Agricultural robot and control method

Abstract

The invention provides an agricultural robot and a control method, and relates to the technical field of agricultural equipment.The agricultural robot comprises a hydraulic power system, a walking device and an agricultural implement carrying device; the walking device comprises a pair of walking mechanisms, a first hydraulic motor and a second hydraulic motor; the farm tool carrying device comprises a farm tool carrying mechanism, a third hydraulic motor and a hydraulic telescopic part; the hydraulic power system comprises a hydraulic oil tank, a power source, a hydraulic pump and a proportional electromagnetic valve, the power source is in driving connection with the hydraulic pump, an inlet of the hydraulic pump is communicated with the hydraulic oil tank, and an outlet of the hydraulic pump is communicated with an inlet of the proportional electromagnetic valve; the proportional electromagnetic valve is provided with a plurality of working ports, and the working ports communicate with the first hydraulic motor, the second hydraulic motor, the third hydraulic motor and the hydraulic telescopic part correspondingly. According to the agricultural robot, the operation stability of the agricultural robot is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and more specifically, to an agricultural robot and its control method. Background Technology

[0002] Currently, most agricultural robots, such as tractors, adopt a mechanical drive architecture. The running end is generally driven by a gearbox to drive the left and right wheel systems or tracks, while the working implement end is output and mounted through the rear end of the gearbox.

[0003] However, despite their compact structure, these agricultural robots exhibit significant shortcomings during actual field operations. Instantaneous changes in soil resistance and entanglement with crop residues frequently subject the gearbox to impact loads. Furthermore, when high torque needs to be output at low speeds, they are prone to jamming and crawling, leading to deviations in direction and compromising operational stability. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an agricultural robot and its control method.

[0005] In a first aspect, the present invention provides an agricultural robot, including a walking device, an implement-carrying device, and a hydraulic power system; The traveling device includes a pair of traveling mechanisms, a first hydraulic motor and a second hydraulic motor, wherein the first hydraulic motor is driven connected to one of the traveling mechanisms and the second hydraulic motor is driven connected to the other traveling mechanism; The implement-carrying device includes an implement-carrying mechanism, a third hydraulic motor, and a hydraulic telescopic component; the hydraulic telescopic component is configured to drive the implement-carrying mechanism to move; the third hydraulic motor is configured to drive and connect to the input end of the implement. The hydraulic power system includes a hydraulic oil tank, a power source, a hydraulic pump, and a proportional solenoid valve. The power source is driven and connected to the hydraulic pump. The inlet of the hydraulic pump is connected to the hydraulic oil tank, and the outlet of the hydraulic pump is connected to the inlet of the proportional solenoid valve. The proportional solenoid valve has multiple working ports, which are respectively connected to the first hydraulic motor, the second hydraulic motor, the third hydraulic motor, and the hydraulic telescopic component. The proportional solenoid valve is configured to adjust the output flow of each of the working ports to control the flow distribution of the first hydraulic motor, the second hydraulic motor, and the third hydraulic motor, and to control the start and stop of the hydraulic telescopic component to adjust the working height of the implement.

[0006] Optionally, the agricultural robot also includes a control box and a battery configured to provide power to the control box; the control box is electrically connected to the proportional solenoid valve; the control box is used to receive commands to control the operation of the proportional solenoid valve.

[0007] Optionally, the agricultural robot further includes a generator and a starter motor; the power source is a diesel engine; the diesel engine is driven and connected to the hydraulic pump and the generator respectively; the starter motor is driven and connected to the diesel engine and electrically connected to the control box; the generator is configured to charge the battery.

[0008] Optionally, the traveling device further includes a frame; the traveling mechanism includes a drive wheel, a tension wheel assembly, tracks, and multiple load-bearing wheels; the drive wheel is rotatably mounted on the frame and driven by the first hydraulic motor or the second hydraulic motor; the tension wheel assembly includes a sliding beam and a tension wheel body rotatably mounted on the sliding beam, the sliding beam being slidably mounted on the frame; the multiple load-bearing wheels are rotatably mounted on the frame along the front-rear direction; the drive wheel, the tension wheel body, and the multiple load-bearing wheels are connected by the track drive.

[0009] Optionally, the agricultural robot also includes a counterweight, with the implement mounting device and the counterweight respectively disposed at the front and rear ends of the frame.

[0010] Optionally, the implement mounting mechanism includes two opposing and spaced-apart mounting units. Each mounting unit includes a swing arm, an adjustable tie rod, and a suspension arm. Both the swing arm and the suspension arm are rotatably connected to the frame, and are spaced apart along the height direction of the frame. One end of the adjustable tie rod is rotatably connected to the upper swing arm, and the other end is rotatably connected to the lower suspension arm. The suspension arms of the two mounting units are configured to connect to the implement. The hydraulic telescopic component is configured to drive the suspension arms to rotate relative to the frame.

[0011] Optionally, each of the mounting units is provided with at least one of the hydraulic telescopic components; the fixed end of the hydraulic telescopic component is rotatably connected to the vehicle frame; the telescopic end of the hydraulic telescopic component is rotatably connected to the swing arm, and the suspension arm is driven to rotate relative to the vehicle frame through the transmission of the adjustable tie rod.

[0012] Optionally, the implement-mounting device further includes a tow bar; the tow bar is located between the two implement-mounting units; and one end of the tow bar is rotatably connected to the frame, and the other end is configured to be rotatably connected to the implement.

[0013] Secondly, the present invention provides a control method for an agricultural robot, employing the agricultural robot described above, the control method comprising: Before the agricultural robot operates, the start and stop of the hydraulic telescopic component (203) are controlled by the proportional solenoid valve (304) to adjust the working height of the agricultural implement; During the operation of the agricultural robot, the flow information of the first hydraulic motor and the flow information of the second hydraulic motor fed back by the proportional solenoid valve are obtained, and the actual speed of the first hydraulic motor and the actual speed of the second hydraulic motor are obtained according to the flow-speed correspondence. When the actual speed of the first hydraulic motor and / or the actual speed of the second hydraulic motor are outside the preset speed range, the proportional solenoid valve is controlled to adjust the flow rates of the first hydraulic motor, the second hydraulic motor, and the third hydraulic motor according to the actual working conditions of the agricultural robot, until the actual speeds of the first hydraulic motor and the second hydraulic motor are both within the preset speed range.

[0014] Optionally, controlling the proportional solenoid valve to adjust the flow rates of the first hydraulic motor, the second hydraulic motor, and the third hydraulic motor according to the actual working conditions of the agricultural robot includes: The current operating condition label is obtained based on the flow information of the first hydraulic motor, the second hydraulic motor, and the third hydraulic motor; According to the current working condition label, the preset stored information is retrieved. The preset stored information includes the priority weight, minimum allowable flow lower limit, and maximum allowable flow upper limit of the first hydraulic motor, the second hydraulic motor, and the third hydraulic motor under the current working condition. When the priority of the first hydraulic motor and the second hydraulic motor is at the highest level, the proportional solenoid valve is controlled to preferentially adjust the first hydraulic motor and the second hydraulic motor to match the flow rate, and at the same time, the proportional solenoid valve controls the third hydraulic motor to be in a non-working state or a stopped state. When the priority of the first hydraulic motor and the second hydraulic motor is not at the highest level, the proportional solenoid valve is first controlled to adjust the flow rate of the third hydraulic motor to the minimum allowable flow rate limit, and then the proportional solenoid valve is controlled to adjust the first hydraulic motor and the second hydraulic motor to match the flow rate.

[0015] Compared with related technologies, the beneficial effects of the present invention are as follows: By integrating the first and second hydraulic motors of the traveling device, the third hydraulic motor of the implement-mounting device, and the hydraulic telescopic component into a closed hydraulic system controlled by a set of proportional solenoid valves, the power source can simultaneously distribute flow to the first, second, and third hydraulic motors as needed via a "hydraulic bus" of hydraulic pump-proportional solenoid valve-pipeline, and realize the opening and stopping of the hydraulic telescopic component. Before the agricultural robot starts working, the hydraulic telescopic component is controlled by the proportional solenoid valve to reach a certain position according to the required implement height, and then no further adjustment is needed. When the field resistance changes abruptly, the proportional solenoid valve can adjust the opening of the corresponding working port by milliseconds, providing smooth and jam-free hydraulic power under low-speed, high-torque conditions. This improves the crawling and overheating problems of the gearbox caused by instantaneous load impact in existing agricultural robot solutions, significantly enhancing the operational stability of the agricultural robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an agricultural robot according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an agricultural robot according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the traveling device according to an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the working principle of an agricultural robot according to an embodiment of the present invention. Figure 5 This is a flowchart illustrating a control method for an agricultural robot according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 100. Traveling device; 101. Traveling mechanism; 1011. Drive wheel; 1012. Tensioner assembly; 10121. Sliding beam; 10122. Tensioner body; 1013. Track; 1014. Load-bearing wheel; 102. First hydraulic motor; 103. Second hydraulic motor; 104. Frame; 1041. Bracket; 200. Implement mounting device; 201. Implement mounting mechanism; 2011. Mounting unit ; 20111, Swing arm; 20112, Adjustable tie rod; 20113, Suspension arm; 202, Third hydraulic motor; 203, Hydraulic telescopic component; 204, Traction rod; 300, Hydraulic power system; 301, Hydraulic oil tank; 302, Power source; 303, Hydraulic pump; 304, Proportional solenoid valve; 400, Control box; 500, Battery; 600, Generator; 700, Starter motor; 800, Counterweight. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0020] In the description of this invention, it should be understood that the terms "height," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," etc., 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 invention and simplifying the description, and 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. Therefore, they should not be construed as limitations on this invention.

[0021] The agricultural robot of this invention, such as Figure 1 , 2As shown, the system includes a traveling device 100, a implement-carrying device 200, and a hydraulic power system 300. The traveling device 100 includes a pair of traveling mechanisms 101, a first hydraulic motor 102, and a second hydraulic motor 103. The first hydraulic motor 102 is driven by one of the traveling mechanisms 101, and the second hydraulic motor 103 is driven by the other traveling mechanism 101. The implement-carrying device 200 includes an implement-carrying mechanism 201, a third hydraulic motor 202, and a hydraulic telescopic component 203. The hydraulic telescopic component 203 is configured to drive the implement-carrying mechanism 201. The third hydraulic motor 202 is configured to drive the input end of the implement. The hydraulic power system 300 includes a hydraulic oil tank 301 and a power source 300. 02. Hydraulic pump 303 and proportional solenoid valve 304. Power source 302 is connected to hydraulic pump 303. The inlet of hydraulic pump 303 is connected to hydraulic oil tank 301, and the outlet of hydraulic pump 303 is connected to the inlet of proportional solenoid valve 304. Proportional solenoid valve 304 has multiple working ports, which are respectively connected to first hydraulic motor 102, second hydraulic motor 103, third hydraulic motor 202 and hydraulic telescopic component 203. Proportional solenoid valve 304 is configured to adjust the output flow of each working port to control the flow distribution of first hydraulic motor 102, second hydraulic motor 103 and third hydraulic motor 202 and to control the start and stop of hydraulic telescopic component 203 to adjust the working height of agricultural implement.

[0022] In this embodiment, by connecting the first hydraulic motor 102 and the second hydraulic motor 103 of the traveling device 100, as well as the third hydraulic motor 202 and the hydraulic telescopic component 203 of the implement mounting device 200, to the same closed hydraulic system controlled by a set of proportional solenoid valves 304, the power source 302 can simultaneously distribute the flow of the first hydraulic motor 102, the second hydraulic motor 103, and the third hydraulic motor 202 as needed via the "hydraulic bus" of the hydraulic pump 303—proportional solenoid valve 304—pipeline, and realize the opening and stopping of the hydraulic telescopic component 203. Before the agricultural robot starts working, according to the required height of the implement, the hydraulic telescopic component 203 is controlled by the proportional solenoid valve 304 to reach a certain position and then no longer needs to be adjusted. When the field resistance changes suddenly, the proportional solenoid valve 304 can adjust the opening of the corresponding working port by decreasing or increasing it in milliseconds, providing smooth and jam-free hydraulic power in low-speed, high-torque conditions, thereby improving the crawling and overheating problems of the gearbox caused by instantaneous load impact in existing agricultural robot solutions, and significantly improving the operational stability of the agricultural robot.

[0023] It should be understood that when the third hydraulic motor 202 is activated, the required height of the implement will vary depending on the working conditions (adjusted by the hydraulic telescopic component 203). The input end of the implement and the output shaft of the third hydraulic motor 202 will inevitably be offset. Therefore, the two are connected by a universal coupling to maintain a smooth torque transmission at any angle.

[0024] Optionally, the traveling device 100 further includes a frame 104; the traveling mechanism 101 includes a drive wheel 1011, a tension wheel assembly 1012, a track 1013, and a plurality of load-bearing wheels 1014; the drive wheel 1011 is rotatably mounted on the frame 104 and is drivenly connected to a first hydraulic motor 102 or a second hydraulic motor 103; the tension wheel assembly 1012 includes a sliding beam 10121 and a tension wheel body 10122 rotatably mounted on the sliding beam 10121, the sliding beam 10121 being slidably mounted on the frame 104; the plurality of load-bearing wheels 1014 are rotatably mounted on the frame 104 in the front-rear direction; the drive wheel 1011, the tension wheel body 10122, and the plurality of load-bearing wheels 1014 are connected by the track 1013.

[0025] Specifically, the frame 104 of the walking device 100 provides load-bearing capacity for the agricultural robot, and the walking mechanism 101 of the walking device 100 provides walking capability for the agricultural robot. For example... Figure 3 As shown, in the traveling mechanism 101, the drive wheel 1011 is rotatably mounted on the frame 104 via a rotating shaft and is driven by either the first hydraulic motor 102 or the second hydraulic motor 103 to drive the track 1013 to rotate cyclically. The sliding beam 10121 of the tension wheel assembly 1012 is slidably mounted on the frame 104 along the front-rear direction. The tension wheel body 10122 of the tension wheel assembly 1012 is rotatably mounted on the sliding beam 10121. By adjusting the position of the tension wheel body 10122, the tension of the track 1013 can be adjusted. The track 1013 is looped around the drive wheel 1011, the tension wheel body 10122, and multiple load-bearing wheels 1014 to achieve the transmission connection between the drive wheel 1011, the tension wheel body 10122, and the multiple load-bearing wheels 1014.

[0026] In this optional embodiment, since the frame 104 integrates the drive wheel 1011, the sliding tension wheel assembly 1012, and multiple sets of load-bearing wheels 1014, and forms a running mechanism 101 with the track 1013, the drive wheel 1011 can directly receive the constant torque output of the first hydraulic motor 102 or the second hydraulic motor 103, the tension wheel body 10122 can tension the track 1013 on the sliding beam 10121, and the load-bearing wheels 1014 evenly distribute the weight of the whole machine to the ground contact section of the track 1013. The synergistic effect of the three makes the tension of the track 1013 always in the optimal range, and the ground pressure distribution is more continuous. Therefore, when traveling in soft, undulating, or rocky fields, it can prevent the track 1013 from slipping or skipping teeth, and reduce the impact and vibration of the frame 104, thereby significantly improving the straight-line driving stability and extending the service life of the track 1013.

[0027] Optionally, the agricultural robot also includes a control box 400 and a battery 500, the battery 500 being configured to provide power to the control box 400; the control box 400 is electrically connected to a proportional solenoid valve 304; the control box 400 is used to receive commands to control the operation of the proportional solenoid valve 304.

[0028] Specifically, such as Figure 1 As shown, both the control box 400 and the battery 500 are located at the top of the frame 104. Figure 4 As shown, the storage battery 500 is electrically connected to the control box 400 and can be used to provide power to the control box 400; the control box 400 is electrically connected to the proportional solenoid valve 304; the control box 400 is equipped with a wireless module, which can receive commands through the wireless module to control the operation of the proportional solenoid valve 304 to achieve unmanned driving.

[0029] In this optional embodiment, since the battery 500 provides a stable DC power supply to the control box 400, the control box 400 can directly drive the proportional solenoid valve 304 with an electrical signal. The proportional solenoid valve 304 then performs millisecond-level flow distribution to the first hydraulic motor 102, the second hydraulic motor 103, and the third hydraulic motor 202 according to the command, and controls the start and stop of the hydraulic telescopic component 203. Therefore, when there is a sudden change in field resistance, the action adjustment can be realized instantly, steplessly, and synchronously through the closed-loop link of control box 400 → proportional solenoid valve 304 → hydraulic motor.

[0030] Optionally, the agricultural robot also includes a generator 600 and a starter motor 700; the power source 302 is a diesel engine; the diesel engine is driven and connected to the hydraulic pump 303 and the generator 600 respectively; the starter motor 700 is driven and connected to the diesel engine and electrically connected to the control box 400; the generator 600 is configured to charge the battery 500.

[0031] Specifically, the power source 302 is a diesel engine, which is integrated with the generator 600 and the starter motor 700 and mounted on the frame 104; among which, such as Figure 4 As shown, the bidirectional output shaft of the diesel engine is driven and connected to the hydraulic pump 303 and the generator 600 respectively. It is used to drive the hydraulic pump 303 to rotate so as to realize the flow of hydraulic oil, and to drive the generator 600 to rotate so as to convert mechanical energy into electrical energy. The starter motor 700 is driven and connected to the diesel engine and electrically connected to the control box 400. The control box 400 is used to control the circuit of the starter motor 700 to conduct, so that the starter motor 700 drives the input end of the diesel engine to rotate to start the diesel engine. After the diesel engine starts successfully, the control box 400 is used to control the circuit of the starter motor 700 to cut off. The generator 600 is electrically connected to the battery 500 and can be used to charge the battery 500.

[0032] In this optional embodiment, since the diesel engine simultaneously drives the hydraulic pump 303 and the generator 600, after the starter motor 700 is started via the control box 400, it can drive the flywheel inside the diesel engine to rotate to achieve ignition conditions. The generator 600 can then continuously charge the battery 500, keeping the battery 500 fully charged at all times. The control box 400 thus obtains a stable power supply and can adjust the proportional solenoid valve 304 in real time without delay, thereby accurately distributing the flow. This closed-loop link of "diesel engine-generator 600-battery 500-control box 400-proportional solenoid valve 304" reduces control failures caused by battery depletion during field operations, and can achieve the beneficial effects of reliable machine starting, rapid hydraulic response, and energy self-sufficiency.

[0033] Optionally, the agricultural robot also includes a counterweight 800, with the implement mounting device 200 and the counterweight 800 respectively located at the front and rear ends of the frame 104.

[0034] Specifically, such as Figure 1 As shown, along the length of the frame 104, a farm implement mounting device 200 is installed at one end of the frame 104 for connecting to farm implements; a counterweight 800 is installed at the other end of the frame 104, the weight of which matches the weight of the farm implements being mounted, thereby balancing the center of gravity of the entire vehicle.

[0035] In this optional embodiment, since the implement mounting device 200 and the counterweight 800 are respectively located at the front and rear ends of the frame 104, they form a balance torque that acts as a lever between each other in the longitudinal direction. When the hydraulic telescopic component 203 lowers or raises the implement, the overturning torque generated by the change in front load is immediately offset by the rear counterweight 800, so that the center of gravity of the whole machine is always kept near the geometric center of the track 1013 contacting the ground, thereby significantly suppressing the "nose-lifting" or "nose-diving" phenomenon, while reducing the local pressure of the track 1013 and the fatigue load of the frame 104, and extending the service life of the whole machine.

[0036] Optionally, the implement mounting mechanism 201 includes two opposing and spaced-apart mounting units 2011. Each mounting unit 2011 includes a swing arm 20111, an adjustable rod 20112, and a suspension arm 20113. Both the swing arm 20111 and the suspension arm 20113 are rotatably connected to the frame 104, and are spaced apart along the height of the frame 104. One end of the adjustable rod 20112 is rotatably connected to the upper swing arm 20111, and the other end is rotatably connected to the lower suspension arm 20113. The suspension arms 20113 of the two mounting units 2011 are configured to connect to the implement. The hydraulic telescopic component 203 is configured to drive the suspension arms 20113 to rotate relative to the frame 104.

[0037] Specifically, such as Figure 1As shown, in the structure of the implement mounting mechanism 201, two mounting units 2011 are arranged opposite to each other and spaced apart along the width direction of the frame 104. Each mounting unit 2011 includes a swing arm 20111, an adjustable tie rod 20112, and a suspension arm 2013. A bracket 1041 is provided at one end of the frame 104 along its length direction. The swing arm 20111 is rotatably mounted above the frame 104 via the bracket 1041, and the suspension arm 20113 is rotatably mounted below the frame 104 via the bracket 1041. The adjustable tie rod 20112 is... The telescopic rod has one end rotatably connected to the upper swing arm 20111 and the other end rotatably connected to the lower suspension arm 20113. Thus, the bracket 1041 of the frame 104, the swing arm 20111, the adjustable tie rod 20112, and the suspension arm 20113 constitute a deformable four-bar linkage. The suspension arms 20113 of the two mounting units 2011 are provided with connecting structures such as connecting holes to connect with the implements. The hydraulic telescopic component 203 is used to drive the suspension arm 20113 to rotate relative to the frame 104, thereby raising and lowering the implements.

[0038] In this optional embodiment, since the two spaced-apart mounting units 2011 each form a deformable linkage mechanism consisting of a swing arm 20111, an adjustable tie rod 20112, and a suspension arm 20113, and the swing arm 20111 and the suspension arm 20113 are both hinged to the frame 104 to form upper and lower double fulcrums, the hydraulic telescopic component 203 only needs to push and pull the suspension arm 20113 to make the entire mechanism rise and fall synchronously. The adjustable tie rod 20112 is adjustable in length, allowing the hinge point position of the linkage mechanism to change instantaneously, thereby steplessly changing the height of the implement. This structure, on the one hand, evenly transmits the weight of the implement and the soil reaction force to the frame 104 through the double-point suspension, avoiding the distortion of the frame 104 caused by a single-point concentrated load; on the other hand, through the continuous force output of the hydraulic telescopic component 203 and the amplification effect of the linkage mechanism, smooth lifting and lowering under low speed and high torque is achieved.

[0039] Optionally, each mounting unit 2011 is provided with at least one hydraulic telescopic component 203; the fixed end of the hydraulic telescopic component 203 is rotatably connected to the frame 104; the telescopic end of the hydraulic telescopic component 203 is rotatably connected to the swing arm 20111, and drives the suspension arm 20113 to rotate relative to the frame 104 through the transmission of the adjustable tie rod 20112.

[0040] Specifically, the number of hydraulic telescopic components 203 corresponding to each mounting unit 2011 can be one, two, or three, etc. No specific limitation is set here; it depends on actual needs. Figure 1 As shown, each mounting unit 2011 is provided with a hydraulic telescopic component 203; the fixed end of the hydraulic telescopic component 203 is rotatably connected to the frame 104; the telescopic end of the hydraulic telescopic component 203 is rotatably connected to the swing arm 20111.

[0041] In this optional embodiment, since each mounting unit 2011 is equipped with at least one hydraulic telescopic component 203, and its fixed end is hinged to the frame 104 and its telescopic end is hinged to the swing arm 20111, when the proportional solenoid valve 304 accurately supplies oil to the hydraulic telescopic component 203, the telescopic force is first amplified by the swing arm 20111 and then transmitted to the suspension arm 2013 through the adjustable tie rod 20112, forming a cascade motion of "hydraulic telescopic component 203 telescopic → swing arm 20111 swing → adjustable tie rod 20112 pushes and pulls → suspension arm 20113 synchronously lifts and lowers".

[0042] Optionally, the implement mounting device 200 also includes a tow bar 204; the tow bar 204 is located between the two mounting units 2011; and one end of the tow bar 204 is rotatably connected to the frame 104, and the other end is configured to be rotatably connected to the implement.

[0043] Specifically, the shape and number of the tow bar 204 are not specifically limited and are determined according to actual needs. For example... Figure 1 As shown, the tow bar 204 is a straight bar structure, which is set between the two mounting units 2011 and above the suspension arm 20113. One end of the tow bar 204 is rotatably connected to the frame 104, and the other end is configured to be rotatably connected to the implement.

[0044] In this embodiment, the traction rod 204 cooperates with two mounting units 2011 to achieve three-point fixation between the agricultural robot and the implements, resulting in a more stable connection. Simultaneously, the length of the traction rod 204 is adjustable, allowing operators to adjust its length according to the type of implement during installation, thus offering high versatility.

[0045] It should be noted that the outer cylinder of the hydraulic telescopic component 203 has a limit self-locking device. When the implement rises, once the extended end of the hydraulic telescopic component 203 touches this device, it will be forcibly stopped, thereby locking the maximum rising stroke at the preset value. This prevents the implement from rising excessively and hitting the frame 104 or touching obstacles. At the same time, it can also limit the maximum descent depth of the implement, ensuring that the height of the implement is always within a safe range, and significantly improving the safety of operation.

[0046] Embodiments of the present invention provide a control method for an agricultural robot, employing the agricultural robot described above, the control method comprising: S100. Before the agricultural robot operates, the start and stop of the hydraulic telescopic component 203 are controlled by the proportional solenoid valve 304 to adjust the working height of the agricultural implement. S200. During the operation of the agricultural robot, the flow information of the first hydraulic motor 102 and the flow information of the second hydraulic motor 103 fed back by the proportional solenoid valve 304 are obtained, and the actual speed of the first hydraulic motor 102 and the actual speed of the second hydraulic motor 103 are obtained according to the flow-speed correspondence. S200. When the actual speed of the first hydraulic motor 102 and / or the actual speed of the second hydraulic motor 103 are outside the preset speed range, the proportional solenoid valve 304 is controlled to adjust the flow rate of the first hydraulic motor 102, the second hydraulic motor 103 and the third hydraulic motor 202 according to the actual working conditions of the agricultural robot, until the actual speed of the first hydraulic motor 102 and the actual speed of the second hydraulic motor 103 are both within the preset speed range.

[0047] In this embodiment, through flow-speed closed-loop feedback and dynamic adjustment of proportional solenoid valve 304, precise control of the first hydraulic motor 102 and the second hydraulic motor 103 can be achieved, thereby significantly improving the stability of agricultural robots in complex field conditions.

[0048] Optionally, step S200 includes: The current operating condition label is obtained based on the flow information of the first hydraulic motor 102, the second hydraulic motor 103, and the third hydraulic motor 202; In this step, the operating condition label is stored in the controller inside the control box 400. After obtaining the flow information of the first hydraulic motor 102, the second hydraulic motor 103, and the third hydraulic motor 202, the controller will output the current operating condition label through the built-in operating condition classification model (a lightweight decision tree trained based on historical data).

[0049] The preset stored information is retrieved according to the current working condition label. The preset stored information includes the priority weight, minimum allowable flow lower limit and maximum allowable flow upper limit of the first hydraulic motor 102, the second hydraulic motor 103 and the third hydraulic motor 202 under the current working condition. In this step, there is a one-to-one key-value mapping relationship between the operating condition label and the preset stored information.

[0050] When the priority of the first hydraulic motor 102 and the second hydraulic motor 103 is at the highest level, the proportional solenoid valve 304 is controlled to preferentially adjust the first hydraulic motor 102 and the second hydraulic motor 103 to match the flow rate, and at the same time, the proportional solenoid valve 304 controls the third hydraulic motor 202 to be in a non-working state or a stopped state. In this step, the matching flow rate is obtained from the aforementioned preset speed range. When the actual speed of the first hydraulic motor 102 or the second hydraulic motor 103 is less than the minimum speed of the preset speed range, the flow rate corresponding to the minimum speed of the preset speed range is the matching flow rate. Similarly, when the actual speed of the first hydraulic motor 102 or the second hydraulic motor 103 is greater than the maximum speed of the preset speed range, the flow rate corresponding to the maximum speed of the preset speed range is the matching flow rate.

[0051] When the priority of the first hydraulic motor 102 and the second hydraulic motor 103 is not at the highest level, the proportional solenoid valve 304 is first controlled to adjust the flow rate of the third hydraulic motor 202 to the minimum allowable flow rate limit, and then the proportional solenoid valve 304 is controlled to adjust the first hydraulic motor 102 and the second hydraulic motor 103 to match the flow rate.

[0052] In this step, if the priority of the first hydraulic motor 102 and the second hydraulic motor 103 is not at the highest level, it indicates that the implement is working under the current working conditions. That is to say, the third hydraulic motor 202 is working. Therefore, it is necessary to prioritize ensuring the reliability of the implement's operation. Finally, the first hydraulic motor 102 and the second hydraulic motor 103 are adjusted to match the flow rate.

[0053] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An agricultural robot, characterized in that, It includes a walking device (100), an implement mounting device (200), and a hydraulic power system (300). The traveling device (100) includes a pair of traveling mechanisms (101), a first hydraulic motor (102) and a second hydraulic motor (103), wherein the first hydraulic motor (102) is driven connected to one of the traveling mechanisms (101), and the second hydraulic motor (103) is driven connected to the other traveling mechanism (101). The implement mounting device (200) includes an implement mounting mechanism (201), a third hydraulic motor (202), and a hydraulic telescopic component (203); the hydraulic telescopic component (203) is configured to drive the implement mounting mechanism (201) to move; the third hydraulic motor (202) is configured to drive the input end of the implement; The hydraulic power system (300) includes a hydraulic oil tank (301), a power source (302), a hydraulic pump (303), and a proportional solenoid valve (304). The power source (302) is driven and connected to the hydraulic pump (303). The inlet of the hydraulic pump (303) is connected to the hydraulic oil tank (301), and the outlet of the hydraulic pump (303) is connected to the inlet of the proportional solenoid valve (304). The proportional solenoid valve (304) has multiple working ports, which are respectively connected to the first hydraulic motor (102), the second hydraulic motor (103), the third hydraulic motor (202), and the hydraulic telescopic component (203). The proportional solenoid valve (304) is configured to adjust the output flow of each of the working ports to control the flow distribution of the first hydraulic motor (102), the second hydraulic motor (103), and the third hydraulic motor (202) and to control the start and stop of the hydraulic telescopic component (203) to adjust the working height of the implement.

2. The agricultural robot according to claim 1, characterized in that, It also includes a control box (400) and a battery (500) configured to provide electrical energy to the control box (400); the control box (400) is electrically connected to the proportional solenoid valve (304); the control box (400) is used to receive instructions to control the operation of the proportional solenoid valve (304).

3. The agricultural robot according to claim 2, characterized in that, It also includes a generator (600) and a starter motor (700); the power source (302) is a diesel engine; the diesel engine is driven and connected to the hydraulic pump (303) and the generator (600) respectively; the starter motor (700) is driven and connected to the diesel engine and electrically connected to the control box (400); the generator (600) is configured to charge the battery (500).

4. The agricultural robot according to claim 1, characterized in that, The traveling device (100) further includes a frame (104); the traveling mechanism (101) includes a drive wheel (1011), a tension wheel assembly (1012), tracks (1013), and a plurality of load-bearing wheels (1014); the drive wheel (1011) is rotatably mounted on the frame (104) and is drivenly connected to the first hydraulic motor (102) or the second hydraulic motor (103); the tension wheel assembly (1012) includes a sliding beam (10121). The vehicle includes a drive wheel (1011), a tension wheel body (10122) rotatably mounted on the sliding beam (10121), the sliding beam (10121) being slidably mounted on the frame (104); a plurality of load-bearing wheels (1014) are rotatably mounted on the frame (104) along the front-rear direction; the drive wheel (1011), the tension wheel body (10122), and the plurality of load-bearing wheels (1014) are connected by the track (1013).

5. The agricultural robot according to claim 4, characterized in that, It also includes a counterweight (800), and the implement mounting device (200) and the counterweight (800) are respectively disposed at the front and rear ends of the frame (104).

6. The agricultural robot according to claim 4, characterized in that, The implement mounting mechanism (201) includes two opposing and spaced-apart mounting units (2011). Each mounting unit (2011) includes a swing arm (20111), an adjustable tie rod (20112), and a suspension arm (20113). Both the swing arm (20111) and the suspension arm (2013) are rotatably connected to the frame (104). The swing arm (20111) and the suspension arm (2013) are spaced apart along the height direction of the frame (104). One end of the adjustable tie rod (20112) is rotatably connected to the upper swing arm (20111), and the other end is rotatably connected to the lower suspension arm (2013). The suspension arms (20113) of the two mounting units (2011) are configured to connect to the implement. The hydraulic telescopic component (203) is configured to drive the suspension arm (2013) to rotate relative to the frame (104).

7. The agricultural robot according to claim 6, characterized in that, Each of the mounting units (2011) is provided with at least one of the hydraulic telescopic components (203); the fixed end of the hydraulic telescopic component (203) is rotatably connected to the frame (104); the telescopic end of the hydraulic telescopic component (203) is rotatably connected to the swing arm (20111), and drives the suspension arm (20113) to rotate relative to the frame (104) through the transmission of the adjustable tie rod (20112).

8. The agricultural robot according to claim 6, characterized in that, The implement-carrying device (200) further includes a tow bar (204); the tow bar (204) is located between the two implement-carrying units (2011); and one end of the tow bar (204) is rotatably connected to the frame (104), and the other end is configured to be rotatably connected to the implement.

9. A control method for an agricultural robot, characterized in that, The control method using the agricultural robot as described in any one of claims 1 to 8 includes: Before the agricultural robot operates, the start and stop of the hydraulic telescopic component (203) are controlled by the proportional solenoid valve (304) to adjust the working height of the agricultural implement; During the operation of the agricultural robot, the flow information of the first hydraulic motor (102) and the flow information of the second hydraulic motor (103) fed back by the proportional solenoid valve (304) are obtained, and the actual speed of the first hydraulic motor (102) and the actual speed of the second hydraulic motor (103) are obtained according to the flow-speed correspondence. When the actual speed of the first hydraulic motor (102) and / or the actual speed of the second hydraulic motor (103) are outside the preset speed range, the proportional solenoid valve (304) is controlled to adjust the flow rate of the first hydraulic motor (102), the second hydraulic motor (103), and the third hydraulic motor (202) according to the actual working conditions of the agricultural robot, until the actual speed of the first hydraulic motor (102) and the actual speed of the second hydraulic motor (103) are both within the preset speed range.

10. The control method for an agricultural robot according to claim 9, characterized in that, The step of controlling the proportional solenoid valve (304) to adjust the flow rates of the first hydraulic motor (102), the second hydraulic motor (103), and the third hydraulic motor (202) according to the actual working conditions of the agricultural robot includes: The current operating condition label is obtained based on the flow information of the first hydraulic motor (102), the second hydraulic motor (103), and the third hydraulic motor (202); According to the current working condition label, the preset storage information is retrieved. The preset storage information includes the priority weight, minimum allowable flow lower limit and maximum allowable flow upper limit of the first hydraulic motor (102), the second hydraulic motor (103) and the third hydraulic motor (202) under the current working condition. When the priority of the first hydraulic motor (102) and the second hydraulic motor (103) is at the highest level, the proportional solenoid valve (304) is controlled to preferentially adjust the first hydraulic motor (102) and the second hydraulic motor (103) to match the flow rate, and at the same time, the proportional solenoid valve (304) controls the third hydraulic motor (202) to be in a non-working state or a stopped state. When the priority of the first hydraulic motor (102) and the second hydraulic motor (103) is not at the highest level, the proportional solenoid valve (304) is first controlled to adjust the flow rate of the third hydraulic motor (202) to the minimum allowable flow rate limit, and then the proportional solenoid valve (304) is controlled to adjust the first hydraulic motor (102) and the second hydraulic motor (103) to the matching flow rate.

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