A remote control and automatic navigation type small precision seeding machine robot

Abstract

The present application relates to the technical field of agricultural robots, and discloses a remote control and automatic navigation type small precision seeding robot, which comprises a robot moving frame, a universal wheel unit elastically arranged at one end of the robot moving frame, a universal wheel arranged below the universal wheel unit, a driving wheel unit elastically arranged at the other end of the robot moving frame, a hub motor driving wheel arranged below the driving wheel unit, and a seeding unit elastically arranged below the robot moving frame and used for seeding. The hub motor driving wheel, the universal wheel and the seeding unit are all fixed on the robot moving frame in an elastic connection mode, can be self-adapted to undulating terrain, can guarantee smooth driving of the vehicle body, can maintain consistent seeding depth, and are suitable for complex small land operations in mountainous areas and hilly areas. The electric push rod adopts a non-contact lifting design, does not interfere with the seeding unit during seeding operation, can lift the seeding unit upward during scene and turning, and meets the requirements of seeding precision and equipment protection.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, and in particular to a remote-controlled and automatically navigated small precision seeding robot. Background Technology

[0002] my country is a major agricultural country, and precision agriculture has become the core direction of modern agricultural development. Precision seeding, as a key link in precision agriculture, is an important way to increase crop yields and income while reducing production costs. With the increasing demand for seeding in mountainous and hilly areas, small plots, and facility agriculture, large-scale tractor-driven seeders are difficult to operate efficiently in these scenarios due to their large size, large turning radius, and poor terrain adaptability.

[0003] Small-scale seeding equipment has the advantages of small turning radius and strong terrain adaptability; however, existing small-scale seeding equipment still has the following technical shortcomings: 1. Some small-scale seeding devices still rely on manual operation or traction, which is labor-intensive and inefficient. 2. Some electric seeding devices use a welded fixed frame chassis, which cannot flexibly adjust the working width and mounting form, resulting in poor modular expansion capabilities; 3. The chassis and wheel assembly lacks a shock absorption structure, resulting in significant vehicle bumps when driving on undulating terrain, which can easily lead to uneven sowing depth; 4. The lifting mechanism of the seeding unit is often rigidly connected to the unit. The lifting action will interfere with the independent contouring function of the seeding unit and affect the seeding accuracy. 5. Limited level of intelligence: Most seeding devices only support close-range manual operation and lack automatic navigation and remote control functions, making it difficult to adapt to the needs of unmanned and precise field operations.

[0004] In view of this, how to provide a small-scale seeding device that can overcome all or part of the above-mentioned technical defects is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a remote-controlled and automatically navigated small precision seeding robot to solve the technical defects of existing small seeding equipment.

[0006] To achieve the above objectives, the present invention provides a remote-controlled and automatically navigated small precision seeding robot, comprising: Robotic mobile chassis; A single omnidirectional wheel unit is flexibly mounted at one end of the robot's mobile frame, and omnidirectional wheels are provided below the single omnidirectional wheel unit; A drive wheel unit is flexibly mounted at the other end of the robot's mobile frame, and a hub motor drive wheel is located below the drive wheel unit; The seeding unit is flexibly positioned below the robot's mobile frame and is used for seeding.

[0007] Furthermore, the robot mobile frame includes: a transverse support beam, a longitudinal support beam, and a front unit. The transverse support beam and the longitudinal support beam are connected by bolts, and the front unit is connected to the transverse support beam by bolts.

[0008] Furthermore, the drive wheel unit has the same structure as the omnidirectional wheel unit, and the drive wheel unit includes: The bottom fixing plate has a two-side fixing plate on each side of its upper surface; A hub motor drive wheel fixing plate is disposed below the bottom fixing plate and is used to fix the hub motor drive wheel and the dual motor driver. The hub motor drive wheel is driven by the dual motor driver. A contoured parallel four-bar is rotatably mounted on the two side fixing plates via pins. A connecting rod is provided near the bottom of the contoured parallel four-bar. The two ends of the connecting rod are respectively connected to the contoured parallel four-bar on different side fixing plates. The top of the contoured parallel four-bar is hinged to the connecting plate. The connecting plate is connected to the transverse support beam and / or the longitudinal support beam. The shock-absorbing spring has one end connected to the lower surface of the connecting plate and the other end connected to the connecting rod.

[0009] Furthermore, the upper end of the seeding unit is connected to the transverse support beam and / or the longitudinal support beam via a pressure adjusting spring.

[0010] Furthermore, it also includes: An electric actuator is mounted on the transverse support beam and / or the longitudinal support beam; A hinged rod is hinged to the bottom fixing plate and / or the two side fixing plates, and a drive plate is provided at its end. The drive plate is connected to the seeding unit. The output end of the electric push rod is provided with a support. When the electric push rod moves upward, the support pushes the drive plate and the seeding unit upward. When the electric push rod moves downward to a preset position, the support separates from the drive plate.

[0011] Furthermore, it also includes: The Beidou navigation controller is mounted on the front unit. The tablet terminal is electrically connected to the Beidou navigation controller and the dual-motor driver.

[0012] Furthermore, it also includes: A lighting fixture is mounted on the front unit. Warning lights are installed on the transverse support beam and / or longitudinal support beam; both the lighting lights and the warning lights are electrically connected to the tablet terminal.

[0013] Furthermore, it also includes: The remote controller has a built-in signal receiving module in the tablet terminal, and the remote controller is communicatively connected to the signal receiving module.

[0014] The present invention discloses the following technical effects: Strong terrain adaptability: The hub motor drive wheels, omnidirectional wheels and seeding unit are all fixed to the robot's mobile frame in an elastic connection, which can adapt to undulating terrain, ensuring stable vehicle movement and consistent seeding depth, making it suitable for complex small plots such as mountains and hills.

[0015] Modular and flexible expansion: The robot mobile frame adopts a fully bolted splicing structure, which does not require welding. The length and width of the frame can be flexibly adjusted by replacing support beams of different lengths to adapt to different working widths and loading requirements. The equipment has low modification costs and strong versatility.

[0016] Contouring and lifting do not interfere with each other: The electric push rod adopts a non-contact lifting design, which does not interfere with the seeding unit during the sowing operation, and can lift the seeding unit upward when moving and turning, taking into account both the sowing accuracy and equipment protection requirements.

[0017] Dual-mode operation with wide adaptability: It supports free switching between automatic navigation and wireless remote control modes. Regular plots can be automatically navigated for unmanned operation to improve efficiency, while complex corner areas can be remotely controlled for precise operation, adapting to a variety of field operation scenarios.

[0018] Intuitive and convenient operation: It can be used with a tablet terminal to realize visual parameter setting and status monitoring, and the wireless remote control distance can meet the needs of field operation. It has a low threshold for operation and is easy for grassroots farmers and growers to use. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the robot's mobile chassis structure; Figure 3 This is a schematic diagram of the single-unit structure of the drive wheel; The components include: 1. Robot mobile frame; 101. Front unit; 102. Longitudinal support beam; 103. Transverse support beam; 2. Seeding unit; 3. Universal wheel unit; 4. Universal wheel; 5. Electric push rod; 6. Hub motor drive wheel; 7. Drive wheel unit; 701. Pin; 702. Side fixing plates; 703. Bottom fixing plate; 704. Hub motor drive wheel fixing plate; 705. Shock-absorbing spring; 706. Contour parallel four-bar; 707. Connecting plate; 8. Lighting lamp; 9. Beidou navigation controller; 10. Warning light; 11. Tablet terminal. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figures 1 to 3 As shown, this embodiment of the invention provides a remote-controlled and automatically navigated small precision seeding robot, comprising: Robotic mobile chassis 1; The omnidirectional wheel unit 3 is flexibly set at one end of the robot mobile frame 1, and the omnidirectional wheel 4 is set below the omnidirectional wheel unit 3; The drive wheel unit 7 is flexibly set at the other end of the robot mobile frame 1, and a hub motor drive wheel 6 is set below the drive wheel unit 7; The seeding unit 2 is flexibly positioned below the robot's mobile frame 1 and is used for seeding.

[0025] In this embodiment, the robot mobile frame 1 includes a transverse support beam 103, a longitudinal support beam 102, and a front unit 101. The transverse support beam 103 and the longitudinal support beam 102 are connected by bolts, and the front unit 101 and the transverse support beam 103 are also connected by bolts. By replacing the transverse support beam 103 and the longitudinal support beam 102 with different lengths, the length and width of the robot mobile frame 1 can be flexibly adjusted to adapt to different working widths and loading requirements, resulting in low equipment modification costs and strong versatility. Multiple mounting holes can be pre-drilled on the transverse support beam 103 and the longitudinal support beam 102 for mounting the connecting plate 707 and other equipment.

[0026] In this embodiment, the drive wheel unit 7 has the same structure as the omnidirectional wheel unit 3, and the drive wheel unit 7 includes: A bottom fixing plate 703, with a two-side fixing plate 702 on each side of its upper surface; A hub motor drive wheel fixing plate 704 is located below the bottom fixing plate 703 and is used to fix the hub motor drive wheel 6 and the dual motor driver. The hub motor drive wheel 6 is driven by the dual motor driver. The contoured parallel four-bar 706 is rotatably mounted on the two side fixing plates 702 via pins 701. A connecting rod is provided near the bottom of the contoured parallel four-bar 706, and the two ends of the connecting rod are respectively connected to the contoured parallel four-bar 706 on different side fixing plates 702. The top of the contoured parallel four-bar 706 is hinged to the connecting plate 707, and the connecting plate 707 is connected to the transverse support beam 103 and / or the longitudinal support beam 102. The shock-absorbing spring 705 is connected at one end to the lower surface of the connecting plate 707 and at the other end to the connecting rod. The shock-absorbing spring 705 serves two purposes: it buffers vibrations and it provides downward pressure to the hub motor drive wheel 6, ensuring its grip and stability. Under the action of the shock-absorbing spring, the hub motor drive wheel 6 can adaptively float according to different terrains while maintaining good contact with the ground (the same applies to the omnidirectional wheel 4).

[0027] In this embodiment, the upper end of the seeding unit 2 is connected to the transverse support beam 103 and / or the longitudinal support beam 102 via a pressure adjusting spring. In other embodiments, the seeding unit 2 may also employ a similar contoured parallel four-bar linkage 706 and pressure adjusting spring working together. During the sowing process, the seeding unit 2 can dynamically change its pressure on the ground, thereby adapting to different soil conditions such as sandy loam and clay loam, and ensuring a stable and consistent sowing depth.

[0028] In this embodiment, the hub motor drives wheel 6, which is driven by a dual-motor driver and supports differential steering control to achieve forward, reverse and steering actions. It also supports multiple control modes such as speed closed loop and torque closed loop to ensure driving stability.

[0029] In this embodiment, it also includes: Electric push rod 5 is mounted on transverse support beam 103 and / or longitudinal support beam 102; A hinged rod is hinged to the bottom fixing plate 703 and / or the two side fixing plates 702, and a drive plate is provided at its end. The drive plate is connected to the seeding unit 2. A support is provided on the output end of the electric push rod 5. When the electric push rod 5 moves upward, the support pushes the drive plate and the seeding unit 2 upward. When the electric push rod 5 moves downward to the preset position, the support separates from the drive plate. When the robot needs to turn, turn around, or move between fields, the electric push rod 5 moves upward to lift the entire seeding unit 2 off the ground, preventing the furrow opener and seed metering device from being scratched and damaged by the ground.

[0030] In this embodiment, the seeding unit 2 can be made using existing technology, such as a rotary automatic seeder with a feed inlet at the top, spaced apart from the pressure regulating spring. The side of the seeding unit 2 is a shell, and the drive plate can be fixedly connected to the shell.

[0031] In this embodiment, it also includes: The Beidou navigation controller 9 is located on the front unit 101; The tablet terminal 11 is electrically connected to the Beidou navigation controller 9 and the dual motor driver.

[0032] In this embodiment, it also includes: Lighting lamp 8 is installed on the front unit 101; Warning light 10 is installed on transverse support beam 103 and / or longitudinal support beam 102; both lighting light 8 and warning light 10 are electrically connected to tablet terminal 11.

[0033] In this embodiment, it also includes: The remote controller and the tablet terminal 11 have a built-in signal receiving module, and the remote controller communicates with the signal receiving module.

[0034] In automatic navigation mode, the Beidou navigation controller 9, based on the preset work path and row spacing parameters of the tablet terminal 11, combined with real-time satellite positioning and attitude data, sends target speed and steering commands to the dual-motor driver, controlling the robot to automatically travel in a straight line and automatically change lanes along the planned path, completing fully autonomous sowing operations. The tablet terminal 11 interacts with the Beidou navigation controller 9 via wireless communication, enabling visualized planning of the work path, setting of sowing spacing parameters, and real-time monitoring of the work status, while also storing data such as work mileage and sowing area. When abnormal conditions such as seed blockage, motor failure, or low voltage occur, the control system triggers the warning light 10 to flash and sound, and simultaneously displays an alarm prompt on the tablet terminal 11.

[0035] In actual operation, operators can flexibly choose the operation mode according to the plot conditions: for regular contiguous plots, the automatic navigation mode can be activated. After setting the operation boundary, row spacing, and plant spacing parameters in the tablet terminal 11, the robot can automatically complete the sowing operation along the planned path without continuous manual control; for irregular plots, corner areas, or areas around obstacles, the remote control mode can be switched to remote control mode, allowing the robot to move and sow remotely, flexibly handling complex working conditions. During the robot's turning process, the electric push rod 5 is automatically triggered to retract and raise the sowing unit 2. After the turn is completed and the robot enters straight-line travel, the electric push rod 5 extends and lowers the sowing unit 2, automatically resuming the sowing operation, taking into account both sowing quality and equipment lifespan throughout the process.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A remote-controlled and automatically navigated small precision seeding robot, characterized in that, include: Robotic mobile chassis (1); The universal wheel unit (3) is elastically set at one end of the robot mobile frame (1), and the universal wheel unit (3) is provided with a universal wheel (4) below it. A drive wheel unit (7) is elastically disposed at the other end of the robot mobile frame (1), and a hub motor drive wheel (6) is disposed below the drive wheel unit (7). The seeding unit (2) is elastically positioned below the robot mobile frame (1) for seeding.

2. The remote-controlled and automatic navigation miniature precision seeding robot according to claim 1, characterized in that, The robot mobile frame (1) includes: a transverse support beam (103), a longitudinal support beam (102) and a front unit (101). The transverse support beam (103) and the longitudinal support beam (102) are connected by bolts, and the front unit (101) and the transverse support beam (103) are connected by bolts.

3. The remote-controlled and automatic navigation miniature precision seeding robot according to claim 2, characterized in that, The drive wheel unit (7) has the same structure as the universal wheel unit (3), and the drive wheel unit (7) includes: A bottom fixing plate (703) has a two-side fixing plate (702) on each side of its upper surface; A hub motor drive wheel fixing plate (704) is disposed below the bottom fixing plate (703) for fixing the hub motor drive wheel (6) and the dual motor driver, wherein the hub motor drive wheel (6) is driven by the dual motor driver; A contoured parallel four-bar (706) is rotatably mounted on the two side fixing plates (702) by means of pins (701). A connecting rod is provided near the bottom of the contoured parallel four-bar (706). The two ends of the connecting rod are respectively connected to the contoured parallel four-bar (706) on different side fixing plates (702). The top of the contoured parallel four-bar (706) is hinged to the connecting plate (707). The connecting plate (707) is connected to the transverse support beam (103) and / or the longitudinal support beam (102). The shock-absorbing spring (705) is connected at one end to the lower surface of the connecting plate (707) and at the other end to the connecting rod.

4. The remote-controlled and automatic navigation miniature precision seeding robot according to claim 3, characterized in that, The upper end of the seeding unit (2) is connected to the transverse support beam (103) and / or the longitudinal support beam (102) via a pressure regulating spring.

5. A remote-controlled and automatically navigated small precision seeding robot according to claim 4, characterized in that, Also includes: An electric push rod (5) is mounted on the transverse support beam (103) and / or the longitudinal support beam (102); The hinge rod is hinged to the bottom fixing plate (703) and / or the two side fixing plates (702), and a drive plate is provided at its end. The drive plate is connected to the seeding unit (2). The output end of the electric push rod (5) is provided with a support. When the electric push rod (5) moves upward, the support pushes the drive plate and the seeding unit (2) upward. When the electric push rod (5) moves downward to a preset position, the support separates from the drive plate.

6. A remote-controlled and automatically navigated small precision seeding robot according to claim 5, characterized in that, Also includes: The Beidou navigation controller (9) is mounted on the front unit (101); The tablet terminal (11) is electrically connected to the Beidou navigation controller (9) and the dual motor driver.

7. A remote-controlled and automatically navigated small precision seeding robot according to claim 6, characterized in that, Also includes: A lighting lamp (8) is provided on the front unit (101); Warning lights (10) are installed on the transverse support beam (103) and / or the longitudinal support beam (102); both the lighting lamp (8) and the warning lights (10) are electrically connected to the tablet terminal (11).

8. A remote-controlled and automatically navigated small precision seeding robot according to claim 6, characterized in that, Also includes: The remote controller has a built-in signal receiving module in the tablet terminal (11), and the remote controller is communicatively connected to the signal receiving module.

Images