CN113491180A - Garden operation robot - Google Patents

Abstract

The invention discloses a field operation robot, belonging to the technical field of farming equipment, which is characterized by at least comprising: the travelling mechanism comprises a travelling driving chassis and an axle driving assembly module; the functional module of the operation device executes different farming operations; the lifting mechanism is arranged on the walking driving chassis and drives the functional module of the operation device to complete the lifting action; the control system is used for controlling the actions of the travelling mechanism, the working device functional module and the lifting mechanism and is carried on the unmanned controller; wherein: the control system includes: the device comprises a positioning control module, an obstacle avoidance control module, a navigation control module, a motion control module, an operation device control module, an automatic charging control module, a data storage module and a communication module. By adopting the technical scheme, the intelligent and unmanned field operation can liberate more manpower in the agricultural and farming operation process, reduce the labor cost, improve the operation efficiency and the operation precision and realize the intelligent and unmanned field operation.

Description

Garden operation robot

Technical Field

The invention belongs to the technical field of farming equipment, and particularly relates to a field operation robot.

Background

In recent years, with the rapid development of science and technology, the intellectualization and the unmanned of agricultural machinery have become the development direction of modern agriculture. At present, most of intelligent agricultural mechanical equipment is still manually operated for large-area plain farms, greenhouse vegetable planting, vegetable basket projects (shared vegetable lands) around cities, gardens behind high-grade villas, rural vegetable gardens, small fields and other field areas, such as digging pits with a hoe and manually dibbling seeds; and a small amount of small agricultural machines such as a mini-tiller and other hand-held machines are adopted for agricultural operations such as seeding, the two operation modes occupy a large amount of time and energy of operators in the operation process, the linear operation effect is not ideal, and the operation precision is not high. Therefore, an intelligent and unmanned agricultural robot is needed, which can improve the precision of agricultural tillage operation and realize intelligent and unmanned field operation while freeing both hands of human beings. .

Disclosure of Invention

The invention aims to solve the technical problems in the prior art, and provides a field operation robot which can liberate more manpower in the farming operation process, reduce the labor cost, improve the operation efficiency and the operation precision, and realize intelligent and unmanned field operation.

The invention aims to provide a field operation robot, which comprises:

the travelling mechanism comprises a travelling driving chassis and an axle driving assembly module;

the functional module of the operation device executes different farming operations;

the lifting mechanism is arranged on the walking driving chassis and drives the functional module of the operation device to complete the lifting action;

the control system is used for controlling the actions of the travelling mechanism, the working device functional module and the lifting mechanism and is carried on the unmanned controller; wherein:

the control system includes:

the positioning control module is used for monitoring the position of the rural operation robot;

the obstacle avoidance control module receives data of the obstacle avoidance radar to avoid the obstacle;

the navigation control module guides the traveling route of the traveling mechanism through a built-in rural map and a planned path;

the motion control module controls the running, steering, braking and speed of the running mechanism;

the operating device control module controls the operating device function module to complete farming operation;

the automatic charging control module is used for controlling the field operation robot to charge;

a data storage module and a communication module.

Preferably, the walking drive chassis includes:

a first chassis supporting plate (11) and a second chassis supporting plate (12) which are arranged in the horizontal direction;

the outer frame of a rectangular structure is formed by sequentially connecting a transverse bracket I (5), a longitudinal bracket I (7), a transverse bracket II (6) and a longitudinal bracket II (8) end to end;

a first chassis fixing bracket (13) and a second chassis fixing bracket (14) which are connected to the inner side of the outer frame; the first chassis fixing support (13) and the second chassis fixing support (14) are parallel to each other; wherein:

a left mounting cavity is defined by the transverse support I (5), the longitudinal support I (7), the chassis fixing support I (13) and the longitudinal support II (8); the first chassis supporting plate (11) is fixed at the bottom of the left mounting cavity;

the longitudinal support I (7), the transverse support II (6), the chassis fixing support II (14) and the longitudinal support II (8) enclose a right side installation cavity; the second chassis supporting plate (12) is fixed at the bottom of the right side mounting cavity;

a first supporting shaft connecting frame (9) is arranged on the right outer side of the left side mounting cavity; a second supporting shaft connecting frame (10) is arranged on the right outer side of the right side mounting cavity; a functional module dismounting area of the operation device is arranged between the first support shaft connecting frame (9) and the second support shaft connecting frame (10);

a first clamping groove (15), a second clamping groove (16) and a third clamping groove (17) are formed in the first transverse support (5); and a clamping groove IV (18) is formed in the transverse bracket II (6).

Preferably, the axle driving assembly module comprises a motor (24), the motor (24) is connected with a coupling (27) through a speed reducer (25), and the coupling (27) is connected with a wheel (28) through a wheel shaft (30), a key (29) in sequence; the connecting square pipe (31) is embedded on the supporting shaft (26), the upper connecting disc (32) is fixed to the connecting square pipe (31) through bolts, the lower connecting disc (33) is fixed to the lower portion of the supporting shaft assembly (35) through bolts, and the buffer spring (34) is installed between the upper connecting disc (32) and the lower connecting disc (33); the support shaft (26) is located inside the support shaft assembly (35), and the support shaft assembly (35) is connected with the wheel shaft (30) through a coupler (27).

Preferably, the lifting mechanisms comprise a left lifting mechanism and a right lifting mechanism which are identical in structure;

the left side lifting mechanism comprises:

a first connecting rod (38) for connecting the walking driving chassis and the functional module of the operation device;

a second connecting rod (39) positioned below the first connecting rod (38);

an electric push rod (36); wherein:

the electric push rod (36) is fixed on the second longitudinal support (8), and when the internal mechanism of the electric push rod rises, the top end of the electric push rod (36) jacks up the first connecting rod (38).

Preferably, the operation device functional module comprises a seeding device, a rotary tillage device, a ridging device, a weeding device, a harvesting device and a spraying device.

Preferably, the mobile terminal further comprises a handheld terminal which performs data interaction with the communication module through a WIFI or 4G module.

Preferably, an operation management system is installed in the handheld terminal; the job management system includes:

the login module is used for realizing the management functions of user registration, login and password recovery;

the robot configuration module is used for realizing the parameter configuration function of the robot system;

the task editing module is used for realizing the setting and management functions of the operation information and the field information;

the path planning module is used for realizing a path diagram planning and designing function of the operation field;

the operation monitoring module is used for realizing the functions of monitoring the operation state and the motion state of the field robot in real time and dynamically drawing the walking track;

the viewing module is used for achieving viewing and management functions of historical job data, historical job tracks and data analysis;

the setting module realizes the functions of user management, authority management and system quitting;

and the help module realizes the functions of checking software update and providing basic platform information.

Preferably, the workflow of the job management system is as follows:

s1, logging in the system; the method specifically comprises the following steps:

when the system is used for the first time, firstly, registration is carried out, and then the system logs in and enters a main interface of an operation management system; when the mobile phone is not used for the first time, logging in through history registration account information;

s2, configuring robot parameters through a robot configuration module;

s3, performing operation setting and field setting through the task editing module;

s4, performing operation direction selection, boundary point acquisition, path planning and path issuing operation through a path planning module;

s5, issuing a control instruction through the operation control module to enable the rural robot to start navigation operation according to the received predefined path;

s6, after the navigation operation is finished, confirming;

s7, checking the navigation operation data, the operation dynamic track and the data analysis curve through a checking module;

and S8, completing all job tasks, and exiting the job management system through the setting module.

Preferably, the work flow of the rural operation robot is as follows:

step one, building hardware equipment;

building and connecting a positioning device, confirming whether the positioning state is normal or not, and installing a corresponding operation device function module in a field robot operation device area according to operation requirements;

step two, establishing remote communication connection;

starting the rural robot, logging in the handheld terminal monitoring system at the same time, and establishing remote wireless communication connection between the rural robot and the handheld terminal operation management system;

step three, configuring robot parameters;

firstly, selecting a target robot, if the model of a current machine to be operated does not exist in a robot database, adding a new robot, and then setting parameters of the target robot;

step four, setting a job task in the task editing module; the method specifically comprises the following steps:

setting specific operation parameters;

setting specific field parameters;

step five, performing path planning operation in the path planning; the method specifically comprises the following steps:

selecting an operation direction;

collecting field boundary points and determining an operation starting point;

planning a path;

sending the planned path information to an unmanned controller;

step six, automatic operation control description;

entering an automatic control operation mode, starting operation, and automatically traversing all operation paths in the field by the field robot;

in the process of following the straight path, the unmanned controller controls the operation device to operate according to the operation requirement;

in the turning process, the unmanned controller controls the operation device to lift;

in the process of automatic operation of the rural robot, when the obstacle avoidance radar detects an obstacle, the rural robot stops moving, the operation device function module stops operating, and when the obstacle is removed, the rural robot continues to move and operate according to the last unexecuted motion instruction and operation instruction;

after all the operations are finished, the rural robot stops moving, waiting for confirmation information, and after the confirmation is finished, the rural robot exits from the automatic control mode, and returns to the area to be operated to wait for the next operation instruction;

if the battery electric quantity of the rural robot is lower than the set lowest limit value of the operable electric quantity, the rural robot body and the handheld terminal interface perform charging prompt, the rural robot automatically goes to a charging station to perform charging, and other operation task instructions are not received in the process; in the charging process, when the electric quantity of the field robot is larger than a set value capable of carrying out operation, the field robot can receive a field operation task instruction;

step seven, checking the operation data;

in the operation process, the data storage module can automatically store the acquired boundary data, the routing chart data, the walking track data and the operation area data in the actual operation process; checking corresponding job data, historical tracks and data analysis charts through a checking module;

step eight, quitting the system;

and after the operation is finished, the system is quitted through the setting module.

Preferably, the rural operation robot adopts four-wheel drive.

The invention has the advantages and positive effects that:

the invention designs a rural robot which can be autonomously positioned, walked and obstacle-avoided and is provided with an operation management system, various agricultural functions such as autonomous rotary tillage, automatic sowing and the like are realized by replacing different working devices, and the operation management system carried on a handheld terminal can realize intelligent operation and control of the operation process and working state monitoring of the rural robot.

Compared with the traditional hand-held agricultural machinery, the unmanned mechanical planting in the rural area is realized, the overall design of the vehicle body is simple and practical, a user is in wireless connection with the rural robot through a mobile terminal such as a tablet personal computer, the autonomous rotary tillage and seeding operation of the rural robot is realized by controlling the rural robot, the operation efficiency and the operation precision are improved, and the labor cost is reduced. A user plans the operation flow and the operation path of the rural robot through the mobile terminal, controls the robot to work, and can know the working and running states of the robot in real time;

the invention adopts four-wheel drive and sliding steering modes to realize the driving and steering functions, the structural design of the driving module is simple and practical, and compared with other structural steering modes, the cost is effectively reduced on the basis of not reducing the driving and turning motion effects;

the invention is designed with a handheld terminal operation management system, can realize the remote operation control of the field robot, and is safer and more convenient to operate compared with the existing manual hand-held operation machine;

the invention adopts a battery power supply form to provide power for the field robot, avoids the problem of environmental pollution compared with agricultural machinery using gasoline and diesel oil as power sources, has the battery power supply cost far lower than the oil burning cost, and saves the consumption cost in the movement process of the agricultural machinery.

Drawings

FIG. 1 is a schematic view of a vehicle body structure according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a wheel drive assembly according to a preferred embodiment of the present invention;

FIG. 3 is a schematic view of a lifting mechanism in a preferred embodiment of the present invention;

FIG. 4 is a top view of the seeding module, a functional module of the working device in accordance with the preferred embodiment of the present invention;

FIG. 5 is a top view of a rotary tillage module, a functional module of a working device according to a preferred embodiment of the present invention;

FIG. 6 is a flowchart illustrating operation of the job management system according to the preferred embodiment of the present invention;

FIG. 7 is a flowchart of the operation of a rural robot in a preferred embodiment of the present invention;

fig. 8 is a block diagram of the functional module of the drone controller in a preferred embodiment of the present invention.

Wherein: 1. an operating device function module; 2. an unmanned controller; 3. obstacle avoidance radar; 4. a power supply module; 5. a first transverse bracket; 6. a second transverse bracket; 7. a first longitudinal support; 8. a second longitudinal bracket; 9. a first support shaft connecting frame; 10. the support shaft is connected with a second frame; 11. a first chassis supporting plate; 12. a second chassis supporting plate; 13. a first chassis fixing bracket; 14. a second chassis fixing bracket; 15. a first clamping groove; 16. a second clamping groove; 17. a third clamping groove; 18. a clamping groove IV; 19. a first driving controller; 20. a second driving controller; 21. a scram switch; 22. a power switch; 23. a fault indicator light; 28. a wheel; 36. an electric push rod; 37. a scissor structure; 38. a first connecting rod; 39. a second connecting rod; 40. and (6) connecting hole positions.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

as shown in fig. 1 to 8, the technical solution of the present invention is:

a field work robot comprising:

the travelling mechanism comprises a travelling driving chassis and an axle driving assembly module;

the functional module of the operation device executes different farming operations;

the lifting mechanism is arranged on the walking driving chassis and drives the functional module of the operation device to complete the lifting action;

the control system is used for controlling the actions of the travelling mechanism, the working device functional module and the lifting mechanism and is carried on the unmanned controller; wherein:

the control system includes:

the positioning control module is used for monitoring the position of the rural operation robot;

the obstacle avoidance control module receives data of the obstacle avoidance radar to avoid the obstacle;

the navigation control module guides the traveling route of the traveling mechanism through a built-in rural map and a planned path;

the motion control module controls the running, steering, braking and speed of the running mechanism;

the operating device control module controls the operating device function module to complete farming operation;

the automatic charging control module is used for controlling the field operation robot to charge;

a data storage module and a communication module.

When the rural robot reaches an operation point, according to the height requirements of different operation types such as seeding, rotary tillage and the like on the operation device functional module 1, an operation height adjusting instruction is sent to the unmanned controller 2 through the handheld terminal, and the unmanned controller 2 controls the electric push rod 35 to complete corresponding lifting actions after receiving the adjusting instruction.

In the automatic navigation operation process of the rural robot, each state information of the rural robot is obtained through the positioning device, the state information data are transmitted to the unmanned controller 2 to be fused and analyzed, the operation management system issues an operation instruction to the unmanned controller 2, the unmanned controller 2 controls the rural robot executing mechanism to complete a corresponding action instruction through the first driver 19 and the second driver 20, real-time data in the operation process are returned to the unmanned controller 2 and the operation management system, then real-time path tracking operation is completed, the operation management system monitors and displays the navigation operation condition in real time, and information such as historical operation data can be inquired through the checking module after the operation is finished.

The preferred technical scheme mainly comprises a control system, a walking driving chassis, a lifting mechanism, an operation device functional module 1, an unmanned controller 2, a positioning device, an obstacle avoidance radar 3 and a power supply module 4; the lifting mechanism is carried on the walking driving chassis through a second connecting rod 39, the operation device functional module 1 is connected with the lifting mechanism through a first connecting hole 40 on a first connecting rod 38, the power supply module 4 is fixed on the walking driving chassis through a first clamping groove 15 above a first chassis supporting plate, the unmanned controller 2 is fixed on the walking driving chassis through a second clamping groove 16 above the first chassis supporting plate, the positioning device is fixed on a vehicle body shell, and the obstacle avoidance radar 3 is installed on a first transverse support 5 of the walking driving chassis.

The walking drive chassis mainly comprises a first transverse support 5, a second transverse support 6, a first longitudinal support 7, a second longitudinal support 8, a first support shaft connecting frame 9, a second support shaft connecting frame 10, a first chassis supporting plate 11, a second chassis supporting plate 12, a first chassis fixing support 13, a second chassis fixing support 14, a first clamping groove 15, a second clamping groove 16, a third clamping groove 17, a fourth clamping groove 18, an axle drive assembly module, a first drive controller 19, a second drive controller 20, an emergency stop switch 21, a power switch 22 and a fault indicator lamp 23. Two ends of the transverse support I5 are respectively connected with one end of the longitudinal support I7 and one end of the longitudinal support II 8 through bolts; two ends of the transverse support II 6 are respectively connected with the other ends of the longitudinal support I7 and the longitudinal support II 8 through bolts; the chassis supporting plate I11 is fixedly connected with the transverse support I5, the chassis fixing support I13, the longitudinal support I7 and the longitudinal support II 8 through bolts; the second chassis supporting plate 12 is fixedly connected with the second transverse support 6, the second chassis fixing support 14, the first longitudinal support 7 and the second longitudinal support 8 through bolts; two ends of the first support shaft connecting frame 9 are respectively connected with the support shaft assemblies of the two front wheels through bolts; two ends of the second support shaft connecting frame 10 are respectively connected with the support shaft assemblies of the two rear wheels through bolts; the first driving controller 19 is fixed at the third slot 17 through a bolt, and the second driving controller 20 is fixed at the fourth slot 18 through a bolt and is connected to an electrical system through a wiring harness; the emergency stop switch 21 and the power switch 22 penetrate through an embedded hole position at the front end of the second longitudinal support 8 and are fixed on the second longitudinal support 8 and connected to an electrical system through a wiring harness, when the manual parking is needed in an emergency, the emergency stop switch 21 can be pressed down, and the rural robot stops all actions immediately; the fault indicator lamp 23 penetrates through an embedding hole at the rear end of the second longitudinal support 8 and is fixed on the second longitudinal support 8 and is connected to an electrical system through a wiring harness, and when the rural robot encounters different types of faults, the corresponding fault indicator lamp 23 can be normally turned on or flickered for prompting.

The axle driving assembly module mainly comprises a motor 24, a speed reducer 25, a supporting shaft 26, a coupling 27, wheels 28, a key 29, a wheel shaft 30, a connecting square tube 31, an upper connecting disc 32, a lower connecting disc 33, a buffer spring 34 and a supporting shaft assembly 35. The field robot contains 4 axletree drive assembly modules altogether. The motor 24 is fixedly connected with the speed reducer 25 through bolts, the speed reducer 25 is fixedly connected to the coupler 27 through bolts, the wheel 28 is fixedly connected with the wheel shaft 30 through the key 29 and the bolts, and the wheel shaft 30 is fixedly connected to the coupler 27 through the key. The connecting square tube 31 is nested at the upper part of the supporting shaft 26, the upper connecting disc 32 is fixed on the connecting square tube 31 through a bolt, the lower connecting disc 33 is fixed at the lower part of the supporting shaft assembly 35 through a bolt, the supporting shaft 26 is positioned inside the supporting shaft assembly 35, and the supporting shaft assembly 35 is connected with the wheel shaft 30 through a coupler 27; the buffer spring 34 is installed between the upper coupling plate 32 and the lower coupling plate 33. The rural robot realizes the walking and steering functions through four-wheel drive and slip steering modes, when the rural robot walks, steers and other actions, the unmanned controller 2 sends action control instructions to the first driver 19 and the second driver 20, the first driver 19 and the second driver 20 send control signals to the motor 24 after receiving the control instructions, the motor 24 drives the wheel shaft 30 to rotate after receiving the control signals, and then the wheels 28 are driven to rotate, so that the walking, steering and other action tasks issued by the unmanned controller 2 are completed, when the rural robot encounters impact and vibration in the walking or steering process, the four wheels 28 can simultaneously land as far as possible through the elastic action of the buffer spring 34, and the influence of the impact or the vibration on the motion stability of the vehicle body is relieved.

The lifting mechanism comprises a chassis left lifting mechanism and a chassis right lifting mechanism, as shown in fig. 3, each side lifting mechanism mainly comprises an electric push rod 36, a scissor structure 37, a first connecting rod 38 and a second connecting rod 39, and the first connecting rod is provided with a connecting hole 40 for connecting the chassis and the functional module of the operation device. The electric push rod 36 is fixed on the second longitudinal support 8, and when the internal mechanism of the electric push rod rises, the top end of the electric push rod 36 jacks the first connecting rod 38; when the height of the working device functional module 1 needs to be adjusted, the unmanned controller working control module sends a lifting control instruction to the electric push rod 36, the electric push rod 36 starts to perform lifting action after receiving a control signal, and the first connecting rod 38 and the scissors structure 37 perform lifting action under the thrust action of the electric push rod 36, so that the working device functional module 1 is driven to realize an automatic lifting function, and the designated height is reached. The lifting mechanism can be automatically adjusted according to the operation height requirements of different operation devices so as to meet the requirements of different operation types.

The control system is carried on the unmanned controller 2, the unmanned controller 2 is a core control component for realizing unmanned operation of the field robot, and the unmanned controller 2 is fixed at the two positions of the clamping groove through bolts and connected to an electrical system through a wiring harness. As shown in fig. 8, the control system includes a positioning control module, an obstacle avoidance control module, a navigation control module, a motion control module, an operation device control module, an automatic charging control module, a data storage module, and a communication module. The positioning module mainly realizes the accurate positioning function; the obstacle avoidance module mainly realizes the function of timely obstacle avoidance; the motion control module can realize the functions of driving, steering, braking, speed control and the like of the field robot; the path planning main function is to design an optimal operation route, and the navigation module main function is to control the rural robot to run according to a set route through a navigation control algorithm.

The operation device functional module 1 comprises a seeding device, a rotary tillage device, a ridging device, a weeding device, a harvesting device and a spraying device, and can be installed and replaced according to actual operation requirements during operation. The working device functional module is positioned in the center of the vehicle body, is arranged in the shell and is manually placed from the side face of the vehicle, and the upper vehicle cover is rotated and opened through the hinge to be hung and connected.

The obstacle avoidance radar 3 can timely detect an obstacle and send obstacle meeting information to the unmanned controller 2, after the unmanned controller 2 receives an obstacle meeting signal, the field robot automatically stops advancing when encountering the obstacle, so that collision with the obstacle is avoided, the obstacle avoidance function is realized, and the obstacle avoidance distance can be changed according to the actual field operation condition and the user requirement.

In the operation process of the rural robot, a positioning receiver receives a satellite positioning signal and sends the satellite positioning signal to the unmanned controller 2, after the unmanned controller 2 receives the positioning signal, the positioning module of the unmanned controller analyzes and processes the received positioning information and sends the processed positioning information to the navigation control module of the unmanned controller, the navigation control module of the unmanned controller compares the current position and direction information of the rural robot with the path information set by the path planning module, the motion position and direction of the rural robot at the next moment are calculated through a navigation control algorithm, the navigation control module of the unmanned controller sends a next motion instruction to the motion control module of the unmanned controller, the motion control module of the unmanned controller sends a driving instruction to the first driver 19 and the second driver 20 after receiving the motion instruction, after the first driver 19 and the second driver 20 receive the driving instruction, the four wheels 28 are controlled to move so as to complete the functions of straight running and sliding steering, and when the body of the field robot moves, the unmanned controller operation device control module controls the operation device to realize the actions of seeding, rotary tillage and the like.

Implementation scheme of the operation management system of the field robot:

the operation management system of the field robot is carried on the handheld terminal, the handheld terminal can be terminal equipment such as a tablet personal computer and a mobile phone, the handheld terminal is communicated with the field robot through a WIFI/4G module, and an operator can directly issue an operation instruction to the field robot and monitor an operation state through the handheld monitoring terminal. The interface design of the operation management system is very humanized, the operation method is simple and easy to learn, and the operation management system is suitable for various crowds.

The operation management system of the field robot comprises a login module, a robot configuration module, a task editing module, a path planning module, an operation monitoring module, a checking module, a setting module and a help module.

The functions of the modules are as follows:

(1) a login module: the management functions of user registration, login and password recovery are realized.

(2) A robot configuration module: and the parameter configuration function of the robot system is realized.

(3) A task editing module: and the setting and management functions of the operation information and the field information are realized.

(4) A path planning module: and realizing the path diagram planning and designing function of the operation field.

(5) The operation monitoring module: the functions of real-time monitoring of the operation state and the motion state of the field robot and dynamic drawing of the walking track are realized.

(6) A viewing module: and the functions of viewing and managing historical job data, historical job tracks and data analysis are realized.

(7) Setting a module: and the functions of user management, authority management and system exit are realized.

(8) A help module: the functions of checking software update and providing platform basic information are realized.

The operation and control process of the rural robot operation management system is as follows:

(1) when the system is used for the first time, a user needs to register and log in a log-in interface of a handheld terminal operation management system and enters a main interface of the operation management system;

(2) clicking a robot configuration option to configure robot parameters;

(3) clicking a task editing option to perform operation setting and field block setting;

(4) clicking a path planning option to perform operation direction selection, boundary point acquisition, path planning and path issuing operation;

(5) clicking an operation control option, and issuing a control instruction to enable the rural robot to start navigation operation according to the received predefined path;

(6) after the navigation operation is finished, popping up an 'operation completion' prompt on the interface, and clicking 'confirmation';

(7) clicking a 'viewing' option to view the navigation operation data, the operation dynamic track and the data analysis curve;

(8) and (4) finishing all the job tasks, clicking a 'setting' option, selecting 'quitting the system', and quitting the job management system.

The working process of the field robot is as follows:

(1) hardware device building

Building and connecting a positioning device, confirming whether the positioning state is normal or not in modes of indicating lamp flashing and the like, and installing a corresponding operation device function module in a field robot operation device area according to operation requirements;

(2) establishing telecommunications connections

Starting the rural robot (initializing and loading positioning data and related sensor information), logging in the handheld terminal monitoring system, clicking to enter a logging interface of the operation management system for registration and logging in, and establishing remote wireless communication connection between the rural robot and the handheld terminal operation management system.

(3) Configuring robot parameters

Entering a main interface of the operation management system after logging in, clicking a robot configuration option, clicking a robot selection option, and selecting the model of the current machine to be operated from a default given robot database; if the model of the current machine to be operated does not exist in the robot database, clicking the 'newly added robot' is needed, and the parameter setting is completed.

(4) Setting job tasks

Clicking a task editing option on a main interface of the job management system, and performing corresponding operation:

clicking a 'job editing' option in 'task editing' to create a new job and complete corresponding job parameter setting.

Clicking a field editing option in the task editing to select the established field or the newly added field to complete the corresponding field parameter setting.

(5) Path planning operations

Clicking a 'path planning' option on a main interface of the operation management system, and entering a path planning interface to perform corresponding operation:

firstly, clicking the option of selecting the operation direction, selecting the optimal operation direction determining mode suitable for the current field, and calculating and determining the optimal operation direction by the system background according to the mode selected by the user.

And secondly, clicking a 'collecting field block boundary point' option, controlling the field robot to collect the boundary points of the operation area in a manual control mode, and determining an operation starting point.

Clicking a 'start path planning' button, planning a complete operation route of an operation area by the system according to a set series of parameters, popping up a dialog box prompt on a desktop after path planning is finished, clicking a 'determination' option, and displaying a planned path planning picture on the desktop.

And fourthly, clicking a 'route issuing' button, and sending the planned route information to the unmanned controller.

(6) Description of automatic operation

And entering an automatic control operation mode, clicking to start operation, and automatically traversing all operation paths in the field by the field robot.

In the process of following the straight path, the unmanned controller controls the operation device to operate according to the operation requirement;

during turning, the unmanned controller controls the operation device to lift, and friction contact between the operation device and the ground during turning is avoided.

In the process of automatic operation of the field robot, if people or other obstacles appear in a certain distance in front, the field robot automatically stops moving, the operation device simultaneously stops operating, and when the obstacles are removed, the field robot continues to move and operate according to the last unexecuted movement instruction and operation instruction.

And after all the operations are finished, stopping the movement of the rural robot, popping up a dialog box on the monitoring interface to prompt that the operations are finished, clicking confirmation to finish the current operations, exiting the automatic control mode, and returning the rural robot to the area to be operated to wait for the next operation instruction.

If the battery electric quantity of the rural robot is lower than the set lowest limit value of the operable electric quantity, the body of the rural robot and the handheld terminal interface can carry out corresponding charging prompt, the rural robot can automatically go to a charging station to be charged, and other operation task instructions are not received in the process; when the electric quantity of the field robot is larger than a set value capable of carrying out operation in the charging process, the field robot can receive a field operation task instruction.

(7) Viewing job data

In the operation process, the data storage module can automatically store the acquired boundary data, the routing chart data, the walking track data and the operation area data in the actual operation process, and is convenient for monitoring and managing the operation state and the operation information of the rural area. And clicking a 'viewing' option on a main interface of the job management system, selecting key information of data or historical tracks to be viewed according to interface prompt, and viewing corresponding job data, historical tracks and data analysis charts.

(8) Exit system

After the operation is finished, clicking a setting option on a main interface of the operation management platform, and clicking to quit the system, namely quitting the operation management system.

(9) If the next field needs to be sowed, the operation monitoring terminal can operate once again according to the flow of the last operation, and the method is simple and convenient and has high sowing efficiency.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. A robot for field operations, characterized in that it comprises at least:

the travelling mechanism comprises a travelling driving chassis and an axle driving assembly module;

the functional module of the operation device executes different farming operations;

the lifting mechanism is arranged on the walking driving chassis and drives the functional module of the operation device to complete the lifting action;

the control system is used for controlling the actions of the travelling mechanism, the working device functional module and the lifting mechanism and is carried on the unmanned controller; wherein:

the control system includes:

the positioning control module is used for monitoring the position of the rural operation robot;

the obstacle avoidance control module receives data of the obstacle avoidance radar to avoid the obstacle;

the navigation control module guides the traveling route of the traveling mechanism through a built-in rural map and a planned path;

the motion control module controls the running, steering, braking and speed of the running mechanism;

the operating device control module controls the operating device function module to complete farming operation;

the automatic charging control module is used for controlling the field operation robot to charge;

a data storage module and a communication module.

2. A rural operation robot according to claim 1, wherein the walking drive chassis comprises:

a first chassis supporting plate (11) and a second chassis supporting plate (12) which are arranged in the horizontal direction;

the outer frame of a rectangular structure is formed by sequentially connecting a transverse bracket I (5), a longitudinal bracket I (7), a transverse bracket II (6) and a longitudinal bracket II (8) end to end;

a first chassis fixing bracket (13) and a second chassis fixing bracket (14) which are connected to the inner side of the outer frame; the first chassis fixing support (13) and the second chassis fixing support (14) are parallel to each other; wherein:

a left mounting cavity is defined by the transverse support I (5), the longitudinal support I (7), the chassis fixing support I (13) and the longitudinal support II (8); the first chassis supporting plate (11) is fixed at the bottom of the left mounting cavity;

the longitudinal support I (7), the transverse support II (6), the chassis fixing support II (14) and the longitudinal support II (8) enclose a right side installation cavity; the second chassis supporting plate (12) is fixed at the bottom of the right side mounting cavity;

a first supporting shaft connecting frame (9) is arranged on the right outer side of the left side mounting cavity; a second supporting shaft connecting frame (10) is arranged on the right outer side of the right side mounting cavity; a functional module dismounting area of the operation device is arranged between the first support shaft connecting frame (9) and the second support shaft connecting frame (10);

a first clamping groove (15), a second clamping groove (16) and a third clamping groove (17) are formed in the first transverse support (5); and a clamping groove IV (18) is formed in the transverse bracket II (6).

3. A garden work robot according to claim 2, characterized in that the axle drive assembly module comprises an electric motor (24), the electric motor (24) being connected through a speed reducer (25) to a coupling (27), the coupling (27) being connected in turn through a wheel axle (30), a key (29) and a wheel (28); the connecting square pipe (31) is embedded on the supporting shaft (26), the upper connecting disc (32) is fixed to the connecting square pipe (31) through bolts, the lower connecting disc (33) is fixed to the lower portion of the supporting shaft assembly (35) through bolts, and the buffer spring (34) is installed between the upper connecting disc (32) and the lower connecting disc (33); the support shaft (26) is located inside the support shaft assembly (35), and the support shaft assembly (35) is connected with the wheel shaft (30) through a coupler (27).

4. The rural operation robot of claim 1, wherein the lifting mechanism comprises a left side lifting mechanism and a right side lifting mechanism which are identical in structure;

the left side lifting mechanism comprises:

a first connecting rod (38) for connecting the walking driving chassis and the functional module of the operation device;

a second connecting rod (39) positioned below the first connecting rod (38);

an electric push rod (36); wherein:

the electric push rod (36) is fixed on the second longitudinal support (8), and when the internal mechanism of the electric push rod rises, the top end of the electric push rod (36) jacks up the first connecting rod (38).

5. A robot for garden work according to claim 1, where said working device functional modules comprise sowing means, rotary tilling means, ridging means, weeding means, harvesting means, sprinkling means.

6. The rural working robot of claim 1, further comprising a handheld terminal for data interaction with the communication module through a WIFI or 4G module.

7. The rural working robot of claim 6, wherein a work management system is installed in the hand-held terminal; the job management system includes:

the login module is used for realizing the management functions of user registration, login and password recovery;

the robot configuration module is used for realizing the parameter configuration function of the robot system;

the task editing module is used for realizing the setting and management functions of the operation information and the field information;

the path planning module is used for realizing a path diagram planning and designing function of the operation field;

the operation monitoring module is used for realizing the functions of monitoring the operation state and the motion state of the field robot in real time and dynamically drawing the walking track;

the viewing module is used for achieving viewing and management functions of historical job data, historical job tracks and data analysis;

the setting module realizes the functions of user management, authority management and system quitting;

and the help module realizes the functions of checking software update and providing basic platform information.

8. A robot for rural operations according to claim 7, wherein the workflow of the operation management system is:

s1, logging in the system; the method specifically comprises the following steps:

when the system is used for the first time, firstly, registration is carried out, and then the system logs in and enters a main interface of an operation management system; when the mobile phone is not used for the first time, logging in through history registration account information;

s2, configuring robot parameters through a robot configuration module;

s3, performing operation setting and field setting through the task editing module;

s4, performing operation direction selection, boundary point acquisition, path planning and path issuing operation through a path planning module;

s5, issuing a control instruction through the operation control module to enable the rural robot to start navigation operation according to the received predefined path;

s6, after the navigation operation is finished, confirming;

s7, checking the navigation operation data, the operation dynamic track and the data analysis curve through a checking module;

and S8, completing all job tasks, and exiting the job management system through the setting module.

9. A rural operation robot according to claim 7, characterized in that the workflow of the rural operation robot is:

step one, building hardware equipment;

building and connecting a positioning device, confirming whether the positioning state is normal or not, and installing a corresponding operation device function module in a field robot operation device area according to operation requirements;

step two, establishing remote communication connection;

starting the rural robot, logging in the handheld terminal monitoring system at the same time, and establishing remote wireless communication connection between the rural robot and the handheld terminal operation management system;

step three, configuring robot parameters;

firstly, selecting a target robot, if the model of a current machine to be operated does not exist in a robot database, adding a new robot, and then setting parameters of the target robot;

step four, setting a job task in the task editing module; the method specifically comprises the following steps:

setting specific operation parameters;

setting specific field parameters;

step five, performing path planning operation in the path planning; the method specifically comprises the following steps:

selecting an operation direction;

collecting field boundary points and determining an operation starting point;

planning a path;

sending the planned path information to an unmanned controller;

step six, automatic operation control description;

entering an automatic control operation mode, starting operation, and automatically traversing all operation paths in the field by the field robot;

in the process of following the straight path, the unmanned controller controls the operation device to operate according to the operation requirement;

in the turning process, the unmanned controller controls the operation device to lift;

in the process of automatic operation of the rural robot, when the obstacle avoidance radar detects an obstacle, the rural robot stops moving, the operation of the operation device is stopped, and when the obstacle is removed, the rural robot continues to move and operate according to the last unexecuted movement instruction and operation instruction;

after all the operations are finished, the rural robot stops moving, waiting for confirmation information, and after the confirmation is finished, the rural robot exits from the automatic control mode, and returns to the area to be operated to wait for the next operation instruction;

if the battery electric quantity of the rural robot is lower than the set lowest limit value of the operable electric quantity, the rural robot body and the handheld terminal interface perform charging prompt, the rural robot automatically goes to a charging station to perform charging, and other operation task instructions are not received in the process; in the charging process, when the electric quantity of the field robot is larger than a set value capable of carrying out operation, the field robot can receive a field operation task instruction;

step seven, checking the operation data;

in the operation process, the data storage module can automatically store the acquired boundary data, the routing chart data, the walking track data and the operation area data in the actual operation process; checking corresponding job data, historical tracks and data analysis charts through a checking module;

step eight, quitting the system;

and after the operation is finished, the system is quitted through the setting module.

10. A rural operation robot according to any of claims 1-9, characterized in that it employs four wheel drive.

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