Small intelligent agricultural machine chassis system

Abstract

The utility model discloses a small intelligent agricultural machine chassis system. A power module of the system is used for moving and supporting an intelligent agricultural machine chassis system and is electrically connected with a lower computer control panel, the lower computer control panel is in serial port communication with an upper computer control panel, and a positioning module is in serial port communication with the upper computer control panel; the sensing module is used for monitoring the surrounding state in real time and communicating with the upper computer control panel; the power module is in wireless communication with the remote control module; the power module is used for overall power supply of the chassis system. Automatic driving and intelligent seeding of the agricultural machine can be achieved, the agricultural machine has the functions of agricultural machine state reminding, self-positioning, remote control, farming path planning, unmanned farming and intelligent field obstacle avoiding, various agricultural devices such as a seeder, a pesticide sprayer and a harvesting device are carried on the chassis, and the intelligent requirements in different working environments can be met.

Description

Technical Field

[0001] This utility model relates to a chassis system, and to the field of new agricultural technology that combines information technology and agricultural technology, specifically to a small intelligent agricultural machinery chassis system. Background Technology

[0002] Currently, there is a shortage of skilled agricultural technicians, leading to a growing demand for unmanned agricultural machinery. To improve agricultural production efficiency, reduce costs, and ensure food security, investment in agricultural technology research and development is increasing. However, in this context, there is still no intelligent electric agricultural machinery chassis system capable of incorporating various agricultural mechanisms to enable automated tillage in the fields.

[0003] With the rapid development of new energy technologies and the increasing market share of new energy vehicles, battery technologies are also advancing rapidly. Furthermore, the development of IoT technology enables the collection of environmental data through sensors and the uploading of this data to the cloud for analysis and processing. In addition, autonomous driving technologies are also developing, such as positioning and navigation technologies, autonomous driving systems, and artificial intelligence systems. However, there is currently a lack of intelligent agricultural machinery chassis systems that combine electric power, IoT technologies, and autonomous driving technologies. Utility Model Content

[0004] In order to solve the problems existing in the background technology, the present invention provides a small intelligent agricultural machinery chassis system.

[0005] The technical solution adopted in this utility model is:

[0006] The small intelligent agricultural machinery chassis system of this utility model includes:

[0007] Power modules used for movement and support in intelligent agricultural machinery chassis systems.

[0008] The lower-level control board is used to control the power module by transmitting pulse width modulation (PWM) waves. The lower-level control board and the power module are electrically connected.

[0009] The host computer control board is used for position acquisition and stable control of the intelligent agricultural machinery chassis system. The host computer control board and the slave computer control board communicate with each other via serial port.

[0010] A positioning module for positioning the chassis of intelligent agricultural machinery. The positioning module and the host computer control board communicate via serial port.

[0011] The sensing module is used to monitor the surrounding environment of the intelligent agricultural machinery chassis system in real time. The sensing module and the host computer control board communicate via CAN (Controller Area Network) bus and USB.

[0012] A remote control module for mobile control of intelligent agricultural machinery chassis system, wherein the remote control module and the power module are electrically connected.

[0013] The power supply module is used to power the intelligent agricultural machinery chassis system. The power supply module is electrically connected to the power module, the lower-level control board, the upper-level control board, and the remote control module.

[0014] The power module includes two brushless DC motors, a DC motor driver, two differential tires, unpowered casters, and a base platform. The base platform is horizontally arranged, with the unpowered casters installed in the middle of the rear bottom of the base platform. The two differential tires are installed on the symmetrical sides of the front bottom of the base platform. The bodies of the two brushless DC motors are respectively installed on the two differential tires, and their central axes are horizontally and synchronously connected to the centers of the two differential tires. The DC motor driver is installed on the top surface of the base platform, and the two brushless DC motors are electrically connected to the DC motor driver. The DC motor driver is electrically connected to the lower-level control board.

[0015] The positioning module is a dual-antenna differential RTK device, which is installed on the top surface of the base platform.

[0016] The sensing module includes a millimeter-wave radar, a visible light camera, and an inertial measurement unit. The millimeter-wave radar is installed at the center of the top surface of the base platform and communicates with the host computer control board via a CAN bus. The visible light camera is installed on the front side of the top surface of the base platform, facing the front of the intelligent agricultural machinery chassis system. The inertial measurement unit is installed on the top surface of the base platform. Both the visible light camera and the inertial measurement unit communicate with the host computer control board via USB.

[0017] The remote control module includes a wireless remote controller and a pulse width modulation (PWM) receiver. The wireless remote controller is wirelessly connected to the PWM receiver, and the PWM receiver is electrically connected to a DC motor driver.

[0018] The power module includes a battery, a first voltage converter, a second voltage converter, and a battery voltage display. The battery is electrically connected to the DC motor driver and two brushless DC motors of the power module through the first voltage converter. The battery is electrically connected to the lower-level control board, the upper-level control board, and the pulse width modulation (PWM) receiver of the remote control module through the second voltage converter. The battery is also electrically connected to the battery voltage display.

[0019] The beneficial effects of this utility model are:

[0020] This utility model system can utilize the latest information technology to achieve automatic driving and intelligent sowing of agricultural machinery. It has functions such as agricultural machinery status reminder, autonomous positioning, remote control, tillage path planning, unmanned tillage, and intelligent avoidance of field obstacles. It can also meet the intelligent needs of different working environments by mounting various agricultural equipment such as seeders, sprayers, and harvesters on the chassis. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall frame of the intelligent agricultural machinery chassis of this utility model;

[0022] Figure 2 This is a schematic diagram of the intelligent agricultural machinery chassis structure of this utility model;

[0023] In the diagram: 1. Power module, 11. DC brushless motor, 12. DC motor driver, 13. Differential tire, 14. Unpowered caster wheel, 2. Lower computer control board, 3. Upper computer control board, 4. Positioning module, 41. Dual-antenna differential RTK device, 5. Sensing module, 51. Millimeter-wave radar, 52. Visible light camera, 53. Inertial measurement device, 6. Remote control module, 61. Pulse width modulation (PWM) receiver, 7. Power supply module, 71. Battery pack, 72. First voltage converter, 73. Second voltage converter, 74. Battery voltage display. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0025] like Figure 1 and Figure 2As shown, the small intelligent agricultural machinery chassis system of this utility model includes a power module 1, a lower-level control board 2, an upper-level control board 3, a positioning module 4, a sensing module 5, a remote control module 6, and a power supply module 7. The power module 1 is used for the movement and support of the intelligent agricultural machinery chassis system. The lower-level control board 2 controls the power module 1 by transmitting pulse width modulation (PWM) waves, and the lower-level control board 2 and the power module 1 are electrically connected. The upper-level control board 3 is used for position acquisition and stable control of the intelligent agricultural machinery chassis system, and the upper-level control board 3 and the lower-level control board 2 communicate via a serial port. The positioning module 4 is used for the position positioning of the intelligent agricultural machinery chassis system, and the positioning module 4 and the upper-level control board 3 communicate via a serial port. The system communicates via serial port; the sensing module 5 is used to monitor the surrounding environment of the intelligent agricultural machinery chassis system in real time. The sensing module 5 and the upper computer control board 3 communicate via CAN bus and USB. The remote control module 6 is used for the movement control of the intelligent agricultural machinery chassis system. The remote control module 6 is electrically connected to the power module 1. The power supply module 7 is used to supply power to the intelligent agricultural machinery chassis system. The power supply module 7 is electrically connected to the power module 1, the lower computer control board 2, the upper computer control board 3, and the remote control module 6. The power supply module 7 is powered by 24V to the power module 1, and powered by 12V to the other modules. The lower computer control board 2 detects and reads the voltage signal of the power supply module 7.

[0026] The power module 1 includes two brushless DC motors 11, a DC motor driver 12, two differential tires 13, unpowered casters 14, and a base platform. The base platform is horizontally arranged. The unpowered casters 14 are installed in the middle of the rear bottom of the base platform. The two differential tires 13 are installed on the symmetrical sides of the front bottom of the base platform. The bodies of the two brushless DC motors 11 are respectively installed on the two differential tires 13, and their central axes are horizontally and synchronously connected to the centers of the two differential tires 13. The DC motor driver 12 is installed on the top surface of the base platform. The two brushless DC motors 11 are electrically connected to the DC motor driver 12, and the DC motor driver 12 is electrically connected to the lower-level control board 2.

[0027] The pulse width modulation (PWM) wave signal emitted by the lower computer control board 2 is sent to the DC motor driver 12. The DC motor driver 12 drives the two DC brushless motors 11 to move, thereby controlling the movement direction and speed of the two differential tires 13. The unpowered universal wheels 14 are used to stabilize the intelligent agricultural machinery chassis system. The power module 1 adopts a two-wheel differential structure and has the function of turning around on the spot, which can flexibly adapt to different field operation tasks.

[0028] The lower-level control board 2 is mainly responsible for processing the serial port data received from the upper-level control board 3, generating a pulse width modulation (PWM) wave signal and sending it to the power module 1. It also monitors and reads the voltage of the power module 7 and the current pulse width modulation (PWM) signal of the vehicle in real time, and feeds it back to the upper-level control board 3 through serial port data.

[0029] The positioning module 4 is a dual-antenna differential RTK device 41. The dual-antenna differential RTK device includes two antennas and an RTK device, specifically using an RTK (Real Time Kinematic) 700. The two antennas are electrically connected to the RTK device, and the RTK device is electrically connected to the host computer control board 3. The RTK device is installed on the top surface of the base platform, and the two antennas are installed on the front and rear sides of the top surface of the base platform, respectively.

[0030] The sensing module 5 includes a millimeter-wave radar 51, a visible light camera 52, and an inertial measurement unit 53. The millimeter-wave radar 51 is installed at the center of the top surface of the base platform and communicates with the host computer control board 3 via the CAN bus. The visible light camera 52 is installed on the front side of the top surface of the base platform and faces the front of the intelligent agricultural machinery chassis system. The inertial measurement unit 53 is installed on the top surface of the base platform. Both the visible light camera 52 and the inertial measurement unit 53 communicate with the host computer control board 3 via USB.

[0031] The millimeter-wave radar 51 uses an ARS408-21SC3, and the inertial measurement device 53 uses a ROS imu A9. The millimeter-wave radar 51, visible light camera 52, and inertial measurement device 53 are jointly responsible for real-time monitoring of the surrounding conditions of the intelligent agricultural machinery chassis system. The upper computer main control board 3 runs the obstacle detection algorithm in real time. When an obstacle or abnormal situation is detected, the upper computer main control board 3 will send command information to the lower computer control board 2 in a timely manner to control the power module 1 to perform corresponding steering and avoidance operations.

[0032] The remote control module 6 includes a wireless remote controller and a pulse width modulation (PWM) receiver 61. The wireless remote controller is wirelessly connected to the PWM receiver 61, and the PWM receiver 61 is electrically connected to the DC motor driver 12. The wireless remote controller and the PWM receiver 61 can control the intelligent agricultural machinery chassis system to remotely stop it, and can also control the movement of the intelligent agricultural machinery chassis system. When entering the farmland for the first time, the intelligent agricultural machinery chassis system needs to be remotely controlled by the wireless remote controller to outline the edge of the farmland to determine the area of ​​the field to be cultivated.

[0033] The power module 7 includes a battery 71, a first voltage converter 72, a second voltage converter 73, and a battery voltage display 74. The battery 71 is electrically connected to the DC motor driver 12 and two DC brushless motors 11 of the power module 1 through the first voltage converter 72. The battery 71 is electrically connected to the lower computer control board 2, the upper computer control board 3, and the pulse width modulation (PWM) receiver 61 of the remote control module 6 through the second voltage converter 73. The battery 71 is also electrically connected to the battery voltage display 74.

[0034] Power module 7 supplies power to the entire intelligent agricultural machinery chassis system. Battery 71 uses a 60V lithium iron phosphate battery pack. The first voltage converter 72 converts 60V to 24V, and the second voltage converter 73 converts 24V to 12V. The 24V voltage converted from battery 71 powers power module 1, and then converts 24V to 12V to power the lower-level control board 2, the upper-level main control board 3, and the remote control module 6. The power supply for other modules is mainly through connection with the upper-level main control board 3. Battery voltage display 74 allows for real-time viewing of the voltage status of battery 71.

[0035] The lower-level control board 2 is equipped with an interface for the DC motor driver 12, which can transmit the angular velocity and linear velocity of the intelligent agricultural machinery chassis respectively; it is equipped with a PWM reserved interface; a 12V power supply interface; a battery power detection port; a 2.45G antenna reserved port; and a communication serial port with the upper-level control board 3. The lower-level control board 2 is also equipped with a photoelectric switch reserved port, several other signal reserved ports, and an encoder reserved interface for other functions.

[0036] The host computer control board 3 is equipped with a wireless WIFI and 4G port, as well as four USB ports for connecting dual-antenna differential RTK devices 41 and visible light cameras 52, and a serial port for communication with the lower computer control board 2. It is also equipped with a CAN port, a 12V power port, and a serial port. The host computer control board 3 is also equipped with an LCD screen interface, a SIM card slot, other Type-C USB ports, an HDMI display interface, a network port, and a TF card slot.

[0037] The host computer control board 3 primarily handles data algorithm processing and ensures the operational safety of the intelligent agricultural machinery chassis system. The host computer control board 3 obtains 12V voltage from battery 71 and connects to the positioning module 4 via a USB port. It processes the serial port information transmitted from the positioning module 4 to obtain accurate position information. The host computer control board 3 connects to the millimeter-wave radar 51 via a CAN port, the visible light camera 52 via a USB port, and the inertial measurement device 53 also via a USB port. After processing the data transmitted from these three devices, it can obtain the position information of surrounding objects and the current status information of the intelligent agricultural machinery chassis system. Then, it sends control commands to the lower-level control board 2 via serial communication to control the movement of the intelligent agricultural machinery chassis system. The host computer control board 3 can also calculate the linear velocity and angular velocity of the current intelligent agricultural machinery chassis system and the voltage of the battery 71 through the signal fed back from the serial port of the slave computer control board 2, so as to check whether the motion status of the intelligent agricultural machinery chassis system is consistent with the status of the issued control command; the host computer control board 3 also has a network function, and after connecting to the network, the motion status and position information of the intelligent agricultural machinery chassis system can be viewed on the local computer in real time.

[0038] The specific implementation method of the intelligent agricultural machinery chassis system of this utility model is as follows:

[0039] Step 1: Input Task Information. Task information includes the type of task the intelligent agricultural machinery chassis system needs to perform, such as sowing, plowing, or mowing, as well as the system's desired operating speed, the intervals between desired operating trajectories, and the type of desired path. These parameters have default values ​​for different task types. After selecting the task type, you can use the default parameters or modify them yourself. After setting all the parameters, publish them to the system and install the corresponding agricultural equipment.

[0040] Step 2: Obtaining the area of ​​land to be cultivated. To enable the intelligent agricultural machinery chassis system to determine its operating range, the system provides two methods. The first method is to directly draw the operating range on the satellite map of the remote control panel and then transmit the corresponding coordinate information to the system. If the boundaries of the field lack clear features and are difficult to distinguish on the map, the second method can be used. This involves using a wireless remote control to remotely control the intelligent agricultural machinery chassis system to travel around the edge of the field. The positioning module 4 will automatically record all path points traversed and then transmit the coordinate information to the system for further processing.

[0041] Step 3: Planning the operating path of the intelligent agricultural machinery chassis system. Between obtaining the coordinates of the cultivated field area and the operating trajectory, the system plans the operating path based on the A* algorithm, ensuring no area is missed and achieving full-coverage path planning. In addition, the system receives information from the obstacle avoidance algorithm in real time. When it receives new obstacle information from the obstacle avoidance algorithm, the system adds the obstacle information to the algorithm, replans the path, and avoids obstacles in future paths. After successful planning, the path data is resent to the power module 1.

[0042] Step 4: Calculate the real-time speed of the intelligent agricultural machinery chassis system to ensure it travels along the prescribed path. Upon receiving the work path, power module 1 begins operation. Based on the received path points, it first interpolates the points to ensure even distribution. Then, based on the current RTK position, it uses a forward-looking algorithm to calculate the next point the intelligent agricultural machinery chassis system needs to reach. Next, it calculates the difference between the current direction and the ideal direction using the current heading angle. Finally, it uses a proportional-integral-differential (PID) algorithm, combined with the initially input desired operating speed of the intelligent agricultural machinery chassis system, to calculate the ideal linear and angular velocities of the current intelligent agricultural machinery chassis system. The motion control algorithm needs to be updated and calculated in real-time, continuously adjusting based on the current state. Additionally, the control module also receives information from the obstacle avoidance algorithm in real-time. If a new obstacle is detected, power module 1 will set its speed to 0 until it receives a new path from the system, at which point it will restart operation.

[0043] Step 5: Convert the speed signal into a motor signal. After receiving the ideal angular velocity and linear velocity data, the speed data needs to be converted into a PWM signal that the brushless DC motor 11 can recognize. First, the brushless DC motor 11 needs to be modeled further, converting the speed signal into the PWM value corresponding to the brushless DC motor 11 of the left and right differential tires 13. Then, a digital-to-analog conversion is performed, converting the value into a corresponding square wave signal and outputting it to the corresponding brushless DC motor 11, so that the left and right differential tires 13 run according to the specified signal, driving the intelligent agricultural machinery chassis system forward. Due to the instability during the movement, it is also necessary to provide real-time feedback of the current speed data, compare it with the ideal data, and adjust the sent PWM signal accordingly to quickly stabilize the intelligent agricultural machinery chassis system.

[0044] Step 6: Other Data Feedback. Throughout the entire exercise, information such as battery level and task completion status will be provided in real time. This includes low battery alarms and task progress prompts to alert relevant personnel for appropriate actions.

[0045] The above is the complete operation process of the intelligent agricultural machinery chassis system. Through the above six steps, the intelligent agricultural machinery chassis system can quickly and ideally complete various farmland operations when facing different terrains and tasks, realizing unmanned sowing, spraying, weeding and other tasks.

[0046] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this utility model may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown in this utility model, but is to be accorded the widest scope consistent with the principles and novel features claimed in this utility model.

Claims

1. A small intelligent agricultural machinery chassis system, characterized in that, include: Power module for movement and support of intelligent agricultural machinery chassis system (1); The lower-level control board (2) is used to control the power module (1), and the lower-level control board (2) and the power module (1) are electrically connected; The host computer control board (3) is used for position acquisition and stable control of the intelligent agricultural machinery chassis system. The host computer control board (3) and the lower computer control board (2) communicate with each other via serial port. The positioning module (4) is used for the positioning of the intelligent agricultural machinery chassis system. The positioning module (4) and the host computer control board (3) communicate via serial port. The sensing module (5) is used to monitor the surrounding environment of the intelligent agricultural machinery chassis system in real time. The sensing module (5) and the host computer control board (3) communicate via CAN bus and USB. A remote control module (6) for mobile control of an intelligent agricultural machinery chassis system, wherein the remote control module (6) and the power module (1) are electrically connected; The power supply module (7) is used to power the intelligent agricultural machinery chassis system. The power supply module (7) is electrically connected to the power module (1), the lower computer control board (2), the upper computer control board (3) and the remote control module (6). The power module (1) includes two brushless DC motors (11), a DC motor driver (12), two differential tires (13), a non-powered universal wheel (14), and a base platform. The base platform is arranged horizontally. The non-powered universal wheel (14) is installed in the middle of the bottom rear side of the base platform. The two differential tires (13) are installed on the symmetrical sides of the bottom front side of the base platform. The bodies of the two brushless DC motors (11) are respectively installed on the two differential tires (13), and their central shafts are horizontally and synchronously connected to the center of the two differential tires (13). The DC motor driver (12) is installed on the top surface of the base platform. The two brushless DC motors (11) are electrically connected to the DC motor driver (12), and the DC motor driver (12) is electrically connected to the lower-level control board (2).

2. The small intelligent agricultural machinery chassis system according to claim 1, characterized in that: The positioning module (4) is a dual-antenna differential RTK device (41), which is installed on the top surface of the base plate platform.

3. The small intelligent agricultural machinery chassis system according to claim 1, characterized in that: The sensing module (5) includes a millimeter-wave radar (51), a visible light camera (52), and an inertial measurement unit (53). The millimeter-wave radar (51) is installed on the top center of the base plate platform and communicates with the host computer control board (3) via the CAN bus. The visible light camera (52) is installed on the front side of the top of the base plate platform and faces the front of the intelligent agricultural machinery chassis system. The inertial measurement unit (53) is installed on the top surface of the base plate platform. Both the visible light camera (52) and the inertial measurement unit (53) communicate with the host computer control board (3) via USB.

4. The small intelligent agricultural machinery chassis system according to claim 1, characterized in that: The remote control module (6) includes a wireless remote control and a pulse width modulation (PWM) receiver (61). The wireless remote control is wirelessly connected to the PWM receiver (61), and the PWM receiver (61) is electrically connected to the DC motor driver (12).

5. The small intelligent agricultural machinery chassis system according to claim 4, characterized in that: The power module (7) includes a battery (71), a first voltage converter (72), a second voltage converter (73), and a battery voltage display (74). The battery (71) is electrically connected to the DC motor driver (12) of the power module (1) and two DC brushless motors (11) through the first voltage converter (72). The battery (71) is electrically connected to the lower computer control board (2), the upper computer control board (3), and the pulse width modulation (PWM) receiver (61) of the remote control module (6) through the second voltage converter (73). The battery (71) is electrically connected to the battery voltage display (74).

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