Agricultural Robot Wheel Balancing for Heavy Crop Harvesting
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Solution Overview
Problem
Existing agricultural robots face challenges in balancing the machine body and manipulator during the harvesting of heavy crops like watermelons, melons, and pumpkins, necessitating a solution that maintains stability and efficiency.
Innovation Solution
The agricultural robot incorporates a wheeled traveling device with independently controllable wheels and a manipulator system featuring a balance controller, swingable arms, and a detachable mounting assembly, along with an imaging system for crop detection and a map generator to determine the optimal harvest time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the manipulator is used to harvest heavy crops, then the harvesting capability is improved, but the balance between machine body and manipulator deteriorates
Solution Approach 1:
The balance controller adjusts the positions of the wheels to create counterbalancing forces that offset the weight of the manipulator and harvested crops, maintaining equilibrium between the machine body and manipulator system
Solution Approach 2:
The wheel positions are dynamically adjusted in real-time based on the manipulator's position and load, allowing the system to adapt and maintain balance during various harvesting operations
2Stability of the object's composition
If the wheels are independently raised and lowered to control machine body posture, then the balance control is improved, but the device complexity increases
Solution Approach 1:
The balance controller automatically calculates and executes wheel position adjustments based on sensor feedback, enabling the system to self-regulate balance without manual intervention
Data Source
AI summary
An agricultural robot includes a machine body, a wheeled traveling device to support the machine body such that the machine body is capable of traveling, the traveling device including at least three wheels, a manipulator including an arm and a robot hand, the arm being attached to the machine body, the robot hand being attached to the arm and capable of holding an object, and a balance controller to control positions of the at least three wheels, respectively, to achieve a balance between the machine body and the manipulator.