CN112124426A - An all-terrain intelligent agricultural multifunctional power chassis - Google Patents

Abstract

The invention relates to an all-terrain intelligent agricultural multifunctional power chassis, and belongs to the technical field of vehicles. The invention comprises a profile driving system, wherein the profile driving system comprises four groups of driving devices which are respectively arranged below a chassis, the structures of the driving devices are the same, and each group of driving devices comprises a connecting rod suspension, a profile wheel set, a suspension link tension spring, an angle encoder, a steering pull rod, a hydraulic oil cylinder, a cantilever and a motor. The invention provides an all-terrain intelligent agricultural multifunctional power chassis, which is used for meeting the driving requirements of various terrains and improving the adaptability and trafficability of agricultural machinery to the terrains during re-cultivation. The problems of poor ground adaptability, poor skid resistance, insufficient adhesive force, poor trafficability, difficulty in leveling of the vehicle body and the like of agricultural equipment in a complex farmland environment are solved.

Description

An all-terrain intelligent agricultural multifunctional power chassis

technical field

The invention relates to an all-terrain intelligent agricultural multifunctional power chassis, which belongs to the technical field of vehicles.

Background technique

The working and driving environment of agricultural machinery is complex non-road occasions such as fields or mountains, and the driving conditions are relatively harsh, but good driving smooth performance can greatly improve the working conditions of the operator, improve the quality of work, improve driving safety, and can extend the entire vehicle. or the service life of the whole machine. Most of the cultivated land in my country is small plots, and the terrain such as ridges and ridges is complex. A simple wheel system cannot effectively solve the problems of driving and obstacle crossing in complex terrain.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is: the present invention provides an all-terrain intelligent agricultural multi-functional power chassis for the complex terrain represented by hills and mountainous areas, so as to adapt to the driving requirements of various terrains and improve the time of re-cultivation of agricultural machinery. Adaptability to its terrain and passability.

The technical scheme of the present invention is: an all-terrain intelligent agricultural multi-functional power chassis, comprising a profiling drive system, wherein the profiling drive system includes four sets of drive devices, all of which are respectively installed under the chassis 5, and each set of drive devices has the same structure , each group of drive devices includes a link suspension 7, a profiling wheel group 11, a suspension link tension spring 12, an angle encoder 13, a steering rod 14, a hydraulic cylinder 15, a cantilever 17, and a motor 18;

The upper end of the link suspension 7 is hinged with the chassis 5, the lower end is hinged with the first flange disc 19, and the upper ends of the two cantilevers 17 are movably connected to the first flange disc 19 and the second flange disc 20. In between, the lower ends of the two cantilever arms 17 are respectively installed with a profile wheel set 11 , the lower ends of the two cantilever arms 17 are installed with a suspension link tension spring 12 , and the first rib plate 21 of the second flange disc 20 is installed A hydraulic oil cylinder 15 is installed, the upper end of the telescopic end of the hydraulic oil cylinder 15 is installed on the lower bottom surface of the chassis 5, the second rib plate 22 of the second flange disc 20 is installed with a steering pull rod 14, and the steering pull rod 14 is connected with the motor 18, The angle encoder 13 is mounted on the second flange disc, and the controller 4 is respectively connected with the angle encoder 13 , the hydraulic cylinder 15 and the motor 18 .

As a further solution of the present invention, the link suspension 7 includes two telescopic rods and one telescopic link mechanism, the upper ends of the two telescopic rods and one telescopic link mechanism are hinged with the chassis 5, and the lower ends are both hinged with the first The flanged disc 19 is articulated live.

As a further solution of the present invention, a field environment perception system is also included; the field environment perception system includes a lidar 1 installed on the front side of the frame chassis and a TOF depth camera 16 installed on the side of the lidar closer to the center. The frame is installed in front of the agricultural machinery and is used to collect information on the working environment of the agricultural machinery; the TOF depth camera 16 is responsible for obtaining finer terrain information in the local range during operation; several sensors are placed in the sensor box 6, and through several sensors Field environmental information is collected, the data collected by each sensor in the sensor box 6 is transmitted to the controller 4, and an elevation map model is constructed through a coordinate transformation system.

As a further solution of the present invention, it also includes a route planning and navigation system; the route planning and navigation system includes a navigation system module and a route planning module, and the navigation system module takes the SLAM system as the core module of the entire navigation system; the route planning and navigation system first receives The data information collected by the field environment perception system after coordinate transformation, according to the motion model and observation model of chassis 5, use probability or optimized SLAM algorithm to complete road sign extraction, data association, sensor data fusion, chassis positioning, and incremental map construction Work, provide accurate positioning and map model for the path planning module; secondly, the path planning module accepts the positioning information of the chassis, odometer information and surrounding environment map information, and under the premise of accurate positioning, autonomously plans the walking route and real-time. Effective obstacle avoidance driving, while the angle encoder 13 feeds back the ground undulation to the profiling drive system.

As a further solution of the present invention, it also includes a human-computer interaction system; the human-computer interaction system is used for visual interface display of maps and chassis models, realizing incremental creation of two-dimensional maps, and image display of the actual environment in front of the chassis; At the same time, it can specify the target point for the path planning system in the autonomous mode, realize the motion control of the chassis through the keyboard or handle in the manual control mode, complete the measurement of soil moisture and soil firmness physical information, and upload it to the cloud platform for storage.

As a further solution of the present invention, it also includes a power supply system; the power supply system is composed of a lithium battery pack 2, a motor 18, and a power management system, and the power management system is responsible for managing the power supply distribution of the power output from the battery to each subsystem, so as to realize power supply management and protection.

The beneficial effects of the present invention are: compared with the prior art, the all-terrain intelligent agricultural multifunctional power chassis of the present invention has the following advantages:

1. The all-round multi-degree-of-freedom full-ground profiling walking mechanism is designed, and the angle encoder and linear sensor are used for accurate profiling, which better solves the problems of poor ground adaptability, easy wheel slippage, and insufficient adhesion;

2. Use lidar and depth camera to build a map elevation model in real time, and use SLAM algorithm for path planning to realize intelligent autonomous obstacle avoidance and driving of the chassis;

3. A TDR measuring instrument is installed on the chassis, and various physical properties of the soil are obtained through the measurement of electrical conductivity, and uploaded to the cloud for storage, which increases the practical function of the chassis.

Description of drawings

Fig. 1 is the left side view of the mechanical structure of the present invention;

Fig. 2 is a partial enlarged view of the mechanical structure of the present invention;

Fig. 3 is the partial schematic diagram of the profiling drive system of the present invention;

Fig. 4 is the axonometric view of the mechanical structure of the present invention;

Fig. 5 is the front view of the mechanical structure of the present invention;

FIG. 6 is a schematic diagram of the control flow of the mechanical structure of the present invention.

Labels in Figure 1-6: 1-Lidar, 2-Lithium battery pack, 3-DC transformer, 4-Controller, 5-Chassis, 6-Sensor box, 7-Link suspension, 8-IMU module, 9-Wireway, 10-Driver, 11-Profile wheel set, 12-Suspension link tension spring, 13-Angle encoder, 14-Steering rod, 15-Hydraulic cylinder, 16-TOF depth camera, 17-Cantilever, 18-motor, 19-first flange disc, 20-second flange disc, 21-first rib plate, 22-second rib plate.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

Embodiment 1: As shown in Figures 1-6, an all-terrain intelligent agricultural multi-functional power chassis includes a profiling drive system. The profiling drive system includes four sets of driving devices, all of which are respectively installed under the chassis 5. The structure of the group driving devices is the same. Each group of driving devices includes a link suspension 7, a profile wheel group 11, a suspension link tension spring 12, an angle encoder 13, a steering rod 14, a hydraulic cylinder 15, a cantilever 17, and a motor 18. ;

The upper end of the link suspension 7 is hinged with the chassis 5, the lower end is hinged with the first flange disc 19, and the upper ends of the two cantilevers 17 are movably connected to the first flange disc 19 and the second flange disc 20. In between, the lower ends of the two cantilever arms 17 are respectively installed with a profile wheel set 11 , the lower ends of the two cantilever arms 17 are installed with a suspension link tension spring 12 , and the first rib plate 21 of the second flange disc 20 is installed A hydraulic oil cylinder 15 is installed, the upper end of the telescopic end of the hydraulic oil cylinder 15 is installed on the lower bottom surface of the chassis 5, the second rib plate 22 of the second flange disc 20 is installed with a steering pull rod 14, and the steering pull rod 14 is connected with the motor 18, The angle encoder 13 is mounted on the second flange disc, and the controller 4 is respectively connected with the angle encoder 13 , the hydraulic cylinder 15 and the motor 18 .

As a further solution of the present invention, the link suspension 7 includes two telescopic rods and one telescopic link mechanism, the upper ends of the two telescopic rods and one telescopic link mechanism are hinged with the chassis 5, and the lower ends are both hinged with the first The flanged disc 19 is articulated live.

As a further solution of the present invention, a field environment perception system is also included; the field environment perception system includes a lidar 1 installed on the front side of the frame chassis and a TOF depth camera 16 installed on the side of the lidar closer to the center. The frame is installed in front of the agricultural machinery and is used to collect information on the working environment of the agricultural machinery; the TOF depth camera 16 is responsible for obtaining finer terrain information in the local range during operation; several sensors are placed in the sensor box 6, and through several sensors Field environmental information is collected, the data collected by each sensor in the sensor box 6 is transmitted to the controller 4, and an elevation map model is constructed through a coordinate transformation system.

As a further solution of the present invention, it also includes a route planning and navigation system; the route planning and navigation system includes a navigation system module and a route planning module, and the navigation system module takes the SLAM system as the core module of the entire navigation system; the route planning and navigation system first receives The data information collected by the field environment perception system after coordinate transformation, according to the motion model and observation model of chassis 5, use probability or optimized SLAM algorithm to complete road sign extraction, data association, sensor data fusion, chassis positioning, and incremental map construction Work, provide accurate positioning and map model for the path planning module; secondly, the path planning module accepts the positioning information of the chassis, odometer information and surrounding environment map information, and under the premise of accurate positioning, autonomously plans the walking route and real-time. Effective obstacle avoidance driving, while the angle encoder 13 feeds back the ground undulation to the profiling drive system.

As a further solution of the present invention, it also includes a human-computer interaction system; the human-computer interaction system is used for visual interface display of maps and chassis models, realizing incremental creation of two-dimensional maps, and image display of the actual environment in front of the chassis; At the same time, it can specify the target point for the path planning system in the autonomous mode, realize the motion control of the chassis through the keyboard or handle in the manual control mode, complete the measurement of soil moisture and soil firmness physical information, and upload it to the cloud platform for storage. A TDR measuring instrument is installed on the chassis, and various physical properties of the soil are obtained through the measurement of electrical conductivity, and uploaded to the cloud for storage, which increases the practical function of the chassis;

As a further solution of the present invention, it also includes a power supply system; the power supply system is composed of a lithium battery pack 2, a motor 18, and a power management system, and the power management system is responsible for managing the power supply distribution of the power output from the battery to each subsystem, so as to realize power supply management and protection.

The working principle of the present invention is: the angle encoder 13 is responsible for detecting the angle signal between the two cantilevers 17;

When the profiling wheel set 11 encounters a raised obstacle, the change value of the angle between the two cantilevers 17 is collected by the angle encoder 13, and when the analog signal is detected to be less than the set value, the angle encoder 13 will simulate the The signal is converted into a digital signal and transmitted to the controller 4; the controller 4 controls the integrated power switch of the hydraulic cylinder 15 to open, and the contraction oil circuit of the hydraulic cylinder 15 is connected. A rib plate 21 drives both the first flange disk 19 and the second flange circle 20 to move downward, so that the angle between the two cantilevers 17 increases. A telescopic rod and a telescopic link mechanism are both telescopic and longitudinally oscillating, so as to adjust the height of the suspension to lower, and realize the dynamic balance of bionic walking adjustment;

When encountering a concave ground, the change value of the angle between the two cantilevers 17 is collected by the angle encoder 13, and it is detected that the analog signal is greater than the set value, and the angle encoder 13 converts the analog signal into a digital signal for transmission To the controller 4; the integrated power switch of the controller 4 to control the extension action of the hydraulic cylinder 15 is turned on, and the extension oil circuit of the hydraulic cylinder 15 is connected, and the telescopic end of the hydraulic cylinder 15 extends to reduce the first rib connected to it. The pressure on the plate 21 drives the first flange disk 19 and the second flange circle 20 to move upward, so that the angle between the two cantilevers 17 is reduced. The telescopic rod and a telescopic link mechanism are both telescopic and longitudinally swinging, and then the height of the suspension can be adjusted to become higher, so as to realize the dynamic balance of bionic walking adjustment;

The linear displacement sensor arranged under the chassis feeds back the telescopic displacement of the hydraulic cylinder 15 back to the controller 4, and the controller 4 outputs a control signal after analyzing the adjustment signal to ensure the dynamic balance of adjustment. When there is an obstacle ahead that needs to be detoured, the controller 4 outputs an electrical signal to the driver 10, the driver 10 controls the motor 18 to rotate, the motor 18 rotates and transmits the torque to the steering rod 14, and the steering rod 14 forms a rotational offset due to its length, Turn around the center of the flange to complete the turn.

As shown in Figure 1: Figure 1 is the left side view of the mechanical structure of the all-terrain intelligent agricultural multi-functional power chassis. The lithium battery pack 2 provides energy for the entire system, and the DC transformer 3 is fixed on the chassis 5. AD/DA After conversion, the output current is sent to the rising coil of the solenoid valve, so that the coil attracts the spool, and according to the unevenness of the ground, the extension/contraction oil circuit of the hydraulic cylinder 15 is connected, and the contraction of the suspension link tension spring 12 makes the The included angle of the suspension is changed, and the height of the suspension is adjusted to realize the profiling drive. The degree of change in the included angle is read by the inclination sensor, and the relative movement angle of the cantilever is called the lateral profiling angle α. The range of the angle is adjusted by the tension spring, and the horizontal profiling of the chassis to the ground is completed with the sensor. The included angle between the rear cantilever and the frame is the longitudinal profiling angle β, and the profiling angles corresponding to different installation positions are β ₁ , β ₂ , β ₃ , β ₄ in turn. The encoder collects feedback to realize longitudinal profiling of the chassis to the ground.

As shown in Figure 2: Figure 2 is a partial enlarged view of the mechanical part of the all-terrain intelligent agricultural multi-functional power chassis, including the suspension 7, the profiling wheel set 11, the suspension link tension spring 12, the angle encoder 13, the cantilever 14, The four sets of profiling wheel sets 11 are respectively installed on both sides of the suspension link tension spring 12, and the four motors 18 are respectively vertically connected with the front, rear, left and right steering rods 14, and are fixed on the side of the chassis 5. After the profiling wheel set 11 encounters a raised obstacle, the angle encoder 13 detects that the analog signal is less than the set value, the analog signal is converted into a digital signal and transmitted to the controller, and the digital signal output by the controller is converted into an analog signal. Signal, the integrated power switch that controls the hydraulic cylinder 15 to receive the signal to contract the action, turns on the contraction oil circuit of the hydraulic cylinder 15, and the angle of the cantilever 17 increases. When encountering a concave ground, the angle encoder 13 detects that the analog signal is higher than the set value, and the analog signal is input to the input end of the controller 4. The integrated power switch that controls the extension of the hydraulic cylinder is connected to Through the extension oil passage of the hydraulic cylinder 15, the included angle of the cantilever 17 is reduced.

As shown in Figure 4: Figure 4 is an axonometric view of the mechanical structure of the all-terrain intelligent agricultural multifunctional power chassis. A variety of sensors are placed in the sensor box 6, wherein the collected data of each sensor is transmitted to the controller 4, and an elevation map model is constructed through a coordinate transformation system. At the same time, the displacement sensor in the sensor box 6 feeds back the telescopic displacement of the hydraulic cylinder to the controller, the controller outputs a control signal after analyzing the adjustment signal, and the chassis 5 adjusts the dynamic balance. The controller 4 receives various sensor information after coordinate transformation, and uses probability or optimized SLAM algorithm to complete road sign extraction, data association, sensor data fusion, chassis positioning, and incremental map according to the motion model and observation model of the chassis. Construction and other work to provide accurate positioning and map models for the path planning system.

As shown in Figure 5: Figure 5 is a front view of the mechanical structure of the all-terrain intelligent agricultural multi-functional power chassis. The lidar 1, the TOF depth camera 16 and the IMU module 8 installed on the side of the lidar closer to the center, the IMU module 8 can collect the current chassis attitude status of the chassis, and the lidar 1 and the TOF depth camera 16 obtain the local parts during operation. The finer terrain information in the range. And based on the obtained environmental depth information, the SLAM algorithm is used to provide accurate positioning and map models for the path planning system. The angle encoder 13 acts as an odometer to feed back the signal to the host computer, and integrates various sensors such as lidar and depth camera to explore dynamic obstacle avoidance and local path planning methods, so as to realize the safe obstacle avoidance of the mobile chassis in a dynamic environment to improve power The efficiency of chassis path planning, running stability and safety. The sensor box 6 sends the collected data to the controller 4 for collecting information on the future working environment of the agricultural machinery.

The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and can also be made within the scope of knowledge possessed by those of ordinary skill in the art without departing from the purpose of the present invention. Various changes.

Claims (6)

1. The utility model provides an agricultural multi-functional power chassis of all-terrain intelligence which characterized in that: the device comprises a profile driving system, wherein the profile driving system comprises four groups of driving devices which are respectively arranged below a chassis (5), each group of driving devices has the same structure, and each group of driving devices comprises a connecting rod suspension (7), a profile wheel group (11), a suspension link tension spring (12), an angle encoder (13), a steering pull rod (14), a hydraulic oil cylinder (15), a cantilever (17) and a motor (18);

the upper end of the connecting rod suspension (7) is hinged to the chassis (5), the lower end of the connecting rod suspension is movably hinged to the first flange disc (19), the upper ends of the two cantilevers (17) are movably connected between the first flange disc (19) and the second flange disc (20), the copying wheel sets (11) are installed at the lower ends of the two cantilevers (17) respectively, a suspension link tension spring (12) is installed between the lower ends of the two cantilevers (17), a hydraulic oil cylinder (15) is installed on a first rib plate (21) of the second flange disc (20), the upper end of a telescopic end of the hydraulic oil cylinder (15) is installed on the lower bottom surface of the chassis (5), a steering pull rod (14) is installed on a second rib plate (22) of the second flange disc (20), the steering pull rod (14) is connected with the motor (18), an angle encoder (13) is installed on the second flange disc, and a controller (4) is connected with the angle encoder, The hydraulic oil cylinder (15) and the motor (18) are connected.

2. An all-terrain intelligent agricultural multifunctional power chassis according to claim 1, characterized in that: the connecting rod suspension (7) comprises 2 telescopic rods and a telescopic connecting rod mechanism, the upper ends of the 2 telescopic rods and the telescopic connecting rod mechanism are hinged with the chassis (5), and the lower ends of the 2 telescopic rods and the telescopic connecting rod mechanism are movably hinged with the first flange disc (19).

3. An all-terrain intelligent agricultural multifunctional power chassis according to claim 1, characterized in that: the field environment sensing system is also included; the field environment sensing system comprises a laser radar (1) arranged on the front side of a chassis of the frame and a TOF depth camera (16) arranged on the side surface of the laser radar closer to the center, and the frame is arranged in front of the agricultural implement and used for collecting information of the working environment of the agricultural implement; the TOF depth camera (16) is responsible for acquiring finer topographic information in a local range during operation; the sensors are placed in the sensor box (6), field environment information is collected through the sensors, data collected by the sensors in the sensor box (6) are transmitted to the controller (4), and an elevation map model is built through the coordinate transformation system.

4. An all-terrain intelligent agricultural multifunctional power chassis according to claim 1, characterized in that: the system also comprises a path planning navigation system; the path planning navigation system comprises a navigation system module and a path planning module, wherein the navigation system module takes an SLAM system as a core module of the whole navigation system; the path planning navigation system firstly receives data information acquired by the field environment sensing system after coordinate transformation, and finishes road sign extraction, data association, sensor data fusion, chassis positioning and incremental map construction work by utilizing a probability or optimized SLAM algorithm according to a motion model and an observation model of a chassis (5) so as to provide an accurate positioning and map model for a path planning module; and secondly, a path planning module is used for receiving positioning information, odometer information and surrounding environment map information of the chassis, the walking route is planned autonomously on the premise of accurate positioning, the obstacle avoidance driving is effectively carried out in real time, and meanwhile, an angle encoder (13) feeds back the ground fluctuation condition to the profiling driving system.

5. An all-terrain intelligent agricultural multifunctional power chassis according to claim 1, characterized in that: the system also comprises a human-computer interaction system; the human-computer interaction system is used for displaying a map and a visual interface of a chassis model, and realizing incremental creation of a two-dimensional map and image display of an actual environment in front of a chassis; meanwhile, a target point can be appointed for the path planning system in the autonomous mode, the motion control of the chassis is realized through a keyboard or a handle in the manual control mode, and the measurement of the soil moisture and the soil firmness physical information is completed and is summarized and uploaded to the cloud platform for storage.

6. An all-terrain intelligent agricultural multifunctional power chassis according to claim 1, characterized in that: the system also comprises a power supply system; the power supply system consists of a lithium battery pack (2), a motor (18) and a power management system, and the power management system is responsible for managing power distribution of a power supply output by a battery to each subsystem so as to realize power supply management and protection.

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