Motion control system for small agricultural machinery with crawler chassis

Abstract

The invention relates to a crawler chassis small agricultural machine motion control system, which comprises a crawler chassis, and a vehicle body shell, a walking device, a controller and a power supply management device which are respectively connected with the crawler chassis, the controller and the power supply management device are positioned in the vehicle body shell, and the controller comprises a motion control unit. The motion control module is used for analyzing the received motion control instruction and performing accurate motion control on the crawler chassis; the controller is connected with the walking device and the power management device through CAN interfaces.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to the field of robot motion control. Background Art

[0002] Most of the existing chassis motion control of small agricultural machinery is still at the simple logic level of "just move". Based on the chassis walking device driver, a PWM mode remote control is used to achieve simple walking and turning functions. However, this solution is not scalable, and it is impossible to control the functional kit installed on the chassis, and it is impossible to achieve command-based autonomous movements. Problems such as straight-line deviation correction and turning angle cannot be fully solved.

[0003] The existing chassis motion control mechanical system of small agricultural machinery is mostly a wheeled structure, mainly Ackerman structure. The Ackerman steering structure chassis is similar to the real car chassis in reality. The front two wheels of the chassis are used to control the direction of the vehicle's movement, and the rear two wheels are used to control its speed. When the vehicle turns, there is a speed difference between the rear wheels. Obviously, the inner tire rotates slower than the outer tire before the turn is complete.

[0004] Traditional wheeled chassis cars use mechanical differentials to achieve differential speed. The basic movement law of the mechanical differential is: whether turning or going straight, the sum of the rotational speeds of the drive wheels on both sides is equal to twice the rotational speed of the differential housing. For example, if the rotational speed of the differential housing is V, the rotational speed of the inner rear wheel is Va, and the rotational speed of the outer rear wheel is V+a.

[0005] With the popularity of pure electric new energy technology, the rear wheels are driven directly by electric motors, without the need for mechanical differentials, making the mechanical design simpler. However, the electronic control is a bit more complicated.

[0006] The existing crawler chassis motion control algorithm is basically the same as the wheeled structure control algorithm. However, since the above algorithm can only be used during the motion process based on the premise that the crawler vehicle has a chassis controller 5, the existing crawler robot still does not have a perfect chassis controller and still uses the processing method of the wheeled structure, and is still in a dead cycle of thinking that "it's OK as long as it can move". Summary of the invention

[0007] In order to solve the above problems, the present invention discloses a motion control system for a small agricultural machinery with a crawler chassis, comprising a crawler chassis and a body shell, a traveling device, a controller and a power management device respectively connected to the crawler chassis, wherein the controller and the power management device are located in the body shell, and is characterized in that the controller comprises a motion control unit for parsing received motion control instructions and performing precise motion control of the crawler chassis, and the controller is connected to the traveling device and the power management device via a CAN interface.

[0008] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a host computer arranged in the shell, and the host computer is connected to the controller through the CAN interface.

[0009] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a soil measuring component arranged on the outside of the shell, the soil measuring component includes a soil sensor, a pressure sensor, and an electric push rod, and the electric push rod is connected to the pressure sensor and the soil sensor; the controller is connected to the pressure sensor, the soil sensor and the electric push rod through a serial port.

[0010] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a remote control receiver arranged in the shell, which is used to receive the remote control signal of the remote control, and the remote control receiver and the controller are connected through a serial port.

[0011] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a display screen arranged on the outside of the shell, and the display screen and the controller are connected via a serial port.

[0012] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes an audio-visual peripheral device arranged on the outside of the shell, and the audio-visual peripheral device is connected to the controller through the audio-visual control interface of the controller, and the audio-visual peripheral device further includes an alarm, a lighting module and a speaker.

[0013] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a slave function component arranged on the outside of the shell, and the slave function component includes a working motor and a rotary tillage module connected to the working motor, and the working motor is connected to the controller via the CAN interface.

[0014] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, the controller also includes a debugging serial port for receiving a debugging signal to test the crawler chassis.

[0015] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, the controller is a STM32F series single chip microcomputer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic diagram of the overall appearance of a three-dimensional structure of an embodiment of the agricultural intelligent vehicle of the present invention.

[0017] Figure 2 This is a schematic block diagram of the chassis control architecture of an embodiment of the agricultural intelligent vehicle in the present invention.

[0018] Figure 3 This is a schematic diagram of CAN bus communication of an embodiment of the agricultural intelligent vehicle in the present invention.

[0019] Figure 4 It is a schematic diagram of calculating the left and right wheel speeds when the car turns in the prior art.

[0020] Figure 5 This is a processing flow chart of a motion control unit in one embodiment of the agricultural intelligent vehicle of the present invention.

[0021] Among them, the figure numbers are: 1: body shell, 2: walking device, 3: track chassis, 4: display screen, 5: controller, 6: motion control unit. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that references to "one embodiment", "embodiment", "example embodiment", etc. in the specification refer to the embodiment described, which may include specific features, structures or characteristics, but does not necessarily include these specific features, structures or characteristics. In addition, such expressions do not refer to the same embodiment. Further, when describing specific features, structures or characteristics in conjunction with the embodiments, whether or not there is a clear description, it has been shown that combining such features, structures or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0023] Certain words are used in the specification and subsequent claims to refer to specific modules, components or parts. It should be understood by those of ordinary skill in the art that technical users or manufacturers may refer to the same module, component or part by different nouns or terms. This specification and subsequent claims do not use differences in names as a way to distinguish modules, components or parts, but use differences in the functions of modules, components or parts as the criteria for distinction. "Including" and "including" mentioned throughout the specification and subsequent claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connect" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connection through other devices.

[0024] In the following specification and claims, reference will be made to a number of terms which shall be defined to have the following meanings. The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. "Optional" or "optionally" means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0025] In addition, in the description of the specification, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and "about", or "approximately", "substantially", "left and right" and the like indicating directions or positional relationships or parameters are all based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description content, and do not indicate or imply that the referred device or element must have a specific direction, specific size, or be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0026] Please refer to Figure 1 and Figure 2 , Figure 1 It is a schematic diagram of the overall appearance of a three-dimensional structure of an embodiment of a motion control system for a small agricultural machinery with a crawler chassis in the present invention. Figure 2 The present invention is a schematic block diagram of the chassis control architecture of an embodiment of a crawler chassis small agricultural machinery motion control system.

[0027] The crawler chassis small agricultural machinery motion control system disclosed in the present invention includes a crawler chassis 3 and a body shell 1, a traveling device 2, a controller 5 and a power management device respectively connected to the crawler chassis 3. The controller 5 and the power management device are located in the body shell 1. The controller 5 includes a motion control unit 6 for parsing received motion control instructions and performing precise motion control on the crawler chassis 3. The controller 5 is connected to the traveling device 2 and the power management device via a CAN interface.

[0028] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, a host computer is also provided in the housing, and the host computer is connected to the controller 5 via a CAN interface. The host computer can be responsible for functions such as obstacle avoidance navigation and path planning.

[0029] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a soil measuring component arranged on the outside of the shell, the soil measuring component includes a soil sensor, a pressure sensor, and an electric push rod, and the electric push rod is connected to the pressure sensor and the soil sensor; the controller 5 is connected to the pressure sensor, the soil sensor and the electric push rod through a serial port.

[0030] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a remote control receiver arranged in the shell, which is used to receive the remote control signal of the remote control. The remote control receiver and the controller 5 are connected through a serial port.

[0031] The remote control receiver receives the control command of the remote controller, and after the controller 5 analyzes the command, it controls the crawler chassis 3 to perform actions corresponding to the command.

[0032] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, a display screen 4 is further provided on the outer side of the housing, and the display screen 4 is connected to the controller 5 via a serial port. The display screen 4 can display data information and fault information of the crawler chassis 3.

[0033] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes sound and light peripherals arranged on the outside of the shell, and the sound and light peripherals are connected to the controller 5 through the sound and light control interface of the controller 5. The sound and light peripherals further include an alarm, a lighting module and a speaker.

[0034] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, it also includes a slave function component arranged on the outside of the shell, the slave function component includes a working motor and a rotary tillage module connected to the working motor, and the working motor is connected to the controller 5 via a CAN interface.

[0035] Those skilled in the art should be aware that the above-mentioned slave functional components include a working motor and a rotary tillage module, and the slave functional components may also include other agricultural equipment, such as plant protection equipment to achieve corresponding functions, but the present invention is not limited thereto.

[0036] In one embodiment of the crawler chassis small agricultural machinery motion control system of the present invention, the controller 5 also includes a debugging serial port for receiving debugging signals to test the crawler chassis 3 .

[0037] In one embodiment of a crawler chassis small agricultural machinery motion control system of the present invention, the controller 5 is a STM32F series single chip microcomputer.

[0038] Please refer to Figure 3 , Figure 3 The CAN bus communication diagram of an embodiment of the crawler chassis small agricultural machinery motion control system in the present invention. The controller 5 is connected to multiple CAN controllers through the CAN interface. The CAN controller can be the above-mentioned slave functional component, the walking device 2, the power management module, and the host computer, but the present invention is not limited thereto. Specifically, the CAN interface is connected to each CAN controller through the CAN bus. The CAN bus includes a high-level CAN line and a low-level CAN line. The high-level CAN line and the low-level CAN start and end ends are connected respectively through 120 ohm resistors for impedance matching to reduce echo reflection.

[0039] Specifically, the controller 5 communicates with the walking device 2 through the CAN interface. The controller 5 analyzes the received speed information and converts it into a speed ratio, and then sends it to the driver of the walking device 2 to complete the walking speed control. When performing walking command control, the controller 5 sends a query command to obtain the transient current, voltage, fault and other data information of the walking device 2. The controller 5 processes the obtained data accordingly to complete the purpose of monitoring the performance of the walking device 2.

[0040] The controller 5 communicates with the power management module through the CAN interface. The controller 5 sends instructions to read data information such as battery power, battery voltage, battery current, battery fault, etc. After obtaining the battery data information, the controller 5 processes the data, monitors the working status of the battery module, and ensures the safe operation of the crawler chassis 3.

[0041] The controller 5 communicates with the host computer through the CAN interface. After obtaining the CAN command of the host computer, the controller 5 parses the command, obtains the command requirements, and realizes the control of the movement of the crawler chassis 3 and the control of the working motor and the electric push rod. At the same time, the chassis data can be uploaded, and the host computer monitors the chassis data to ensure that the chassis is in an unmanned working state. The host computer can effectively monitor the chassis status and ensure the normal operation of the vehicle.

[0042] Please refer to Figure 4 , Figure 4 It is a schematic diagram of calculating the left and right wheel speeds when the car turns in the prior art.

[0043] In a wheeled structure, generally, to control the speed of the car forward or backward, you only need to use PID to control the speed of the two wheels to be consistent. However, if you want to control the angular velocity of the car to turn, you need to do some calculations. The relationship between the speed of the left and right wheels and the linear velocity and angular velocity is as follows: Where v is the speed of the car, is the speed of the left wheel of the car, is the speed of the right wheel of the car, is the turning angular velocity of the car, is the distance between the left and right wheels of the car, is the turning radius. According to the above formula and using PID algorithm, the walking and steering of the car can be controlled.

[0044] Please refer to Figure 5 , Figure 5 This is a processing flow chart of the motion control unit 6 in one embodiment of the agricultural intelligent vehicle of the present invention.

[0045] Although the motion mathematical model of the crawler chassis small agricultural machinery is similar to that of the wheeled chassis small agricultural machinery, there are still differences. In the present invention, the formula of the wheeled structure small agricultural machinery is further used, and the motion control unit 6 is used to parse the received motion control instructions, and calculate the speed of the left and right wheels of the crawler chassis 3 according to the motion control formula suitable for the crawler chassis 3 below, and accurately control the motion of the crawler chassis 3. For the specific process, please refer to Figure 5 . Driving wheel speed: Car angular velocity: Maximum angle calculation formula: in is the speed of the car, is the turning angular velocity of the car, is the distance between the left and right tracks of the trolley, It controls the operation cycle. In summary, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can evolve various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the patent applied for the present invention.

Claims

1. A crawler chassis small agricultural machinery motion control system, comprising a crawler chassis and a body shell mounted on the crawler chassis, a walking device, a controller and a power management device, wherein the controller and the power management device are located in the body shell, and characterized in that: The controller further comprises a motion control unit for parsing received motion control instructions and performing precise motion control on the crawler chassis; wherein the controller is connected to the walking device and the power management device via a CAN interface.

2. The crawler chassis small agricultural machinery motion control system according to claim 1 is characterized in that: It also includes a host computer arranged in the shell, and the host computer is connected to the controller through the CAN interface.

3. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: It also includes a soil measuring component arranged on the outside of the shell, the soil measuring component includes a soil sensor, a pressure sensor, and an electric push rod, the electric push rod is connected to the pressure sensor and the soil sensor; the controller is connected to the pressure sensor, the soil sensor and the electric push rod through a serial port.

4. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: It also includes a remote control receiver arranged in the shell, which is used to receive a remote control signal from a remote control. The remote control receiver and the controller are connected via a serial port.

5. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: It also includes a display screen arranged on the outside of the shell, and the display screen and the controller are connected via a serial port.

6. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: It also includes an acoustic and optical peripheral device arranged on the outside of the shell, the acoustic and optical peripheral device is connected to the controller through the acoustic and optical control interface of the controller, and the acoustic and optical peripheral device further includes an alarm, a lighting module and a speaker.

7. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: It also includes a slave function component arranged on the outside of the shell, and the slave function component includes a working motor and a rotary tillage module connected to the working motor, and the working motor is connected to the controller through the CAN interface.

8. The crawler chassis small agricultural machinery motion control system according to claim 1, characterized in that: The controller also includes a debugging serial port for receiving a debugging signal to test the crawler chassis.

9. The crawler chassis small agricultural machinery motion control system according to any one of claims 1 to 8, characterized in that: The controller is a microprocessor or a single chip microcomputer.

10. The crawler chassis small agricultural machinery motion control system according to any one of claim 9, characterized in that: The single chip microcomputer is a STM32F series single chip microcomputer.

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