Unmanned autonomous seeding robot suitable for hilly and mountainous region farming areas

Abstract

The unmanned autonomous seeding robot comprises a main frame, a rear electric control driving wheel assembly is arranged at the rear end of the main frame, a front electric control driving wheel steering device is arranged at the front end of the main frame, an image shooting device is arranged on the upper portion of the front electric control driving wheel steering device, and a front driving wheel is arranged on the lower portion of the front electric control driving wheel steering device. Seeding monomers are arranged on two sides of the rear electric control driving wheel assembly, a control box is arranged at the upper part of the rear electric control driving wheel assembly, a detection box is arranged at the lower part of the rear electric control driving wheel assembly, and the rear electric control driving wheel assembly and the front electric control driving wheel steering device form a three-point structure; the seeding robot is of a three-point structure, the whole machine inclination phenomenon can be effectively relieved, the seeding robot has higher stability in a hilly and mountainous region cultivation area, the main body material is made of a high-strength aluminum alloy material, the whole machine mass is reduced, and the steering and turning-around mode track of the seeding robot takes one side of the rear wheel as a fixed point circle center; the front driving wheel and the rear wheel on the other side rotate around the circle center, so that steering and turning are quickly realized, and the seeding efficiency is further improved.

Description

Technical Field

[0001] This invention relates to an unmanned autonomous sowing robot suitable for hilly and mountainous farming areas, and particularly to the field of agricultural farming equipment technology. Background Technology

[0002] Modern agriculture is facing an unprecedented labor shortage. The aging of the rural population and the outflow of young laborers have led to a continuous decline in labor supply in major agricultural production areas. The average age of agricultural workers is relatively high, and the labor shortage is becoming increasingly severe. This structural shortage directly drives up labor costs, which are rising year by year. More seriously, the labor shortage is particularly pronounced during seasonal busy farming seasons, causing delays in the planting window and directly affecting crop growth cycles and final yields.

[0003] Furthermore, hilly and mountainous areas account for over 40% of my country's arable land, and these regions have long faced technical bottlenecks in mechanized operations. Traditional large-scale seeding machinery has revealed problems such as poor slope stability, difficulty in turning due to the irregular distribution of small plots, and low efficiency in complex terrain. As a result, manual sowing or semi-mechanized operations have been the norm in hilly and mountainous areas for a long time, leading to low sowing efficiency and seeding quality far inferior to that in plains areas.

[0004] Under these two factors, the need to develop automated and intelligent seeding equipment has become increasingly urgent. There is a pressing need to use technological means to solve the constraints of manpower and terrain, and to reconstruct the foundation of agricultural production efficiency. Summary of the Invention

[0005] This invention provides an unmanned autonomous seeding robot suitable for hilly and mountainous farming areas to overcome the shortcomings of traditional seeders in existing technologies, such as difficulty in operation, poor stability, and low efficiency in hilly and mountainous farming areas.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention discloses an unmanned autonomous seeding robot suitable for hilly and mountainous farming areas, comprising a main frame, a rear-mounted electrically controlled drive wheel assembly for propulsion at the rear end of the main frame, and a front-mounted electrically controlled drive wheel steering device for controlling the direction of travel at the front end. The upper part of the front-mounted electrically controlled drive wheel steering device is equipped with an image acquisition device for collecting surface information, and the lower part is equipped with a front drive wheel. Both sides of the front-mounted drive wheel steering device are equipped with electric lifting hydraulic cylinders for controlling the lifting and lowering of the seeding unit. The upper part of the rear-mounted electrically controlled drive wheel assembly is equipped with a control box, and the lower part is equipped with a detection box. The rear-mounted electrically controlled drive wheel assembly and the front-mounted electrically controlled drive wheel steering device form a three-point structure.

[0007] The rear-mounted electronically controlled drive wheel assembly includes a drive suspension beam, which is connected to a rear-mounted servo DC motor via a connecting bushing on the rear wheel.

[0008] The front-mounted electronically controlled drive wheel steering device includes a connecting beam, which is connected to the front-mounted servo DC motor above it via a connecting plate, and is connected to the steering shaft below it via a bearing assembly, on which a steering sensor is provided.

[0009] Furthermore, the rear end of the main frame is also equipped with a battery pack as a power source.

[0010] Furthermore, both the drive suspension beam and the seeding unit are set at adjustable intervals within the crossbeam fixing slots opened on the main frame.

[0011] Furthermore, the front-mounted electronically controlled steering wheel device controls the direction of the front-mounted drive wheels and enables them to move.

[0012] Furthermore, the control box serves as a control unit, used to receive signals and send commands.

[0013] Furthermore, the detection box is responsible for real-time detection of the working status of the seeding robot, controlling the box linkage, and providing feedback information.

[0014] The beneficial effects achieved by this invention are as follows: This seeding robot has a three-point structure layout. Since the front wheel is a single wheel, it can effectively alleviate the phenomenon of machine tilting and has higher stability in hilly and mountainous farming areas. It also simplifies the overall structure. At the same time, the main body material is made of high-strength aluminum alloy, which greatly reduces the overall weight of the machine through structure and materials. The turning trajectory of this seeding robot is based on the rear wheel side as a fixed point center. The front drive wheel and the other rear wheel rotate around the center, thereby quickly achieving the purpose of turning around, which indirectly greatly improves the seeding efficiency. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the rear-mounted electronically controlled drive wheel assembly of the present invention; Figure 3 This is a schematic diagram of the main frame of the present invention; Figure 4 This is a schematic diagram of the front-mounted electronically controlled drive wheel steering device of the present invention; Figure 5 This is a schematic diagram of the installation of the drive suspension beam of the present invention; Figure 6 This is a schematic diagram of the installation of the seeding unit of the present invention; Figure 7 This is the turning and U-turn trajectory diagram of the present invention.

[0016] In the diagram: 11. Rear-mounted electronically controlled drive wheel assembly; 111. Drive suspension beam; 112. Rear-mounted servo DC motor; 113. Connecting bushing; 114. Rear wheel; 12. Control box; 13. Battery pack; 14. Main frame; 15. Electric lifting hydraulic cylinder; 16. Image acquisition device; 17. Front-mounted electronically controlled drive wheel steering device; 171. Front-mounted servo DC motor; 172. Connecting plate; 173. Connecting beam; 174. Steering sensor; 175. Bearing assembly; 176. Steering shaft; 18. Front-mounted drive wheel; 19. Seeding unit; 110. Detection box. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] Example 1 like Figures 1-6 As shown, an unmanned autonomous seeding robot suitable for hilly and mountainous farming areas includes a main frame 14. The rear end of the main frame 14 is provided with a rear-mounted electrically controlled drive wheel assembly 11 for driving, and the front end is provided with a front-mounted electrically controlled drive wheel steering device 17 for controlling the direction of travel. The upper part of the front-mounted electrically controlled drive wheel steering device 17 is provided with an image acquisition device 16 for collecting surface information, and the lower part is provided with a front drive wheel 18. Both sides of the front drive wheel steering device 17 are provided with electric lifting hydraulic cylinders 15 for controlling the lifting and lowering of the seeding unit 19. The upper part of the rear-mounted electrically controlled drive wheel assembly 11 is provided with a control box 12, and the lower part is provided with a detection box 110. The rear-mounted electrically controlled drive wheel assembly 11 and the front-mounted electrically controlled drive wheel steering device 17 form a three-point structure.

[0019] The rear-mounted electronically controlled drive wheel assembly 11 includes a drive suspension beam 111, which is connected to a rear-mounted servo DC motor 112 via a connecting bushing 113 on the rear wheel 114.

[0020] The front-mounted electronically controlled drive wheel steering device 17 includes a connecting beam 173, which is connected to the front-mounted servo DC motor 171 above it via a connecting plate 172, and is connected to the steering shaft 176 below it via a bearing assembly 175. A steering sensor 174 is provided on the bearing assembly 175.

[0021] The rear end of the main frame 14 is also equipped with a battery pack 13, which serves as a power source.

[0022] The drive suspension beam 111 and the seeding unit 19 are both adjusted by sliding within the crossbeam fixing groove opened in the main frame 14.

[0023] The front-mounted electronically controlled steering device 17 controls the direction of the front-mounted drive wheels 18 and enables them to move.

[0024] The control box 12 serves as the control unit, used to receive signals and send commands.

[0025] The detection box 110 is responsible for detecting the working status of the seeding robot in real time and feeding it back to the control box 12.

[0026] like Figure 7 As shown, due to the small plots in hilly and mountainous farming areas, traditional tractor-driven seeders need to frequently turn, turn around, and align rows, which seriously affects seeding efficiency. This seeding robot's turning and turning trajectory uses one side of the rear wheel 114 as the fixed center, with the front drive wheel 18 and the other rear wheel 114 rotating around this center, thus quickly achieving the purpose of turning and turning, thereby indirectly and greatly improving seeding efficiency. Its equation is: x 2 +y 2 =1822500~5522500.

[0027] In hilly and mountainous farming areas with undulating terrain, traditional seeders typically control the overall seeding depth, which can easily lead to uneven sowing depth or seeds scattering on the surface. The sowing robot's individual seeding units 19 have their sowing depth controlled independently by electric lifting hydraulic cylinders 15. When encountering potholes or bumps, the electric lifting hydraulic cylinders 15 can adjust their extension and retraction length in real time, thus achieving consistent sowing. Furthermore, the sowing robot is equipped with an independent detection box 110, which is linked to the control box 12 for real-time counter-adjustment. The detection box 110 monitors the seed spacing in real time; when seeds are missed, the control box 12 adjusts the rotation speed in real time to supplement the sowing quantity, thereby ensuring the overall seedling emergence rate.

[0028] The seeding robot can meet different agronomic seeding needs and has high adaptability. The drive suspension beam 111 can slide and be fixedly installed in the crossbeam fixing groove of the main frame 14. The seeding unit 19 can also slide and be fixedly installed. The spacing of the rear wheels 114 can be adjusted from 1350mm to 2350mm, and the spacing of the seeding unit 19 can be adjusted from 420mm to 1100mm, which can meet different seeding row spacing requirements.

[0029] During operation, the image acquisition device 16 of the seeding robot collects real-time data on the environment. When it encounters an obstacle, the front-mounted electric drive wheel steering device 17 changes the walking path. The angular displacement caused by the steering triggers the steering sensor 174 to paddle. At the same time, the rear-mounted servo DC motors 112 on both sides rotate at different speeds, thereby achieving the shortest path autonomous obstacle avoidance.

[0030] It should be noted that the above description 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 foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The terminology used in the description of this application is only for describing specific embodiments and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings indicate similar items, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0032] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

Claims

1. A unmanned autonomous sowing robot suitable for hilly terrain farming area characterized in that, The utility model relates to a seed sowing robot, including main frame, the rear end of main frame is equipped with the rear electric control drive wheel assembly of travel drive, and the front end is equipped with the front electric control drive wheel steering device of controlling travel direction, the upper portion of front electric control drive wheel steering device is equipped with image taking device for gathering surface information, and the lower portion is equipped with front drive wheel, and both sides are equipped with electric lifting hydraulic cylinder for controlling the lifting and falling of sowing unit, the upper portion of rear electric control drive wheel assembly is equipped with control box, and the lower portion is equipped with detection box, and rear electric control drive wheel assembly and front electric control drive wheel steering device constitute three point type structure; The rear electric control drive wheel assembly includes a drive suspension beam, which is connected with the rear private servo DC motor through the connecting shaft sleeve on the rear wheel. The front electric control drive wheel steering device includes a connecting beam, which is connected with the front private servo DC motor above through the connecting plate, and is connected with the steering shaft below through the bearing combination, and the steering sensor is arranged on the bearing combination.

2. The unmanned autonomous sowing robot suitable for hilly terrain farming area according to claim 1, characterized in that, The rear end of the main frame is also provided with a battery pack as a power source.

3. The unmanned autonomous sowing robot suitable for hilly terrain farming area according to claim 1, characterized in that, The drive suspension beam and the sowing unit are arranged with adjustable spacing in the beam fixing slot of the main frame.

4. The unmanned autonomous sowing robot suitable for hilly terrain farming area of claim 1, wherein, The front electric control drive wheel steering device controls the direction of the front drive wheel and walks.

5. The unmanned autonomous sowing robot suitable for hilly terrain farming area of claim 1, wherein, The control box serves as a control part for receiving signals and sending instructions.

6. The unmanned autonomous sowing robot suitable for hilly terrain farming area of claim 1, wherein, The detection box is responsible for real-time detection of the working state of the seeding robot and controls the feedback information of the linkage.

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