricultural machinery.

[0007] In the technical solution of the present invention, a bearing ring is sleeved on the outside of the positioning ring, a fixing plate is fixed on the bearing ring, and the fixing plate is fixed on the driving frame assembly; the positioning ring is assembled on the driving frame assembly by rotating the bearing ring.

[0008] Furthermore, the drive frame assembly includes: A transmission gear box is used to assemble the transmission gear set. The transmission gear box is provided with a through hole in a through shape, and the through hole is used to assemble the wheel assembly; A mounting ring, detachably assembled on the transmission gear box by means of a plurality of bolts; A protective tube, one end of which is integrally fixed to the mounting ring; and the other end of which is integrally fixed to the support frame assembly; The transmission shaft is movably inserted into the protective tube; the transmission shaft is located on the columnar center line of the protective tube; one end of the transmission shaft is connected to the transmission gear set through power transmission, and the other end is connected to the support frame assembly through power transmission.

[0009] In the technical solution of the present invention, the support frame assembly includes: A support beam, mounted on the unmanned vehicle frame; An electric telescopic rod A is vertically fixed on the support beam; A support plate, fixed to the end of the electric telescopic rod A away from the support beam; The power box is assembled at the end of the support beam; a driving motor is installed inside the power box, and the driving motor is connected to the driving frame assembly through power transmission.

[0010] When the wheel assembly is blocked by a large volume of soil or is trapped by high-humidity soil, the electric telescopic rod A is started to extend, so that the support plate is pressed against the ground, the wheel assembly is lifted by the reaction force, and then the wheel assembly is adjusted to move laterally by the lateral movement of the power shaft, so that the wheel assembly can avoid danger when it is blocked by a large volume of soil, or lift the wheel assembly out of the mud pit when it is trapped by high-humidity soil; thereafter, the wheel assembly is reset to the originally planned path; at the same time, the entire process of avoiding danger and escaping danger ensures that the unmanned vehicle frame is always on the originally planned path, thereby improving the accuracy of the unmanned agricultural machinery on the planned agricultural operation path.

[0011] In the technical solution of the present invention, the wheel assembly includes a rotating shaft and two wheels, and the two wheels are assembled through the rotating shaft; the rotating shaft and the two wheels are on the same straight line.

[0012] Furthermore, the wheel comprises: Main tire; A wheel hub, mounted inside the main tire and used to support the main tire; Two side tires are sleeved and assembled on the outer side of the wheel hub and are respectively distributed on both sides of the main tire; the two side tires are independently arranged with the main tire.

[0013] When the wheel assembly follows the unmanned vehicle frame to perform mobile agricultural operations along a planned agricultural operation path, when the soil is soft and a larger contact surface is required, the two side tires are inflated so that the two side tires assist the main tire from both sides to widen the wheel's force surface and increase the contact surface with the ground to cope with the soft soil; when encountering land with crops, the two side tires are deflated to release the two side tires from both sides to assist the main tire in widening the wheel's force surface so as to reduce damage to the crops on the land; by switching and adjusting the size of the wheel's force surface, the wheel can be made more flexible and can more easily cope with the actual agricultural operation environment on the planned agricultural operation path, thereby improving adaptability.

[0014] Furthermore, the main tire has a tire cavity on its inner ring, a secondary pneumatic tire is laid inside the tire cavity, and a plurality of gripping claws are movably interspersed on the main tire outside the secondary pneumatic tire, and the plurality of gripping claws are distributed in a ring array along the main tire; A pressure chamber is provided on the main tire in coordination with the gripping claws, the gripping claws are movably inserted in the pressure chamber, and an anti-falling convex edge is arranged on the gripping claws; the pressure chamber is connected to the secondary air-injected tire.

[0015] By inflating and deflating the secondary pneumatic tire, the air pressure value inside the pressure chamber can be adjusted. When the air pressure value inside the pressure chamber becomes larger, the gripping claws can be pushed out of the pressure chamber and protrude outward, so as to improve the grip of the main tire, facilitate stable movement on muddy fields, and ensure stable movement on the planned agricultural operation path, thereby improving the quality of unmanned agricultural operations; when the air pressure value inside the pressure chamber becomes smaller, the gripping claws can be stored in the pressure chamber so that the gripping claws are flush with the surface of the main tire, which is convenient for exposing the soil between the multiple gripping claws, and is conducive to quickly removing the soil on the surface of the main tire through the scraper, so that after the multiple gripping claws are pushed out of the pressure chamber again, the grip of the main tire is guaranteed, which is convenient for stable movement on muddy fields; at the same time, the multiple gripping claws are stored flush with the surface of the main tire to avoid damage to the soil surface.

[0016] The secondary pneumatic tire is provided with a plurality of air injection holes, the plurality of air injection holes are distributed in a circular array along the secondary pneumatic tire, and the secondary pneumatic tire is connected to the wheel hub through the plurality of air injection holes; The wheel hub includes: A main shaft is assembled on the rotating shaft and arranged on the same straight line as the rotating shaft; A plurality of spokes are distributed in an annular array around the main axis; The rim is sleeved on the outside of the main shaft and fixed at the ends of the spokes.

[0017] A plurality of connecting gas injection pipes are in one-to-one correspondence with the plurality of gas injection holes; the connecting gas injection pipes are connected to the gas injection holes; The air extraction member is assembled inside the end of the main shaft; an exhaust fan is arranged inside the air extraction member, the exhaust fan is connected to the air injection pipe, and the exhaust fan is connected to the side tire through the connecting pipe; control valves are arranged on the connecting air injection pipe and the connecting pipe.

[0018] A path planning and navigation system, comprising a perception module and a decision control module connected to the above-mentioned unmanned agricultural machinery, wherein the perception module adopts multimodal sensor fusion technology, and the multimodal sensor fusion technology is a combination of laser radar, multispectral camera and millimeter wave radar; LiDAR is used to construct 3D point clouds of farmland and identify crop row spacing and terrain undulations; Multispectral cameras are used to simultaneously acquire NDVI and RGB images to distinguish between crops and weeds; Millimeter-wave radar is used to penetrate dust and fog to detect moving obstacles with a detection distance of up to 200 meters.

[0019] Furthermore, the decision control module includes a dynamic path planning engine and a motion control model. The dynamic path planning engine uses a hybrid algorithm architecture to perform global avoidance of preset obstacles and local real-time obstacle avoidance, as well as an energy consumption optimization model. The dynamic path planning engine uses group collaboration logic and achieves multi-machine collaborative harvesting based on the contract network protocol. The motion control model uses model predictive control with a prediction time domain of 3 seconds and a control time domain of 1 second. The motion control model uses motor differential control to compensate for sideslip, which is used to improve steering accuracy on muddy roads.

[0020] Compared with the prior art, the unmanned agricultural machinery of the present invention can achieve the following: The driving frame assembly is used to receive the power provided by the supporting frame assembly, and the transmission gear set is used to transmit the power to the wheel assembly, so that the wheel assembly drives the agricultural machinery to perform agricultural operations on the planned agricultural operation path; when encountering a large volume of soil block blocking or high humidity soil sinking and being trapped, multiple electric telescopic rods B are started for telescopic adjustment, so that the electric telescopic rods B are used to drive the power shaft and the transmission gear to move along the column direction of the transmission gear column, and the wheel assembly is adjusted to move horizontally through the lateral movement of the power shaft, so that the wheel assembly can escape and avoid danger when encountering a large volume of soil block blocking or high humidity soil sinking and being trapped, which is conducive to the unmanned agricultural machinery to accurately move on the planned agricultural operation path, and ensure the quality of agricultural operations of the agricultural machinery; When the wheel assembly is blocked by a large volume of soil or trapped by high-humidity soil, the electric telescopic rod A is started to extend, so that the support plate is pressed against the ground, the wheel assembly is lifted by the reaction force, and then the wheel assembly is adjusted to move laterally by the lateral movement of the power shaft, so that the wheel assembly can avoid danger when it is blocked by a large volume of soil, or lift the wheel assembly out of the mud pit when it is trapped by high-humidity soil; thereafter, the wheel assembly is reset to the originally planned path; at the same time, the entire process of avoiding danger and escaping danger ensures that the unmanned vehicle frame is always on the originally planned path, thereby improving the accuracy of the unmanned agricultural machinery on the planned agricultural operation path; When the wheel assembly follows the unmanned vehicle frame to perform mobile agricultural operations along the planned agricultural operation path, when the soil is soft and a larger contact surface is required, the two side tires are inflated so that the two side tires assist the main tire from both sides to widen the force-bearing surface of the wheel and increase the contact surface with the ground to cope with the soft soil; when encountering land with crops, the two side tires are deflated to release the two side tires from both sides to assist the main tire in widening the force-bearing surface of the wheel, so as to reduce damage to the crops on the land; By switching and adjusting the size of the force-bearing surface of the wheel, the wheel can be made more flexible, and can more calmly cope with the actual agricultural operation environment on the planned agricultural operation path, thereby improving adaptability; By inflating and deflating the secondary pneumatic tire, the air pressure value inside the pressure chamber can be adjusted. When the air pressure value inside the pressure chamber increases, the gripping claw can be pushed out of the pressure chamber and protruded outward, which is used to improve the grip of the main tire, facilitate stable forward movement on muddy fields, and ensure stable movement on the planned agricultural operation path, thereby improving the quality of unmanned agricultural operations; After the air pressure value inside the pressure chamber becomes smaller, the grip claws can be stored inside the pressure chamber so that the grip claws are flush with the surface of the main tire, which is convenient for exposing the mud between the multiple grip claws, and is conducive to quickly removing the mud on the surface of the main tire through the scraper. After the multiple grip claws are pushed out of the pressure chamber again, the grip of the main tire is guaranteed, which is convenient for stable moving forward on muddy fields; at the same time, the multiple grip claws are stored flush with the surface of the main tire to avoid damage to the soil surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural schematic diagram of an unmanned agricultural machinery in one embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the assembly structure of the middle support frame assembly and the drive frame assembly; Figure 3 for Figure 2 A schematic diagram of the structure of the wheel assembly; Figure 4 is a schematic structural diagram of a wheel in one embodiment of the present invention; Figure 5 It is a schematic diagram of the structure after the gripping claws on the wheel in one embodiment of the present invention are stored; Figure 6 It is a schematic diagram of the structure after the side tires on the wheel in one embodiment of the present invention are stored; Figure 7 for Figure 4 Schematic diagram of the structure of the wheel hub; Figure 8 for Figure 4 Schematic diagram of the structure of the tire; Fig. 9 for Figure 8 A schematic diagram of the cross-sectional structure of the tire; Fig.10 for Figure 8 Schematic diagram of the transverse cross-section structure of the middle gripper; Fig.11 for Figure 1 A schematic diagram of the structure of the middle support frame assembly; Fig.12 for Figure 1 A schematic diagram of the structure of the middle drive frame assembly; Fig.13 is a schematic structural diagram of a transmission gear set in one embodiment of the present invention; Fig.14 for Fig.13 Demonstration diagram of the middle transmission gear set using the electric telescopic rod B to laterally adjust the transmission gear to act on the transmission gear column (Note: Figure B is a demonstration of the transmission gear set in Figure A using the electric telescopic rod B to laterally adjust the transmission gear to the left to act on the transmission gear column; Figure C is a demonstration of the transmission gear set in Figure A using the electric telescopic rod B to laterally adjust the transmission gear to the right to act on the transmission gear column); Fig.15 for Figure 1 Demonstration diagram of the middle support frame assembly and the drive frame assembly using the transmission gear set to adjust the wheel assembly to escape and avoid danger laterally (Note: Figure D, Figure E and Figure F are arranged vertically, Figure E is a demonstration of the support frame assembly and the drive frame assembly in Figure D using the transmission gear set to adjust the wheel assembly to escape and avoid danger laterally to the right; Figure F is a demonstration of the support frame assembly and the drive frame assembly in Figure D using the transmission gear set to adjust the wheel assembly to escape and avoid danger laterally to the left).

[0022] The codes in the attached drawings are: 1 is a support frame assembly; Support beam 11, power box 12, electric telescopic rod A13, support plate 14; 2 is a drive frame assembly; Transmission shaft 21, protection tube 22, mounting ring 23, transmission gear box 24, through hole 25, transmission gear set 26; gear 261, transmission gear column 262, power shaft 263, transmission gear 264, electric telescopic rod B265, positioning ring 266, fixing plate 267, bearing ring 268; 3 is a wheel assembly; Axle 31, wheel 32, main tire 33, gripper 34, side tire 35, wheel hub 36, tire inner cavity 37, secondary air-injection tire 38, air injection hole 39, pressure chamber 40; rim 361, connecting air injection pipe 362, air extraction part 363, main shaft 364, spokes 365. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In the embodiment of the present invention, please refer to Figure 1 , Figure 2 and Fig.13 :Unmanned agricultural machinery, including an unmanned frame for towing agricultural machinery operations. It should be noted here that the unmanned frame and the agricultural machinery are installed in a detachable manner. The unmanned frame is equipped with a front axle mechanism and a rear axle mechanism. The front axle mechanism and the rear axle mechanism adopt the same structure. The front axle mechanism includes: The support frame assembly 1 is assembled on the unmanned vehicle frame and is used to provide power; A drive frame assembly 2, which is power-transmittingly assembled on the support frame assembly 1 and is used to receive the power provided by the support frame assembly 1; The wheel assembly 3 is rotatably mounted on the drive frame assembly 2 and is connected to the drive frame assembly 2 in a power transmission manner; the drive frame assembly 2 transmits power to the wheel assembly 3 by using the transmission gear set 26 included therein; It is necessary to explain that: the unmanned vehicle frame, except for the front axle mechanism and the rear axle mechanism, the components not described are prior art (including unmanned driving technology), and their detailed structures can be learned from existing literature journals, and can also be directly purchased on the market, or can be assembled from components purchased on the market, etc.; they are not what the present invention intends to protect, and are not described in detail here, nor are they drawn in the drawings; After the unmanned vehicle frame is equipped with agricultural machinery, the support frame assembly 1 is started, and the support frame assembly 1 transmits power to the drive frame assembly 2, and the drive frame assembly 2 receives the power provided by the support frame assembly 1; the drive frame assembly 2 transmits power to the wheel assembly 3 using the transmission gear set 26 included therein; so that the wheel assembly 3 drives the agricultural machinery to perform agricultural operations on the path where agricultural operations have been planned; Among them, continue to refer to Figure 13-Figure 15 : The transmission gear set 26 includes: The transmission gear column 262 is connected to the support frame assembly 1 through the gear 261 installed on the top thereof, and is used to receive the power provided by the support frame assembly 1; The transmission gear 264 is meshed with the transmission gear column 262, and the ratio of the column length of the transmission gear column 262 to the column length of the transmission gear 264 is 15:1; The power shaft 263 is inserted and fixed on the transmission gear 264; the power shaft 263 is connected to the wheel assembly 3 through power transmission; A plurality of electric telescopic rods B265, one end of which is fixed in a circular array on the transmission gear 264, and the other end of which is fixed in a circular array on the positioning ring 266, and the positioning ring 266 is rotatably assembled on the driving frame assembly 2; Therefore, when carrying out planned agricultural operations on complex fields, if there are large blocks of soil blocking the fields or high humidity soil sinking and trapping, there will be problems that the unmanned agricultural machinery will deviate from the planned agricultural operation path, thereby affecting the quality of the agricultural operation of the agricultural machinery; this application can achieve: The driving frame assembly 2 is used to receive the power provided by the supporting frame assembly 1, and the transmission gear set 26 is used to transmit the power to the wheel assembly 3, so that the wheel assembly 3 drives the agricultural machinery to perform agricultural operations on the planned agricultural operation path; when encountering a large volume of soil block blocking or high humidity soil sinking and being trapped, multiple electric telescopic rods B265 are started to perform telescopic adjustment, so that the electric telescopic rods B265 drive the power shaft 263 and the transmission gear 264 to move along the column direction of the transmission gear column 262 (this process can be referred to Fig.14 In the figure, from A to B: the transmission gear set 26 uses the electric telescopic rod B265 to laterally adjust the transmission gear 264 to the left to act on the transmission gear column 262; from A to C: the transmission gear set 26 uses the electric telescopic rod B265 to laterally adjust the transmission gear 264 to the right to act on the transmission gear column 262), completing the lateral movement adjustment of the wheel assembly 3 through the lateral movement of the power shaft 263 (this process can be referred to Fig.15In the figure, Figure D-Figure E: the support frame assembly 1 and the drive frame assembly 2 use the transmission gear set 26 to adjust the wheel assembly 3 to the right to escape and avoid danger; Figure D-Figure F: the support frame assembly 1 and the drive frame assembly 2 use the transmission gear set 26 to adjust the wheel assembly 3 to the left to escape and avoid danger), so that the wheel assembly 3 can escape and avoid danger when it encounters a large volume of soil block or is trapped by high-humidity soil. This is conducive to the unmanned agricultural machinery to accurately move on the planned agricultural operation path, ensuring the quality of the agricultural operation of the agricultural machinery.

[0025] In the embodiment of the present invention, please refer to Fig.13 : The outer sleeve of the positioning ring 266 is provided with a bearing ring 268, and a fixing plate 267 is fixed on the bearing ring 268, and the fixing plate 267 is fixed on the driving frame assembly 2; the positioning ring 266 is rotatably assembled on the driving frame assembly 2 through the bearing ring 268.

[0026] For further information, see Fig.12 and Fig.13 : The drive frame assembly 2 includes: The transmission gear box 24 is used to assemble the transmission gear set 26. The transmission gear box 24 is provided with a through hole 25, and the through hole 25 is used to assemble the wheel assembly 3; The mounting ring 23 is detachably mounted on the transmission gear box 24 by means of a plurality of bolts; The protective tube 22 has one end integrally fixed to the mounting ring 23 and the other end integrally fixed to the support frame assembly 1; The transmission shaft 21 is movably inserted into the protective tube 22; the transmission shaft 21 is located on the columnar center line of the protective tube 22; one end of the transmission shaft 21 is connected to the transmission gear set 26 by power transmission, and the other end is connected to the support frame assembly 1 by power transmission.

[0027] In the embodiment of the present invention, please refer to Fig.11 : The support frame assembly 1 includes: A support beam 11 is mounted on the unmanned vehicle frame; An electric telescopic rod A13 is vertically fixed on the support beam 11; A support plate 14 is fixed to the end of the electric telescopic rod A13 away from the support beam 11; The power box 12 is assembled at the end of the support beam 11 ; a driving motor is installed inside the power box 12 , and the driving motor is connected to the driving frame assembly 2 through power transmission.

[0028] It should be explained that: the components of the power box 12 other than the driving motor that are not described belong to the prior art, and their detailed structures can be learned from existing literature journals, and can also be directly purchased on the market, or can be assembled from components purchased on the market, etc.; they are not to be protected by the present invention, and will not be described in detail here, nor drawn in the drawings; Therefore, when the wheel assembly 3 encounters a large volume of soil block or is trapped by high-humidity soil, the electric telescopic rod A13 is started to extend, so that the support plate 14 is pressed against the ground, and the wheel assembly 3 is lifted by the reaction force, and then the wheel assembly 3 is adjusted to move laterally by the lateral movement of the power shaft 263, so that the wheel assembly 3 can avoid danger when it encounters a large volume of soil block, or lift the wheel assembly 3 out of the mud pit when it is trapped by high-humidity soil; thereafter, the wheel assembly 3 is reset to the originally planned path; at the same time, the entire process of avoiding danger and escaping danger ensures that the unmanned vehicle frame is always on the originally planned path, thereby improving the accuracy of the unmanned agricultural machinery on the planned agricultural operation path.

[0029] In the embodiment of the present invention, please refer to Figure 3 : The wheel assembly 3 includes a rotating shaft 31 and two wheels 32, and the two wheels 32 are assembled through the rotating shaft 31; the rotating shaft 31 and the two wheels 32 are on the same straight line.

[0030] For further information, see Figure 3 , Figure 4 and Figure 6 : The wheel 32 comprises: Main tire 33; A wheel hub 36, mounted inside the main tire 33, for supporting the main tire 33; The two side tires 35 are mounted on the outside of the wheel hub 36 and are respectively distributed on both sides of the main tire 33 ; the two side tires 35 are independently arranged from the main tire 33 .

[0031] Therefore, when the wheel assembly 3 follows the unmanned vehicle frame to perform mobile agricultural operations along the planned agricultural operation path, when the soil is soft and a larger contact surface is required, the two side tires 35 are inflated, so that the two side tires 35 assist the main tire 33 from both sides of the main tire 33 to widen the force-bearing surface of the wheel 32, and increase the contact surface with the ground to cope with the soft soil; when encountering land with crops, the two side tires 35 are deflated, and the two side tires 35 assist the main tire 33 from both sides to widen the force-bearing surface of the wheel 32, so as to reduce the damage to the crops on the land (this process can be referred to Figure 6 Demonstration of the side tire 35 on the wheel 32 after it is stowed); Then, by switching and adjusting the size of the force-bearing surface of the wheel 32, the wheel 32 can be made more flexible to cope with the actual agricultural operation environment more calmly on the planned agricultural operation path, thereby improving adaptability.

[0032] In the embodiment of the present invention, please refer to Figure 4 , Figure 5 , Figure 8-Figure 10 The main tire 33 has a tire cavity 37 on its inner ring, and a secondary pneumatic tire 38 is laid inside the tire cavity 37. A plurality of gripping claws 34 are movably inserted on the main tire 33 outside the secondary pneumatic tire 38, and the plurality of gripping claws 34 are distributed in a ring array along the main tire 33; A pressure chamber 40 is provided on the main tire 33 to cooperate with the gripping claw 34 . The gripping claw 34 is movably inserted into the pressure chamber 40 . An anti-falling convex edge is provided on the gripping claw 34 . The pressure chamber 40 is connected to the secondary inflated tire 38 .

[0033] Therefore, by inflating and deflating the secondary pneumatic tire 38, the air pressure value inside the pressure chamber 40 is adjusted. When the air pressure value inside the pressure chamber 40 increases, the gripping claw 34 can be pushed out of the pressure chamber 40 and protrudes outward, so as to improve the gripping force of the main tire 33, facilitate stable forward movement on muddy fields, and ensure stable movement on the planned agricultural operation path, thereby improving the quality of unmanned agricultural operations; After the air pressure value inside the pressure chamber 40 becomes small, the gripping claws 34 can be stored inside the pressure chamber 40, so that the gripping claws 34 are flush with the surface of the main tire 33, which is convenient for exposing the mud between the multiple gripping claws 34, and is conducive to quickly removing the mud on the surface of the main tire 33 by the scraper. After the multiple gripping claws 34 are pushed out of the pressure chamber 40 again, the gripping force of the main tire 33 is guaranteed, which is convenient for stable forward movement on muddy fields; At the same time, the plurality of gripping claws 34 are flushly received on the surface of the main tire 33, thereby avoiding damage to the soil surface.

[0034] In the embodiment of the present invention, please refer to Figure 7-Figure 9 : The secondary pneumatic tire 38 is provided with a plurality of air injection holes 39, which are distributed in a circular array along the secondary pneumatic tire 38, and the secondary pneumatic tire 38 is connected to the wheel hub 36 through the plurality of air injection holes 39; The wheel hub 36 comprises: The main shaft 364 is assembled on the rotating shaft 31 and is arranged on the same straight line as the rotating shaft 31; A plurality of spokes 365 are distributed in an annular array around the main shaft 364; The rim 361 is sleeved on the outside of the main shaft 364 and fixed at the end of the spoke 365 .

[0035] A plurality of connecting gas injection pipes 362 are in one-to-one correspondence with the plurality of gas injection holes 39; the connecting gas injection pipes 362 are connected to the gas injection holes 39; The suction member 363 is assembled inside the end of the main shaft 364; an exhaust fan is arranged inside the suction member 363, the exhaust fan is connected to the air injection pipe 362, and the exhaust fan is connected to the side tire 35 through the connecting pipe; control valves are arranged on the connecting air injection pipe 362 and the connecting pipe.

[0036] It needs to be explained that: the exhaust fan and the power wiring method of the exhaust fan are both existing technologies, and their detailed structures can be found in existing literature journals. They can also be purchased directly on the market, or parts can be purchased on the market to assemble them, etc.; they are not what the present invention wants to protect, so they will not be elaborated here, nor drawn in the accompanying drawings.

[0037] In an embodiment of the present invention, a path planning and navigation system includes a perception module and a decision control module connected to the unmanned agricultural machinery described above, wherein the perception module adopts a multimodal sensor fusion technology, and the multimodal sensor fusion technology is a combination of a laser radar, a multispectral camera, and a millimeter wave radar; LiDAR is used to construct 3D point clouds of farmland and identify crop row spacing and terrain undulations; Multispectral cameras are used to simultaneously acquire NDVI (vegetation index) and RGB images to distinguish between crops and weeds; Millimeter-wave radar is used to penetrate dust and fog to detect moving obstacles with a detection distance of up to 200 meters.

[0038] Furthermore, the decision control module includes a dynamic path planning engine and a motion control model. The dynamic path planning engine uses a hybrid algorithm architecture to perform global avoidance of preset obstacles and local real-time obstacle avoidance, as well as an energy consumption optimization model. The dynamic path planning engine uses group collaboration logic and achieves multi-machine collaborative harvesting based on the contract network protocol. The motion control model uses model predictive control with a prediction time domain of 3 seconds and a control time domain of 1 second. The motion control model uses motor differential control to compensate for sideslip, which is used to improve steering accuracy on muddy roads.

[0039] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Unmanned agricultural machinery, characterized in that: The invention comprises an unmanned vehicle frame for towing agricultural machinery, wherein a front axle mechanism and a rear axle mechanism are installed on the unmanned vehicle frame, and the front axle mechanism and the rear axle mechanism adopt the same structure, and the front axle mechanism comprises: A support frame assembly (1) is mounted on the unmanned vehicle frame and is used to provide power; A drive frame assembly (2) is power-transmittingly assembled on the support frame assembly (1) and is used to receive power provided by the support frame assembly (1); The wheel assembly (3) is rotatably mounted on the drive frame assembly (2) and is connected to the drive frame assembly (2) in a power transmission manner; the drive frame assembly (2) transmits power to the wheel assembly (3) by means of a transmission gear set (26) included therein; Wherein, the transmission gear set (26) comprises: The transmission gear column (262) is connected to the support frame assembly (1) through a gear (261) installed on the top thereof, and is used to receive power provided by the support frame assembly (1); A transmission gear (264) meshed with the transmission gear column (262), the ratio of the column length of the transmission gear column (262) to the column length of the transmission gear (264) being 15:1; A power shaft (263) is inserted and fixed on the transmission gear (264); the power shaft (263) is connected to the wheel assembly (3) through power transmission; A plurality of electric telescopic rods B (265) are fixed in a circular array on the transmission gear (264) at one end and fixed in a circular array on the positioning ring (266) at the other end. The positioning ring (266) is rotatably assembled on the driving frame assembly (2).

2. The unmanned agricultural machine according to claim 1, characterized in that: The positioning ring (266) is sleeved with a bearing ring (268) on its exterior, a fixing plate (267) is fixed on the bearing ring (268), and the fixing plate (267) is fixed on the drive frame assembly (2); the positioning ring (266) is rotatably assembled on the drive frame assembly (2) through the bearing ring (268).

3. The unmanned agricultural machine according to claim 2, characterized in that: The drive frame assembly (2) comprises: A transmission gear box (24) is used to assemble a transmission gear set (26); a through hole (25) is formed on the transmission gear box (24); the through hole (25) is used to assemble the wheel assembly (3); A mounting ring (23) is detachably mounted on the transmission gear box (24) by means of a plurality of bolts; A protective tube (22), one end of which is integrally fixed to the mounting ring (23); and the other end of which is integrally fixed to the support frame assembly (1); A transmission shaft (21) is movably inserted into the protective tube (22); the transmission shaft (21) is located on the columnar centerline of the protective tube (22); one end of the transmission shaft (21) is connected to the transmission gear set (26) through power transmission, and the other end of the transmission shaft (21) is connected to the support frame assembly (1) through power transmission.

4. The unmanned agricultural machine according to claim 1, characterized in that: The support frame assembly (1) comprises: A support beam (11) is mounted on the unmanned vehicle frame; An electric telescopic rod A (13) vertically fixed on the support beam (11); A support plate (14) fixed to an end of the electric telescopic rod A (13) away from the support beam (11); The power box (12) is assembled at the end of the support beam (11); a driving motor is installed inside the power box (12), and the driving motor is connected to the driving frame assembly (2) through power transmission.

5. The unmanned agricultural machine according to claim 1, characterized in that: The wheel assembly (3) comprises a rotating shaft (31) and two wheels (32); the two wheels (32) are assembled via the rotating shaft (31); and the rotating shaft (31) and the two wheels (32) are located on the same straight line.

6. The unmanned agricultural machine according to claim 5, characterized in that: The wheel (32) comprises: Main tire (33); A wheel hub (36) mounted inside the main tire (33) and used to support the main tire (33); Two side tires (35) are sleeved and mounted on the outside of the wheel hub (36) and are respectively distributed on both sides of the main tire (33); the two side tires (35) are independently arranged from the main tire (33).

7. The unmanned agricultural machine according to claim 6, characterized in that: The main tire (33) has a tire inner cavity (37) formed on its inner ring, a secondary pneumatic tire (38) is laid inside the tire inner cavity (37), a plurality of gripping claws (34) are movably inserted on the main tire (33) outside the secondary pneumatic tire (38), and the plurality of gripping claws (34) are distributed in a ring array along the main tire (33); A pressure chamber (40) is provided on the main tire (33) in cooperation with the gripping claw (34). The gripping claw (34) is movably inserted into the pressure chamber (40). The gripping claw (34) is provided with an anti-falling convex edge. The pressure chamber (40) is connected to the secondary pneumatic tire (38).

8. The unmanned agricultural machine according to claim 7, characterized in that: The secondary pneumatic tire (38) is provided with a plurality of air injection holes (39), the plurality of air injection holes (39) are distributed in a circular array along the secondary pneumatic tire (38), and the secondary pneumatic tire (38) is connected to the wheel hub (36) through the plurality of air injection holes (39); The wheel hub (36) comprises: A main shaft (364) is assembled on the rotating shaft (31) and is arranged on the same straight line as the rotating shaft (31); A plurality of spokes (365) arranged in an annular array around the main shaft (364); A rim (361) is sleeved on the outside of the main shaft (364) and fixed at the ends of the spokes (365); A plurality of connecting gas injection pipes (362) corresponding one to one with the plurality of gas injection holes (39); the connecting gas injection pipes (362) are connected to the gas injection holes (39); An air extraction member (363) is assembled inside the end of the main shaft (364); an exhaust fan is arranged inside the air extraction member (363), the exhaust fan is connected to the air injection pipe (362), and the exhaust fan is connected to the side tire (35) through the connecting pipe; control valves are arranged on the connecting air injection pipe (362) and the connecting pipe.

9. A path planning navigation system, characterized in that: It comprises a perception module and a decision control module connected to any one of the unmanned agricultural machinery of claims 1-8, wherein the perception module adopts multimodal sensor fusion technology, and the multimodal sensor fusion technology is a combination of laser radar, multispectral camera and millimeter wave radar; LiDAR is used to construct 3D point clouds of farmland and identify crop row spacing and terrain undulations; Multispectral cameras are used to simultaneously acquire NDVI and RGB images to distinguish between crops and weeds; Millimeter-wave radar is used to penetrate dust and fog to detect moving obstacles; The decision-making control module includes a dynamic path planning engine and a motion control model. The dynamic path planning engine uses a hybrid algorithm architecture to perform global avoidance of preset obstacles and local real-time obstacle avoidance, as well as an energy consumption optimization model. The dynamic path planning engine uses group collaboration logic to achieve multi-machine collaborative harvesting based on the contract network protocol; the motion control model uses model predictive control with a prediction time domain of 3 seconds and a control time domain of 1 second; the motion control model uses motor differential control to compensate for sideslip, which is used to improve steering accuracy on muddy roads.

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