Intelligent seeding robot

Abstract

The utility model discloses an intelligent seeding robot, and relates to the technical field of seeding. The robot adopts the autorotation driving assembly and the two-stage connecting rod mechanism, the first steering engine drives the first steering turntable to rotate, and the connecting rod assembly drives the second steering turntable to realize four-wheel in-situ steering, so that the technical bottlenecks of low steering precision and large turning radius of the existing seeding machine are overcome. The robot is based on a vehicle body frame, integrates an advancing mechanism, a multi-path seed metering mechanism, a seeding mechanism, a counting module, an identification module, a star flash SLE module, a navigation module, a control module and a remote controller, has real-time detection and feedback functions, and can dynamically adjust steering and seeding parameters according to an operation state, so that the seeding quality and the operation efficiency are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of seeding technology, and more particularly to an intelligent seeding robot. Background Technology

[0002] Existing intelligent seeding robots have made several improvements to precision seeding and automatic reseeding technologies, and the related seeding mechanisms have obtained multiple patents. However, with the diversification of working environments, higher requirements are being placed on the robot's movement and steering accuracy. Existing steering methods mostly rely on the overall differential drive of the vehicle body or limited-angle steering, resulting in a large turning radius, slow response, and difficulty in adapting to narrow plots, winding boundaries, and irregular terrain.

[0003] In actual operations, factors such as terrain undulations, changes in row spacing, and boundary angles can further amplify turning errors, causing deviations in the sowing path and uneven plant spacing, affecting the accuracy of seed hole positioning and sowing quality. Especially in polygonal plots or complex terrain, traditional turning mechanisms cannot achieve efficient on-the-spot turning, and frequent large-radius turns not only reduce operational efficiency but also easily damage the soil structure of farmland.

[0004] Therefore, there is an urgent need for an intelligent seeding robot with high precision and low latency in-situ turning capabilities to meet the dual requirements of precise seeding and efficient operation in complex environments. Summary of the Invention

[0005] This application provides an intelligent seeding robot, the technical purpose of which is to improve the steering accuracy of the seeding robot's steering mechanism and achieve in-situ turning.

[0006] The above-mentioned technical objective of this application is achieved through the following technical solution:

[0007] An intelligent seeding robot includes a traveling mechanism, a multi-channel seeding mechanism, a seeding mechanism, a counting module, an identification module, a navigation module, a control module, and a remote controller, all mounted on a vehicle frame. The control module is electrically connected to the traveling mechanism, the multi-channel seeding mechanism, the seeding mechanism, the counting module, the identification module, and the navigation module. The robot also includes a Star Flash SLE module, which is located in both the control module and the remote controller.

[0008] The traveling mechanism includes a self-rotating drive assembly and a traveling device connected together. The self-rotating drive assembly includes a first servo motor, a linkage assembly, a first steering turntable, and a second steering turntable. The linkage assembly includes two sets and is arranged along the traveling direction of the seeding mechanism. Each linkage assembly includes a first steering link and a second steering link. The linkage assembly is connected to the traveling device.

[0009] The first steering engine drives the first steering disc to rotate by receiving the PWM signal of the control module, and then drives the first steering connecting rod and the second steering connecting rod to move horizontally, and then drives the second steering disc to rotate to drive the traveling device to turn;

[0010] The traveling device comprises a wheel leg, a wheel, a wheel transmission block, a speed reducer, a 42-step motor and a closed-loop step motor driver; the wheel leg is connected with the vehicle body frame and is fixed through a fixing plate, and a thin-wall bearing and a customized quick-release mechanism are arranged on the fixing plate; the wheel leg can rotate freely around the thin-wall bearing and is quickly released through the customized quick-release mechanism; the wheel and the speed reducer are arranged on the wheel leg, and the output end of the speed reducer is connected with the wheel transmission to drive the wheel; the closed-loop step motor driver is connected with the control module through a serial port and is used to drive the 42-step motor to rotate, thereby realizing wheel rotation.

[0011] Further, the customized quick-release mechanism comprises a quick-release type steering shaft and a wheel leg mounting plate, and the wheel leg mounting plate is connected with the wheel leg.

[0012] Further, the seeding mechanism comprises a platform lifting device and a hole digging and soil covering device arranged at the lifting end of the platform lifting device; the platform lifting device comprises a 57-step motor, a shaft coupling, a ball screw and a ball screw platform connecting piece; the hole digging and soil covering device comprises a soil digging claw, a connecting piece and an aluminum profile; the 57-step motor is connected with the ball screw through the shaft coupling, and the output end of the 57-step motor drives the aluminum profile to lift through the ball screw; the soil digging claw is connected with the aluminum profile; the ball screw platform connecting piece is used to connect the ball screw and the aluminum profile, so that the soil digging claw slides up and down while the ball screw slides up and down.

[0013] Further, the self-rotation driving assembly further comprises a flange and a first steering engine fixing piece; the flange is used to connect the second steering disc and the quick-release type steering shaft; and the wheel transmission block is used to connect the quick-release type steering shaft.

[0014] Further, the top of the soil digging claw is connected with the aluminum profile through the connecting piece and is distributed along the length direction of the aluminum profile, so as to adjust the position of the soil digging claw by adjusting the position of the connecting piece.

[0015] Further, the star flash SLE module comprises a master module and a slave module connected; the master module is arranged in the remote controller, and the master module is connected with the single-chip microcomputer in the remote controller; and the slave module is arranged in the control module, and the slave module is connected with the single-chip microcomputer in the control module.

[0016] Further, the navigation module is placed on the top of the sowing robot, and the navigation module comprises a GPS positioning module and an electronic compass module; the GPS positioning module is used for real-time positioning of the vehicle position, recording of the coordinate points when receiving the calibration instruction of the remote controller, planning and navigation of the track according to the coordinate points; and the electronic compass module is used for real-time identification of the direction of the vehicle in the automatic sowing process.

[0017] Further, the remote controller comprises a serial port screen and an STM32F103C8T6 single-chip microcomputer.

[0018] Further, the control module comprises an OLED display screen, an STM32F407ZGT6 single-chip microcomputer, a buzzer and a step-down module.

[0019] The intelligent sowing robot has the advantages that: the intelligent sowing robot is based on a vehicle body frame, and integrates a traveling mechanism, a multi-path seed dispensing mechanism, a sowing mechanism, a counting module, an identification module, a star flash SLE module, a navigation module, a control module and a remote controller, so that real-time detection and feedback of the sowing process are realized, and sowing parameters are adjusted in time to optimize the sowing quality; through the self-turning function of the traveling device, the sowing machine can be flexibly moved and turned on different lands, and the terrain adaptability of the sowing machine is enhanced; through the cooperative work of the platform lifting device and the hole digging and soil covering device, it can ensure that the seeds are planted at the correct depth and spacing; through the navigation module, the control module and the remote controller, the controllability and the automation degree of the sowing robot are enhanced, and the operator's control of the robot is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic diagram of an intelligent sowing robot in an embodiment of the present application;

[0021] Figure 2 FIG. 2 is a front view of the sowing robot in the embodiment of the present application;

[0022] Figure 3 FIG. 3 is a top view of the sowing robot in the embodiment of the present application;

[0023] Figure 4 FIG. 4 is a local enlarged schematic diagram of a wheel leg fixing plate in the embodiment of the present application;

[0024] Figure 5 FIG. 5 is a schematic diagram of a shaft coupling in the embodiment of the present application;

[0025] Figure 6 FIG. 6 is a schematic diagram of a speed reducer in the embodiment of the present application;

[0026] Figure 7 FIG. 7 is a schematic diagram of a sowing mechanism in the embodiment of the present application;

[0027] Figure 8It is a schematic view of the connecting rod assembly in the embodiment of the present application.

[0028] Figures 9 to 13 It is a structural schematic view of the multi-path seed dispensing mechanism in the embodiment of the present application.

[0029] Among them,

[0030] 10: vehicle body frame;

[0031] 20: traveling mechanism; 21: self-rotation driving assembly; 211: first steering engine; 212: first steering turntable; 213: second steering turntable; 214: flange; 215: first steering connecting rod; 216: second steering connecting rod; 217: first steering engine fixing member; 22: traveling device; 221: wheel driving block; 222: wheel leg; 223: 42-step motor; 224: wheel; 225: customized quick-release structure; 2251: quick-release steering shaft; 2252: wheel leg mounting plate; 226: fixing plate; 227: thin-walled bearing; 228: speed reducer;

[0032] 30: multi-path seed dispensing mechanism; 31: seed dispensing device; 311: compensation channel; 312: multiple seed dispensing channels; 313: discharge disc; 314: main disc; 3141: first through hole; 3142: second through hole; 315: stop device; 316: hopper; 317: second driving device; 318: fixed shaft; 319: limiting outer lug; 3110: screening disc; 3111: third through hole; 32: passage control device; 321: first disc body; 3211: first channel; 3212: second channel; 322: second disc body; 3221: third channel;

[0033] 40: seeding mechanism; 41: platform lifting device; 411: 57-step motor; 412: shaft coupling; 413: ball screw; 414: ball screw platform connecting member; 42: hole digging and soil covering device; 421: soil digging claw; 422: connecting member; 423: aluminum profile. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0035] As shown in the drawings, Figure 1 , Figure 2 , Figure 3 The intelligent seeding robot described in the present application comprises a traveling mechanism 20, a multi-path seed dispensing mechanism 30, a seeding mechanism 40, a counting module, an identification module, and a control module arranged on a vehicle body frame 10, and the control module is electrically connected with the traveling mechanism, the multi-path seed dispensing mechanism, the seeding mechanism, the counting module, and the identification module. The intelligent seeding robot further comprises a navigation module, a remote controller, and a star flash SLE module, and the star flash SLE module is arranged in the control module and the remote controller.

[0036] In an embodiment of the present application, the vehicle body frame is built with TDT industrial aluminum profile 2020, which ensures the stability and durability of the robot based thereon in complex terrain conditions. In addition, the design of the vehicle body frame is easy to connect to other modular mechanisms, such as the seeding mechanism, facilitating subsequent mass production and maintenance and upgrading, and reducing costs. In the implementation case, a 4mm thick glass fiber plate is installed on the vehicle body frame, which is a platform structure, and multiple seeding mechanisms and navigation modules are installed on the glass fiber plate. The travel mechanism, the seeding mechanism, and the platform lifting device are installed on the vehicle body frame from the lower side, and the identification module and the control module are installed on the side edge of the vehicle body frame.

[0037] The travel mechanism 20 comprises a self-rotation driving assembly 21 and a travel device 22 connected in transmission with the self-rotation driving assembly 21, and the self-rotation driving assembly 21 is used to drive the turning of the travel device 22.

[0038] Further, the self-rotation driving assembly 21 comprises two first steering gears 211, two first steering turntables 212, two second steering turntables 213, four flanges 214, two first steering gear fixing members 217, and a connecting rod assembly. The first steering gear 211 drives the output end of the connecting rod assembly to make a rotary motion by making a corresponding rotation after receiving the control signal of the control module.

[0039] Further, the connecting rod assembly comprises two groups and is arranged along the travel direction of the seeding mechanism 40. Each connecting rod assembly comprises a first steering connecting rod 215 and a second steering connecting rod 216. The first steering gear 211 drives the first steering turntable 212 to rotate, and then drives the first steering connecting rod 215 and the second steering connecting rod 216 to move horizontally, and then drives the second steering turntable 213 to make a rotary motion, thereby realizing steering, by making a corresponding rotation after receiving the PWM signal of the control module. The flange 214 is used to connect the second steering turntable 213 and the quick-release type steering shaft 2251. The wheel transmission block 221 is used to connect the quick-release type steering shaft 2251. The ball screw connecting piece 414 is used to connect the ball screw 413 and the aluminum profile 423, so that the ball screw 413 slides up and down while driving the earth digging claw 421 to slide up and down. This setting enables the seeding machine to flexibly adjust the travel direction according to the actual terrain and seeding requirements of the seeding area, thereby enhancing the adaptability of the seeding machine in complex terrain and inter-row spacing changes.

[0040] Any one group of connecting rod assemblies is connected with the travel device 22 located on one side of the intelligent seeding robot, so that the travel device 22 rotates with the rotation of the connecting rod assembly. The connecting rod assembly is driven by the first steering gear 211, thereby driving the travel device 22 to rotate, and realizing turning in place.

[0041] Furthermore, the traveling device 22 includes four wheel drive blocks 221, four wheel legs 222, four wheels 224, four reducers 228, four 42 stepper motors 223, and four closed-loop stepper motor drivers. The wheel legs 222 are connected to the vehicle frame 10 and fixed by fixing plates 226; as... Figure 4 As shown, the fixed plate is equipped with a thin-walled bearing 227 and a customized quick-release mechanism 225. The wheel leg 222 can rotate freely around the thin-walled bearing 227 and can be removed and adjusted at any time through the customized quick-release mechanism 225; the wheel 224 is mounted on the wheel leg 222, as shown. Figure 6 As shown, the reducer 228 is mounted on the wheel leg 222, and its output end is connected to the wheel 224 for driving the wheel 224. The closed-loop stepper motor driver is connected to the control module via a serial port and is used to drive the 42 stepper motors 223 to rotate, thereby realizing the rotation of the wheel 224. The customized quick-release mechanism 225 includes a quick-release steering shaft 2251 and a wheel leg mounting plate 2252, which is connected to the wheel leg 222.

[0042] In one embodiment of this application, the seeding vehicle has dimensions of 620mm x 538mm (length x width), a center distance of 550mm between the front and rear wheels, and a first servo motor with dimensions of 75mm x 30mm (length x width). To achieve the function of turning on the spot, the steering angle is measured to be 52°. To facilitate the calculation of the length of the linkage assembly, we set the rotation diameter of the first steering turntable 212 to 73.5mm, the rotation diameter of the second steering turntable 213 to 100mm, and the length of the first steering linkage 215 to 215mm. Through calculation, we find that the length of the second steering linkage 216 is 231.84mm. Figure 8 As shown.

[0043] The self-rotation drive assembly 21 pulls the four wheel legs 222 at a 52° angle, causing the perpendicular bisectors of the four wheel legs 222 to intersect at the same point, achieving the initial condition for turning in place. Then, the four 42 stepper motors 223 begin to drive the wheel legs 222 to rotate. When the right wheel leg 222 moves forward and the left wheel leg 222 moves backward, it is a left turn; when the right wheel leg 222 moves backward and the left wheel leg 222 moves forward, it is a right turn. Here, the 52° angle is a fixed angle, which is the tangent angle of the intersection point of the rectangle defined by the center of the four wheel axles and its circumcircle. At this angle, the perpendicular bisectors of the four wheel legs 222 intersect at the same point.

[0044] Further, the multi-path seed metering mechanism 30 comprises a seed metering device 31 and a path control device 32 for precisely controlling the distribution and discharge of seeds. The seed metering channel 312 of the seed metering device 31 is connected to the soil digging claw 421 through the path control device 32, and the connection mode is usually a pipe connection, so that the seeds in the seed metering device can be precisely distributed into the designated seed hole; the compensation channel 311 is activated (or unblocked) when the identification module identifies that the number of seeds in the seed hole does not meet the standard, and after the path control device 32 completes the channel selection, the compensation channel 311 discharges seeds to the predetermined soil digging claw 421 through the path control device 32, thereby realizing the reseeding of the target seed hole.

[0045] In one embodiment of the present application, as shown in Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 and Figure 13 , the seed metering device 31 comprises a discharge disc 313, a main disc 314, a stop device 315, a hopper 316, a second driving device 317 and a fixed shaft 318; the discharge disc 313 is arranged on the fixed shaft 318, and the compensation channel 311 and a plurality of seed metering channels 312 are arranged on the discharge disc 313; the main disc 314 is rotatably arranged on the fixed shaft 318 above the discharge disc 313, and a plurality of groups of first through holes 3141 are arranged on the main disc 314, each group of the first through holes 3141 is matched with one of the seed metering channels 312, and at least one group of the first through holes 3141 is matched with the compensation channel 311; the stop device 315 is arranged on the fixed shaft 318 above the main disc 314, and defines a storage area on the main disc 314; the hopper 316 is arranged on the fixed shaft 318 above the stop device 315, and its discharge port faces the storage area; the second driving device 317 is in transmission connection with the main disc 314 for driving the main disc 314 to rotate around the fixed shaft 318.

[0046] In one embodiment of the present application, a plurality of groups of second through holes 3142 are further arranged on the main disc 314, each group of the second through holes 3142 is matched with one of the seed metering channels 312, and at least one group of the second through holes 3142 is matched with the compensation channel 311; the second through holes 3142 and the first through holes 3141 are staggered along the circumferential direction of the main disc 314.

[0047] In an embodiment of the present application, the seed spacing device 31 further comprises a limiting outer lug 319 and a screening disc 3110; the limiting outer lug 319 is arranged on the screening disc 3110; the screening disc 3110 is arranged between the main disc 314 and the stop device 315, and is rotationally matched with the limiting outer lug 319; the screening disc 3110 is provided with a plurality of groups of third through holes 3111; the third through holes 3111 are switched between the state of being matched with the first through holes 3141 and the state of being matched with the second through holes 3142 by rotating the screening disc 3110.

[0048] In an embodiment of the present application, the passage control device 32 comprises a first disc body 321, a second disc body 322 and a second steering engine; the first disc body 321 is rotationally arranged on the vehicle body frame 10; the first disc body 321 is provided with a first passage 3211 corresponding to the compensation passage 311 and a plurality of second passages 3212 corresponding to the seed spacing passage 312; the second steering engine is arranged on the vehicle body frame 10 and is used to drive the first disc body 321 to rotate; the second disc body 322 is arranged on the vehicle body frame 10 and is provided with a plurality of third passages 3221 corresponding to the seed spacing passage 312.

[0049] Further, as shown in Figure 7 the seeding mechanism 40 comprises a platform lifting device 41 and a hole digging and soil covering device 42 arranged on the lifting end of the platform lifting device 41; the hole digging and soil covering device 42 comprises a soil digging claw 421, which is used to adjust the seeding depth according to the soil condition. The platform lifting device 41 comprises a 57-step motor 411, a shaft coupling 412, a ball screw 413 and a ball screw platform connecting piece 414; the hole digging and soil covering device 42 comprises the soil digging claw 421, a connecting piece 422 and an aluminum profile 423.

[0050] The 57-step motor 411 is connected with the ball screw 413 through the shaft coupling 412 (as shown in Figure 5 The output end of the 57-step motor 411 drives the aluminum profile 423 to lift through the ball screw 413.

[0051] In an embodiment of the present application, the soil digging claw 421 is connected with the aluminum profile 423.

[0052] Further, the top of the soil digging claw 421 is connected with the aluminum profile through the connecting piece 422 and is spaced along the length direction of the aluminum profile 423; the position of the soil digging claw is adjusted by adjusting the position of the connecting piece, so as to adapt to different seeding distances.

[0053] The platform lifting device 41 realizes the hole digging and soil covering by controlling the soil digging claw 421, so as to ensure the correct planting of the seeds and the good contact with the soil.

[0054] In an embodiment of the present application, the star flash SLE module comprises a connected host module and a slave module, the host module is arranged in the remote controller, and the host module is connected with the single-chip microcomputer in the remote controller; the slave module is arranged in the control module, and the slave module is connected with the single-chip microcomputer in the control module.

[0055] The counting module is used for measuring and feeding back the number of seeds planted per hole by the seeding mechanism 40. In a specific embodiment, the counting module adopts an infrared counting device, which counts the number of seeds planted per hole by the seeding mechanism 40 and feeds back to the control module as the basis for compensation of the seeding. In some embodiments, the identification module further comprises a gyroscope, an ultrasonic module, a visual image module, an infrared module and the like, so as to realize the functions of deflection sensing, obstacle detection, visual acquisition, infrared counting and the like.

[0056] In an embodiment of the present application, the navigation module is arranged on the top of the seeding robot, and the navigation module comprises a GPS positioning module and an electronic compass module; the GPS positioning module is used for real-time positioning of the vehicle position, recording of the coordinate points when receiving the calibration instruction of the remote controller, planning and navigation of the trajectory according to the coordinate points; the electronic compass module is used for real-time identification of the direction of the vehicle in the automatic seeding process, so as to facilitate the navigation and direction correction of the vehicle.

[0057] In an embodiment of the present application, the remote controller is independent of the vehicle body, mainly comprising a serial port screen, a remote lever module, a host module of the star flash SLE module and an STM32F103C8T6 single-chip microcomputer, which are used for vehicle control and man-machine interaction. Specifically, the serial port screen is a 7-inch serial port screen.

[0058] Further, the remote controller mainly sets three modes, i.e. a manual mode, an automatic seeding mode and a conventional seeding mode. In the manual mode, the movement of the vehicle and the individual control and adjustment of each module can be manually controlled; in the automatic seeding mode, the intelligent seeding robot plans the seeding trajectory according to the four calibrated coordinate points and automatically seeds; in the conventional seeding mode, the intelligent seeding robot linearly moves forward along the current direction and performs the seeding work.

[0059] In an embodiment of the present application, the control module comprises an OLED display screen, an STM32F407ZGT6 single-chip microcomputer, a buzzer, a step-down module and a slave module of the star flash SLE module. Specifically, the OLED display screen is 0.96 inches.

[0060] The control module is the control center of the seeding robot, which integrates the single-chip microcomputer and the multi-channel input and output interface, can automatically adjust the seeding depth, frequency and seed discharge amount according to the data obtained from the identification module, and ensures the high efficiency and controllability of the seeding process.

[0061] The working process of the intelligent seeding robot is as follows: the seeding robot travels a plant distance, the 57-step motor 411 drives the ball screw 413 to descend, the earth claw 421 fixed on the other aluminum profile 423 is driven to dig into a certain depth to form a seed hole, the seed arranging device 31 simultaneously arranges seeds from a plurality of seed arranging channels 312, the seeds pass through the passage control device 32 and fall into the seed hole from the corresponding seed pipe, the 57-step motor 411 drives the ball screw 413 to ascend, and the earth claw 421 is reset. Repeat the above operation until the dibbling of the row is completed. After completing the dibbling of the row, the self-rotation driving assembly 21 drives the traveling device 22 to turn around in place (which can be any angle, usually 180°), after the seeding robot completes the turn, the self-rotation driving assembly 21 drives the traveling device 22 to reset and continue the dibbling of the next row.

[0062] The following is described through a specific embodiment:

[0063] The dwarf variety of peas and mung beans are selected as the crops to be dibbled by the seeding machine. The dwarf variety of peas has a planting amount of 8-10 kg per mu, a row distance of 30-35 cm, a nest distance of 15-20 cm, and 3-4 seeds per nest. The dibbling depth of mung beans is generally 3-5 cm according to the soil moisture condition, the planting amount is 1.0-1.5 kg per mu, the row distance is 50-60 cm, and the plant distance is 10-15 cm. The precision seeding of the above two kinds of beans in the point planting mode can ensure the uniformity of seeding, thereby improving the yield.

[0064] With reference to the precision point planting requirements of peas and mung beans, the robot is based on the vehicle body frame 10 and is composed of a traveling mechanism 20, a multi-path seed arranging mechanism 30, a seeding mechanism 40, a counting module, an identification module, a star flash SLE module, a navigation module, a control module, and a remote controller. The robot can realize free switching of three modes, including a manual mode, an automatic seeding mode, and a conventional mode, through the remote controller.

[0065] In the manual mode, the user remotely controls the car to travel to the seeding position and start seeding through the remote controller. In order to facilitate the user to carry out the seeding operation, the user can select the automatic seeding mode and the bean crops to be seeded, and input the related parameters, including the length and width of the field, the plant distance and the row distance of the crops, etc. The GPS positioning module and the electronic compass module will feedback the road condition information in front in real time and make corrections, thereby greatly improving the accuracy of seeding.

[0066] Multi-path seed metering mechanism: three paths of holes are opened on the discharge disc 313, one hole corresponds to one path, and the stepping motor controls the rotation of the main disc 314 to control the number of seeds falling. The minimum rotation angle of the main disc 314 is 180°, that is, the number of seeds falling in each path is 3; the discharge disc 313 has a compensation hole, and the infrared counting module counts the falling seeds and feeds back to the main control chip. For the holes that do not reach the target number of seeds, the second steering wheel selects the channel that needs to be compensated, and the trolley reverses the main disc 314 to make the seeds pass through the compensation hole to realize the compensation of the number of seeds. At the same time, the cooperation structure between the screening disc 3110 and the main disc 314 of the seed metering device 31 realizes the dibbling of different types of crops, and selects peas and mung beans as the objects of the seeding machine. The average size of peas and mung beans is 6-9mm and 3-4mm respectively, and the main disc is provided with circular holes corresponding to the two sizes, and a manually adjustable gear position of 30° is set.

[0067] Traveling mechanism 20: The steering of the trolley is realized by the self-rotation of the wheels, and the self-rotation of the wheels is realized by the connecting rod assembly. In order to ensure the strength of the connecting rod and reduce the friction between the upper and lower connecting rods during rotation, a 4mm glass fiber material is used, and a laser cutting process is used to ensure accuracy. In order to strengthen the rapidity of the connecting rod during rotation, a thin-wall bearing 227 with an inner diameter of 4mm and an outer diameter of 9mm is installed at the connection between each connecting rod. After design, the size of each part of the connecting rod assembly is as follows (all are the distance between two cylindrical shafts): the length of the steering turntable 1 is 73.5mm, the length of the steering turntable 2 is 100mm, the length of the steering connecting rod 1 is 215mm, and the length of the steering connecting rod 2 is 231.84mm. According to the kinematics analysis of the four wheels, it is concluded that the first steering wheel 211 is driven to rotate the traveling device 22, thereby realizing the turning in place.

[0068] Platform lifting device 41: 57 stepping motor 411 is fixed with ball screw 413 through bolt connection, ball screw 413 lifting platform and aluminum profile 423 are connected through 3D printing connecting piece, and 3 digging claws 421 are installed at equal distance interval on aluminum profile 423. In this way, the descent of ball screw 413 lifting platform driven by 57 stepping motor 411 can make 3 digging claws 421 insert into 3 seed holes at the same time. After 3 digging claws 421 are inserted into the soil, the digging claws 421 push the soil away through traveling, extruding a part of the soil to one side to expand a certain diameter of seed hole, at this time, the crop seeds fall from the hollow pipe above the digging claws 421. Then, 57 stepping motor 411 drives ball screw 413 to rise to cover the seed hole. In addition, through the self-made connecting piece, stepless row spacing control of the digging claws 421 is realized, allowing the operator to adjust the row spacing of the seeds according to specific agricultural needs to adapt to the best growth conditions of different crops.

[0069] The control module comprises an STM32F407ZGT6 single-chip microcomputer as a core control chip, and is integrated with a 0.96-inch OLED display screen, a star flash SLE module, a buzzer, and a multi-way relay. In actual use, the OLED screen can display real-time mode information; the star flash SLE module is used for communication with a remote controller, to ensure stable signal connection and timely data transmission; the buzzer is used for reminding of dangerous operation such as turning; the multi-way relay is used for controlling the movement of a loosening motor and front and rear linear motors, to facilitate quick switching of modes; and the STM32F407ZGT6 single-chip microcomputer as the core control chip is responsible for scheduling of all modules of the vehicle and trajectory planning, and plays a core role in the vehicle.

[0070] Obviously, the above embodiments are merely examples for clearly illustrating the present application and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. An intelligent sowing robot, comprising a traveling mechanism, a multi-channel seed metering mechanism, a sowing mechanism, a counting module, an identification module, a navigation module, a control module and a remote controller, the control module being electrically connected with the traveling mechanism, the multi-channel seed metering mechanism, the sowing mechanism, the counting module, the identification module and the navigation module, characterized in that, The star flash SLE module is arranged in the control module and the remote controller respectively; The advancing mechanism comprises a self-rotation driving assembly and an advancing device connected with each other, the self-rotation driving assembly comprises a first steering engine, a connecting rod assembly, a first steering turntable and a second steering turntable, the connecting rod assembly comprises two groups and is arranged along the advancing direction of the seeding mechanism, each connecting rod assembly comprises a first steering connecting rod and a second steering connecting rod; the connecting rod assembly is connected with the advancing device; The first steering engine drives the first steering turntable to rotate by receiving the PWM signal of the control module, and then drives the first steering connecting rod and the second steering connecting rod to move horizontally, and then drives the second steering turntable to rotate to drive the advancing device to turn. The advancing device comprises a wheel leg, a wheel, a wheel transmission block, a speed reducer, a 42-step motor and a closed-loop step motor driver; the wheel leg is connected with the vehicle body frame and is fixed through a fixing plate, the fixing plate is provided with a thin-wall bearing and a customized quick-release mechanism; the wheel leg can rotate freely around the thin-wall bearing and is quickly released through the customized quick-release mechanism; the wheel and the speed reducer are arranged on the wheel leg, the output end of the speed reducer is connected with the wheel transmission for driving the wheel; the closed-loop step motor driver is connected with the control module through a serial port and is used for driving the 42-step motor to rotate, thereby realizing the rotation of the wheel.

2. The intelligent seeding robot of claim 1, wherein, The customized quick-release mechanism comprises a quick-release type steering shaft and a wheel leg mounting plate connected with the wheel leg.

3. The intelligent seeding robot of claim 2, wherein, The seeding mechanism comprises a platform lifting device and a hole digging and soil covering device arranged at the lifting end of the platform lifting device; the platform lifting device comprises a 57-step motor, a shaft coupling, a ball screw and a ball screw platform connecting piece; the hole digging and soil covering device comprises a soil digging claw, a connecting piece and an aluminum profile; the 57-step motor is connected with the ball screw through the shaft coupling, and the output end drives the aluminum profile to lift through the ball screw; the soil digging claw is connected with the aluminum profile; the ball screw platform connecting piece is used for connecting the ball screw and the aluminum profile, so that the soil digging claw slides up and down while the ball screw slides up and down.

4. The intelligent seeding robot of claim 3, wherein, The self-rotation driving assembly further comprises a flange and a first steering engine fixing piece; the flange is used for connecting the second steering turntable and the quick-release type steering shaft; the wheel transmission block is used for connecting the quick-release type steering shaft.

5. The intelligent seeding robot of claim 4, wherein, The top of the soil digging claw is connected with the aluminum profile through the connecting piece and is distributed along the length direction of the aluminum profile, so as to adjust the position of the soil digging claw by adjusting the position of the connecting piece.

6. The intelligent seeding robot of claim 5, wherein, The star flash SLE module comprises a master module and a slave module connected with each other; the master module is arranged in the remote controller and is connected with a single-chip microcomputer in the remote controller; the slave module is arranged in the control module and is connected with a single-chip microcomputer in the control module.

7. The intelligent seeding robot of claim 6, wherein, The navigation module is arranged at the top of the seeding robot, and comprises a GPS positioning module and an electronic compass module; the GPS positioning module is used for positioning the position of the vehicle in real time, recording the coordinate points when receiving the calibration instruction of the remote controller, planning the track according to the coordinate points and navigating; the electronic compass module is used for identifying the direction of the vehicle in real time during the automatic seeding process.

8. The intelligent seeding robot of claim 7, wherein, The remote controller comprises a serial port screen and an STM32F103C8T6 single-chip microcomputer.

9. The intelligent seeding robot of claim 8, wherein, The control module comprises an OLED display screen, an STM32F407ZGT6 single-chip microcomputer, a buzzer and a voltage reduction module.

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