Farmland irrigation robot with terrain self-adaptive wheel set

Abstract

The utility model relates to the technical field of farm irrigation robots, in particular to a farm irrigation robot with a terrain self-adaptive wheel set, which comprises a robot main body, the terrain self-adaptive wheel set, a sensor module, an intelligent control system and an irrigation system. The robot body is used for bearing an irrigation system and other equipment, the terrain self-adaption wheel set provides stable walking capacity through a plurality of height and angle adjustable wheels, the sensor module comprises a terrain sensor, an environment sensor and a position sensor, and the intelligent control system adjusts the motion state of the wheel set according to sensor data. And different terrains can be adapted. The stability and adaptability of the farmland irrigation robot can be improved, and the problems existing in the prior art are effectively solved.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural machinery and equipment technology, specifically a farmland irrigation robot equipped with terrain-adaptive wheel sets. Background Technology

[0002] With the development of agricultural irrigation technology, various types of farmland irrigation robots have been widely used. However, these products still have some problems in practical use. For example, existing farmland irrigation robots usually adopt traditional fixed or track-based walking mechanisms, which have limited adaptability to complex terrains and are prone to unstable walking or even failure to work properly, resulting in low work efficiency and inconvenience in some scenarios.

[0003] To address these issues, some manufacturers have attempted to improve the robot's adaptability in complex terrain by adding sensors and intelligent control systems. However, such improvements often suffer from insufficient sensor accuracy and high control system complexity, resulting in poor overall system stability and high maintenance costs.

[0004] A search revealed that invention patent CN117572862B discloses an intelligent irrigation robot for farmland and its automatic irrigation method, published on August 2, 2024. This invention relates to the field of agricultural irrigation technology, specifically disclosing an intelligent irrigation robot for farmland and its automatic irrigation method. The method includes acquiring an irrigation map, reaching the irrigation starting point via a first walking route, connecting with the outlet at the irrigation starting point based on the outlet location information, acquiring environmental detection information at the current location according to a preset detection frequency, and irrigating the farmland based on the environmental detection information and the corresponding irrigation mode for the area. While this design can combine irrigation mode and environmental detection information to improve irrigation efficiency and water conservation, its walking mechanism still uses traditional fixed wheel sets, which cannot effectively cope with complex farmland terrain, such as uneven fields and environments with many obstacles, easily leading to unstable walking or malfunction.

[0005] A search revealed that invention patent CN111328518B, published on May 14, 2021, discloses a track-type agricultural robot for experimental fields. This invention relates to the field of agricultural robots, specifically disclosing a track-type agricultural robot for experimental fields, including a fertilizing robot and a transport track. The fertilizing robot is mounted on the transport track. By designing a track-type agricultural machinery layout structure for farmland, it can meet the direct fertilization and irrigation requirements of a large area, avoiding repeated compaction of the farmland. However, this design requires pre-laying the transport track in the farmland, increasing construction costs and maintenance difficulty. Furthermore, track-type robots have poor adaptability in non-track areas and cannot flexibly cope with various complex terrains.

[0006] The aforementioned problems indicate that traditional farmland irrigation robots currently on the market are ill-equipped to effectively meet the new demands for stable movement and efficient irrigation in complex terrains. Therefore, this invention provides a farmland irrigation robot with terrain-adaptive wheels. By employing wheels with terrain-adaptive capabilities, this robot can maintain stable movement under different terrain conditions, effectively improving irrigation efficiency and reliability, and meeting the needs of modern agricultural production for intelligent irrigation equipment. Utility Model Content

[0007] This disclosure provides a farmland irrigation robot equipped with terrain-adaptive wheels, which at least partially solves the problems existing in the prior art.

[0008] This disclosure discloses a farmland irrigation robot equipped with terrain-adaptive wheel sets, comprising:

[0009] The main body of the robot is used to carry the irrigation system and other equipment;

[0010] Terrain-adaptive wheel sets are located under the robot's main body to provide stable walking ability under different terrain conditions;

[0011] The sensor module, mounted on the robot's main body, is used to detect terrain and environmental information;

[0012] The intelligent control system, connected to the sensor module and terrain-adaptive wheelset, is used to adjust the motion state of the wheelset based on the detected information.

[0013] An irrigation system, mounted on the robot's main body and connected to a water source, is used to irrigate farmland.

[0014] The terrain-adaptive wheelset includes multiple wheels with adjustable height and angle;

[0015] The sensor module further includes a terrain sensor, an environmental sensor, and a position sensor, each of which can work independently and provide real-time data.

[0016] The intelligent control system includes a central processing unit and a control module, which can adjust the height and angle of the wheel set according to the data provided by the sensors to adapt to different terrains;

[0017] A support plate is installed under the robot body to increase the robot's stability.

[0018] Preferably, multiple height- and angle-adjustable wheels are adjusted via electric push rods.

[0019] Preferably, the sensor module is connected to the intelligent control system via a wireless communication module to achieve real-time data transmission.

[0020] Preferably, the height and angle of each wheel are adjusted by rotating the adjustment knob on the wheel.

[0021] Preferably, an anti-slip mat is placed under the robot body to prevent the robot from sliding on wet and slippery surfaces.

[0022] Preferably, connecting rods are added between multiple wheels to increase mutual support and fixation between the wheels.

[0023] Preferably, the connecting rod is embedded in the axle of the wheel to enhance the stability of the structure.

[0024] Preferably, the robot body has grooves or protrusions on its sides to form a mating relationship between the wheels and the robot body.

[0025] Preferably, a center of gravity adjustment device is provided below the robot body. The center of gravity adjustment device includes a mobile platform connected to the robot body and changes its height through a spiral lifting structure.

[0026] Preferably, elastic connectors are provided between multiple wheels to increase the wheel's adaptability in complex terrain.

[0027] This disclosure presents a farmland irrigation robot equipped with terrain-adaptive wheelsets, comprising a robot body, terrain-adaptive wheelsets, a sensor module, an intelligent control system, and an irrigation system. The robot body carries the irrigation system and other equipment. The terrain-adaptive wheelsets provide stable walking capability through multiple wheels with adjustable height and angle. The sensor module includes terrain sensors, environmental sensors, and position sensors. The intelligent control system adjusts the movement state of the wheelsets based on sensor data to adapt to different terrains. This application improves the stability and adaptability of farmland irrigation robots and effectively solves the problems existing in the prior art. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the exemplary embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This utility model provides an overall structural diagram of a farmland irrigation robot equipped with terrain-adaptive wheel sets;

[0030] Figure 2 A top view of a farmland irrigation robot with terrain-adaptive wheel sets provided by this utility model;

[0031] Figure 3 A front view of a farmland irrigation robot with terrain-adaptive wheel sets provided by this utility model;

[0032] Figure 4 A side view of a farmland irrigation robot with terrain-adaptive wheel sets provided by this utility model;

[0033] Figure 5 A partially enlarged view of a farmland irrigation robot with terrain-adaptive wheel sets provided for this utility model shows the wheel adjustment mechanism;

[0034] Figure 6 This invention provides a structural diagram of an intelligent control system for a farmland irrigation robot equipped with terrain-adaptive wheel sets.

[0035] Reference numerals: 1-Robot body; 2-Terrain adaptive wheel set; 3-Sensor module; 4-Intelligent control system; 5-Irrigation system; 6-Support plate; 7-Electric push rod; 8-Wireless communication module; 9-Anti-slip mat; 10-Connecting rod; 11-Elastic connector; 12-Center of gravity adjustment device; 13-Mobile platform; 14-Spiral lifting structure. Detailed Implementation

[0036] To more clearly illustrate the specific implementation of the farmland irrigation robot with terrain-adaptive wheel assembly of this utility model, the various components of this utility model and their implementation methods will be described in detail below with reference to the accompanying drawings.

[0037] This utility model provides a farmland irrigation robot with terrain-adaptive wheel sets, the overall structure of which is as follows: Figure 1 As shown, the robot mainly consists of a robot body 1, terrain-adaptive wheel set 2, sensor module 3, intelligent control system 4, and irrigation system 5. The robot body 1 carries the irrigation system 5 and other equipment, ensuring stable movement and operation of the robot in farmland. The terrain-adaptive wheel set 2 is located below the robot body 1, providing stable walking capability under different terrain conditions. The sensor module 3 is located on the robot body 1, used to detect terrain and environmental information. The intelligent control system 4 is connected to the sensor module 3 and the terrain-adaptive wheel set 2, adjusting the movement state of the wheel set based on the detected information. The irrigation system 5 is located on the robot body 1 and connected to a water source for irrigating the farmland.

[0038] Figure 2This utility model provides a top view of a farmland irrigation robot equipped with terrain-adaptive wheel sets, showing the planar layout of the robot body 1. The robot body 1 has a rectangular structure with overall dimensions of 1.5 meters × 1 meter × 0.8 meters. Four terrain-adaptive wheel sets 2 are installed at the four corners of the robot body 1, each wheel set 2 including a wheel with adjustable height and angle. These wheels are adjusted via electric push rods 7, which are fixed to the bottom of the robot body 1, with one end connected to the wheel. Through commands from the intelligent control system 4, the electric push rods 7 can precisely adjust the height and angle of each wheel to adapt to different terrain conditions.

[0039] Figure 3 This utility model provides a front view of a farmland irrigation robot equipped with terrain-adaptive wheel sets, showing the front structure of the robot body 1. Multiple environmental sensors 3 are mounted on the front of the robot body 1, including terrain sensors, environmental sensors, and position sensors. The terrain sensors detect ground undulations and slopes, the environmental sensors detect environmental information such as air temperature, humidity, and soil moisture, and the position sensors detect the robot's current position and attitude. These sensors are connected to the intelligent control system 4 via a wireless communication module 8 to achieve real-time data transmission. The wireless communication module 8 can employ wireless communication technologies such as Wi-Fi, Bluetooth, or 4G / 5G to ensure the stability and real-time performance of data transmission.

[0040] Figure 4 This side view of a farmland irrigation robot with terrain-adaptive wheels, provided by this utility model, shows the side structure of the robot body 1. A layer of anti-slip pad 9 is provided on the bottom of the robot body 1. The anti-slip pad 9 is made of a wear-resistant and anti-slip material, such as rubber or polyurethane, to prevent the robot from sliding on wet and slippery surfaces. The sides of the robot body 1 have grooves or protrusions to form a mating relationship with the wheels. These grooves or protrusions help to secure the wheels and prevent them from loosening or falling off in complex terrain. In addition, a support plate 6 is provided below the robot body 1. The support plate 6 is made of a lightweight but high-strength material, such as aluminum alloy or carbon fiber, to increase the robot's stability.

[0041] Figure 5This enlarged view of a terrain-adaptive wheel assembly for agricultural irrigation robots provided by this utility model shows the wheel adjustment mechanism. Each wheel's height and angle are adjusted via an electric push rod 7. One end of the electric push rod 7 is fixed to the bottom of the robot body 1, and the other end is connected to the wheel. When the intelligent control system 4 detects a change in terrain, the electric push rod 7 extends, retracts, and rotates according to instructions from the central processing unit to adjust the wheel's height and angle. For example, when encountering a steep slope, the electric push rod 7 lifts the front wheel and lowers the rear wheel to maintain the robot's balance; when encountering potholes, the electric push rod 7 adjusts the corresponding wheel height to ensure the robot passes smoothly. Furthermore, connecting rods 10 are added between the multiple wheels, embedded in the wheel's axle to enhance structural stability. These connecting rods 10 not only increase the mutual support and fixation between the wheels but also maintain the relative position of the wheels during robot movement, preventing loosening or misalignment.

[0042] Figure 6 This invention provides a structural diagram of an intelligent control system for a farmland irrigation robot equipped with terrain-adaptive wheel sets. The intelligent control system 4 includes a central processing unit (CPU) and a control module. The CPU employs a high-performance embedded processor, such as an ARM Cortex series processor, capable of rapidly processing large amounts of real-time data provided by the sensor module 3. The control module is responsible for translating the instructions from the CPU into specific control actions, such as adjusting the extension and rotation of the electric push rod 7. The working principle of the intelligent control system 4 is as follows:

[0043] The terrain sensor in sensor module 3 detects the undulations and slopes of the ground, the environmental sensor detects environmental information such as temperature, humidity, and soil moisture, and the position sensor detects the robot's current position and posture. This data is transmitted in real time to the intelligent control system 4 via the wireless communication module 8.

[0044] The central processing unit of the intelligent control system 4 analyzes and processes the received data to determine whether the height and angle of the wheelset need to be adjusted under the current terrain conditions.

[0045] If the central processing unit determines that adjustment is needed, the control module will adjust the height and angle of each wheel precisely through the electric push rod 7 according to the instructions of the central processing unit.

[0046] During the adjustment process, the central processing unit continuously monitors the data provided by the sensor module 3 to ensure that the adjusted wheel height and angle enable the robot to maintain the best walking state.

[0047] The center-of-gravity adjustment device 12, located below the robot body 1, also adjusts according to instructions from the central processing unit to further increase the robot's stability. The center-of-gravity adjustment device 12 includes a moving platform 13 connected to the robot body 1, and its height is changed via a helical lifting structure 14. The helical lifting structure 14 is driven by a stepper motor, and the rotation of the stepper motor finely adjusts the moving platform 13 in the vertical direction via a lead screw, thereby changing the robot's center-of-gravity position.

[0048] To increase the adaptability of the wheels in complex terrain, elastic connectors 11 are also installed between the multiple wheels. The elastic connectors 11 are made of springs or elastic rubber materials, which can absorb the unevenness and impact of the ground during the robot's movement, reduce the vibration of the robot body 1, and protect the normal operation of the internal equipment.

[0049] The specific operation process of the farmland irrigation robot with terrain-adaptive wheel sets of this utility model is as follows: During farmland operations, the robot body 1 first detects the terrain information of the ground in front through terrain sensors, such as slope, flatness, and obstacles. The terrain sensors can use technologies such as lidar, ultrasonic sensors, or cameras to ensure the accuracy and real-time performance of the detection. When a slope or obstacle is detected in front of the ground, the central processing unit of the intelligent control system 4 calculates the optimal wheel set adjustment scheme based on this data and issues instructions to the control module. After receiving the instructions, the control module adjusts the height and angle of each wheel through the electric push rods 7. For example, when the robot needs to go uphill, the central processing unit will instruct the electric push rods 7 of the front wheels to shorten and the electric push rods 7 of the rear wheels to extend, raising the front of the robot and lowering the rear to maintain balance. When the robot travels on terrain with many potholes, the central processing unit will instruct the electric push rods 7 of the corresponding wheels to adjust their height so that the wheels can better contact the ground and ensure the robot's stable movement. While adjusting the wheels, the intelligent control system 4 also monitors environmental information and the robot's position and posture through environmental and position sensors to adjust and optimize the walking strategy in a timely manner. For example, when the environmental sensor detects low soil moisture, the central processor instructs the irrigation system 5 to increase the irrigation amount; when the position sensor detects that the robot deviates from the predetermined path, the central processor will fine-tune the wheel assembly to bring the robot back to the correct path. To further increase the robot's stability, an anti-slip pad 9 is installed under the robot body 1. The anti-slip pad 9 is made of wear-resistant and anti-slip material, which can effectively prevent the robot from sliding even in wet farmland. In addition, a support plate 6 is also installed under the robot body 1. The support plate 6 provides additional support when the robot is parked, ensuring that the robot is more stable when stationary. The connecting rods 10 installed between the multiple wheels further enhance the stability of the wheels. The connecting rods 10 are embedded in the axle of the wheels and fixed with fasteners to ensure that the wheels do not loosen or misalign during movement. The connecting rods 10 can also transmit the reaction force of the ground during the robot's movement, enabling the wheels to better cope with complex terrain conditions. A flexible connector 11 is positioned between multiple wheels to absorb uneven ground and impacts. Made of springs or elastic rubber, the connector 11 cushions the impact when the robot travels on uneven or rugged terrain, reducing vibration of the robot body 1 and protecting the normal operation of internal equipment. The connector 11 also transmits force between different wheels, ensuring the robot remains stable in complex terrain. Grooves or protrusions on the sides of the robot body 1 engage with the wheels. These grooves or protrusions can be made of plastic or metal, offering good wear resistance and corrosion resistance.With this structural design, the wheels can be more firmly fixed to the robot body 1 during movement, preventing the wheels from loosening or falling off in complex terrain, thereby ensuring the stability and safety of the robot.

[0050] To further optimize the robot's walking performance, a center of gravity adjustment device 12 is also installed below the robot body 1. The center of gravity adjustment device 12 includes a moving platform 13 connected to the robot body 1, and its height is changed via a helical lifting structure 14. The helical lifting structure 14 is driven by a stepper motor. The rotation of the stepper motor finely adjusts the moving platform 13 in the vertical direction via a lead screw, thereby changing the robot's center of gravity position. The central processing unit (CPU) calculates the optimal center of gravity adjustment scheme based on data provided by the sensor module 3 and instructs the stepper motor to make adjustments via the control module. For example, when the robot needs to traverse relatively rugged terrain, the CPU instructs the stepper motor to lower the moving platform 13, shifting the robot's center of gravity downwards and increasing stability; when the robot needs to traverse relatively flat terrain, the CPU instructs the stepper motor to raise the moving platform 13, shifting the robot's center of gravity upwards to reduce wheel wear and energy consumption.

[0051] An application example of this utility model of a farmland irrigation robot with terrain-adaptive wheelsets is as follows: Assume the robot is irrigating an uneven farmland. The robot first detects a relatively steep uphill slope ahead using terrain sensors. Upon receiving this information, the central processing unit (CPU) of the intelligent control system 4 calculates the optimal wheel adjustment scheme. The CPU instructs the control module to shorten the electric push rod 7 of the front wheel and extend the electric push rod 7 of the rear wheel, raising the front of the robot and lowering the rear to maintain balance. Simultaneously, the CPU instructs the irrigation system 5 to adjust the irrigation volume based on data from the soil moisture sensor to ensure optimal irrigation results. During the robot's movement, the sensor module 3 continuously detects terrain and environmental information and transmits it to the intelligent control system 4 in real time. The CPU dynamically adjusts the height and angle of the wheelsets based on this information, enabling the robot to walk smoothly in complex terrain. For example, when the robot encounters a large pothole, the CPU instructs the corresponding wheel's electric push rod 7 to extend, allowing the wheel to better contact the ground and preventing the robot from tilting or tipping over. Furthermore, the robot may encounter slippery surfaces during its movement. In this case, the anti-slip mat 9 becomes particularly important. The anti-slip mat 9 is made of wear-resistant and non-slip material, effectively preventing the robot from sliding on wet surfaces and ensuring its walking safety. The support plate 6 provides additional support when the robot is parked, ensuring greater stability when stationary. When the robot traverses rough terrain, the elastic connector 11 absorbs unevenness and impacts, reducing vibration of the robot body 1 and protecting the normal operation of internal equipment. The connecting rod 10 transmits force between multiple wheels, ensuring better coordination of the wheels in complex terrain and increasing the robot's stability. Finally, the intelligent control system 4 further optimizes the robot's walking performance through the center of gravity adjustment device 12 based on data provided by the sensor module 3. When the robot needs to traverse rough terrain, the central processing unit instructs the stepper motor to lower the moving platform 13, shifting the robot's center of gravity downwards and increasing stability; when the robot needs to traverse relatively flat terrain, the central processing unit instructs the stepper motor to raise the moving platform 13, shifting the robot's center of gravity upwards and reducing wheel wear and energy consumption.

[0052] In summary, this utility model's farmland irrigation robot with terrain-adaptive wheels, through the precise adjustment of the intelligent control system 4 and various structural designs, can provide stable walking capabilities under different terrain conditions, ensuring the smooth progress of irrigation operations. Furthermore, through real-time detection and adjustment, the robot can adapt to various complex farmland environments, improving operational efficiency and irrigation effectiveness.

Claims

1. A farmland irrigation robot equipped with terrain-adaptive wheel sets, characterized in that, include: The robot body (1) is used to carry the irrigation system and other equipment; Terrain-adaptive wheel set (2) is set under the robot body (1) to provide stable walking ability under different terrain conditions; The sensor module (3) is installed on the robot body (1) and is used to detect terrain and environmental information; The intelligent control system (4) is connected to the sensor module (3) and the terrain-adaptive wheel set (2) to adjust the motion state of the wheel set (2) according to the detected information; An irrigation system (5) is installed on the robot body (1) and connected to a water source for irrigating farmland; The terrain-adaptive wheelset (2) includes multiple wheels with adjustable height and angle; The sensor module (3) further includes a terrain sensor, an environmental sensor and a position sensor, each of which can work independently and provide real-time data; The intelligent control system (4) includes a central processing unit and a control module, which can adjust the height and angle of the wheel set (2) according to the data provided by the sensor module (3) to adapt to different terrains; A support plate (6) is installed below the robot body (1) to increase the robot's stability.

2. The farmland irrigation robot with terrain-adaptive wheel set according to claim 1, characterized in that: Multiple adjustable wheels with adjustable height and angle are adjusted via an electric push rod (7).

3. The farmland irrigation robot with terrain-adaptive wheel set according to claim 1, characterized in that: The sensor module (3) is connected to the intelligent control system (4) through the wireless communication module (8) to realize real-time data transmission.

4. The farmland irrigation robot with terrain-adaptive wheel set according to claim 1, characterized in that: Adjust the height and angle of each wheel by rotating the adjustment knob on the wheel.

5. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 1, characterized in that: A layer of anti-slip mat (9) is placed under the robot body (1) to prevent the robot from sliding on wet and slippery ground.

6. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 1, characterized in that: Connecting rods (10) are added between multiple wheels to increase mutual support and fixation between the wheels.

7. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 6, characterized in that: The connecting rod (10) is embedded in the axle of the wheel to enhance the stability of the structure.

8. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 1, characterized in that: The robot body (1) has grooves or protrusions on its side, forming a mating relationship between the wheels and the robot body (1).

9. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 1, characterized in that: A center of gravity adjustment device (12) is provided below the robot body (1). The center of gravity adjustment device (12) includes a mobile platform (13) connected to the robot body (1) and changes its height through a spiral lifting structure (14).

10. A farmland irrigation robot with terrain-adaptive wheel assembly according to claim 1, characterized in that: Elastic connectors (11) are provided between multiple wheels to increase the wheel's adaptability in complex terrain.

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