CN111758311A - Orchard Rotary Cultivation Robot - Google Patents

Abstract

The invention provides an orchard rotary tillage robot capable of using a transmitter to complete the tillage operation of a robot, comprising a walking unit, a rotary tiller and a control unit, the walking unit comprises a crawler driven by a brushless motor, the rotary tiller comprises a rotary tiller, The rotary cultivator is hinged on the tail of the crawler through the connecting rod, and the lifting rod motor is fixedly installed on the crawler. The driving rod of the lifting rod motor is hinged with the top of the rotary tiller through the lifting rod. The rotary tiller is lifted, and a rotary tiller motor is also fixed on the crawler. The rotary tiller motor is connected to the power take-off shaft on the rotary tiller through a coupling; the control unit includes a control module, a transmitter and a ground control station, a brushless motor, an elevator Both the rod motor and the rotary tiller motor are connected with the control module, the control module is connected with a receiver, and the control module is wirelessly connected to the transmitter and the ground control station through the receiver.

Description

Orchard Rotary Cultivation Robot

technical field

The invention relates to the technical field of modern farmland machinery plowing devices, in particular to an orchard rotary plowing robot.

Background technique

At present, rotary cultivators are mainly used in agricultural automation, and modern agriculture in my country generally uses rotary cultivators and tractors to complete land cultivation. In the process of cultivating with a tractor, they all rely on manual control of the tractor. Even though the new type of micro cultivator has gotten rid of the limitation of being used in combination with a tractor, it still needs to manually control the cultivator to complete the cultivating task. , and when the rotary tiller is working, the rotary tillage depth and the rotational speed of the rotary tiller are often fixed.

The control center of the orchard cultivating robot we invented uses the PID algorithm to control the system to realize the signal transmission between the robot, the ground station and the transmitter. Through the transmitter, the rotary tillage of the cultivating robot can be realized; The cultivator connection enables the rotary cultivator to adjust the rotary cultivator's cutter speed and rotary tillage depth according to the current situation of the cultivated land, thereby improving the rotary tillage efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, adapt to practical needs, and provide an orchard rotary cultivating robot that can use a transmitter to complete robot plowing operations and simultaneously improve rotary plowing efficiency, so as to solve the problem that existing cultivators must rely on artificial The single technical problem of manual control operation and rotary tillage effect.

In order to realize the purpose of the present invention, the technical scheme adopted in the present invention is:

Design an orchard rotary tillage robot, including a walking unit, a rotary tiller and a control unit, the walking unit includes a crawler driven by a brushless motor, the rotary tiller includes a rotary tiller, and the rotary tiller is hinged through a connecting rod At the tail of the crawler, a lifting rod motor is fixedly installed on the crawler, and the driving rod of the lifting rod motor is hinged with the top of the rotary tiller through the lifting rod. Lifting, a rotary tiller motor is also fixed on the crawler, and the rotary tiller motor is connected with the power output shaft on the rotary tiller through a coupling and drives the blade rotary tiller in the rotary tiller through the rotary tiller motor;

The control unit includes a control module, a transmitter and a ground control station. The brushless motor, the lifting rod motor, and the rotary tiller motor are all connected to the control module. The control module is connected with a receiver, and the control module receives the The machine communicates with the transmitter and the ground control station wirelessly.

The control unit further includes an ESC, the ESC is connected with the control module, and the output end of the ESC is connected with the brushless motor, the lifting rod motor and the rotary tiller motor.

The control unit also includes a Raspberry Pi connected to the control module, and the receiver is connected to the control module through the Raspberry Pi.

The control unit further includes a wireless data transmission antenna, a 4G communication module connected to the control module, the wireless data transmission antenna is connected to the 4G communication module and the receiver, and the receiver is connected to the transmitter wirelessly through the wireless data transmission antenna. The control module is wirelessly connected to the ground station through the 4G communication module.

The control unit also includes a differential module connected to the control module.

The control unit also includes a direction finding antenna, a positioning antenna and an inertial navigation module connected with the control module.

The ground station includes a computer.

The beneficial effects of the present invention are:

The invention gets rid of the technical problem that the existing cultivator must rely on manual manual operation control and the rotary cultivating effect is single. The invention can control the robot to complete the cultivating operation of the rotary cultivator through the transmitter or the ground station, and at the same time, the rotary cultivator can be adjusted. Depth and rotational speed of the rotary tiller to optimize the rotary tillage effect.

Description of drawings

Fig. 1 is the main structure schematic diagram of the present invention;

FIG. 2 is a schematic diagram of the main electrical principle of the present invention.

In the picture:

1. Rotary tiller; 2. The top of the rotary tiller; 3. Direction finding antenna; 4. Inertial navigation module; 5. Control module; 6. Differential module; 7.4G communication module; 8. Receiver; 9. Raspberry 10. Wireless data transmission antenna; 11. Positioning antenna; 12. Brushless motor; 13. ESC; 14. Power supply; 15. Rotary tiller motor; 16. Lifting rod; 17. Coupling; 18. Lifting rod motor.

Detailed ways

Below in conjunction with accompanying drawing and embodiment, the present invention is further described:

Example 1: An orchard rotary tillage robot, see FIG. 1 and FIG. 2 .

It includes a traveling unit, a rotary tiller unit and a control unit, the traveling unit includes a crawler driven by a brushless motor (existing technology), the rotary tiller unit includes a rotary tiller 1 (prior art), a rotary tiller Articulated at the rear of the tracked vehicle through a link (prior art).

In this design, a lifting rod motor 18 is fixedly installed on the crawler. The driving rod of the lifting rod motor 18 is hinged with the top 2 of the rotary tiller through the lifting rod 16. The lifting rod can be pulled by the lifting rod motor 18 to rotate the rotary tiller. The tiller 1 is lifted, and at the same time, the height of the tiller can be lowered by the lifting rod motor; further, a tiller motor 15 is also fixed on the crawler, and the tiller motor 15 is connected to the tiller through the coupling 17 . The power output shaft on the rotary tiller is connected to provide power for the rotary tiller of the rotary tiller, and the rotary tiller in the rotary tiller is driven by the rotary tiller motor to achieve the purpose of rotary tillage.

Specifically, the control unit includes a control module 5, a transmitter and a ground control station, the ground station includes a computer, and the brushless motor, the lifting rod motor 18, and the rotary tiller motor 15 are all connected to the control module, so A receiver 8 is connected to the control module, and the control module is wirelessly connected to the transmitter and the ground control station through the receiver.

More specifically, the control unit further includes an ESC 14. The ESC 14 is connected to the control module, and the output end of the ESC 14 is connected to the brushless motor 12, the lifting rod motor 18, and the rotary tiller motor 15. Control the speed of brushless motor, lifting rod motor and rotary tiller motor.

The control unit also includes a Raspberry Pi 9 connected to the control module, a wireless data transmission antenna 10, and a 4G communication module 7 connected to the control module. The wireless data transmission antenna 10 is connected to the 4G communication module 7 and the receiver 8. The receiver is wirelessly connected to the transmitter through the wireless data transmission antenna 10, and the control module is wirelessly connected to the ground station through the 4G communication module.

Further, the control unit also includes a differential module 6 connected to the control module, a direction finding antenna 3 connected to the control module, a positioning antenna and an inertial navigation module 4, and the inertial navigation module 4 improves the stability and reliability of the control system. , the use of the differential module 6 improves the positioning accuracy.

The control modules, transmitters, differential modules, inertial navigation modules, ESCs, Raspberry Pis, wireless data transmission antennas, 4G communication modules, and receivers used in this embodiment are all existing technologies, and are not designed by this design. In this embodiment, the above-mentioned specific structure will not be described in detail.

In this device, the control module is based on the PID algorithm control of the single-chip microcomputer, and the information transmission with the ground station and the transmitter is realized through the receiver and the 4G communication module, so that the remote control of the robot can be completed by the transmitter. The connection of the tiller realizes the control of the rotational speed of the rotary tiller and the depth of the rotary tiller, which enables the orchard rotary tiller to realize fully automatic operation and optimize the rotary tillage efficiency.

The designed orchard rotary tillage robot is in use, and its ground station completes the collection of the entire robot's operation data. At the same time, the ground station can send the orchard rotary tiller robot's walking data and preset information to the orchard rotary tiller robot in real time. In the control module of the orchard, the close-range control of the orchard rotary tiller robot is accomplished through the transmitter. When the transmitter controls the orchard rotary tiller robot, the control information of its transmitter is sent to the Raspberry Pi through the receiver. , the control information is transmitted to the control module through the data decoding operation of the Raspberry Pi 9, and then different control information is transmitted to the brushless motor, the lifting rod motor, and the rotary tiller motor through the control module, which can be completed by the brushless motor. Control the walking speed and direction of the crawler. The lifting and lowering of the rotary tiller and the adjustment of the depth of the rotary tiller can be realized by lifting the pull rod motor, and the rotation speed of the rotary tiller can be controlled by the rotary tiller motor. In this way, the automation of the rotary tillage operation of the orchard robot is realized; when the orchard rotary tillage robot is in operation, its differential module, inertial navigation module, direction finding antenna and positioning antenna can complete the positioning of the crawler vehicle, and use GPS positioning, raspberry Send and other technologies to complete the signal transmission between the robot, the ground station and the transmitter.

To sum up, the orchard rotary tillage robot designed in this design can replace the manual control of the rotary tiller operation of the rotary tiller through the transmitter control, and can also realize the control of the rotation speed of the rotary tiller and the depth of the rotary tiller, and optimize the rotary tiller. The operation efficiency liberates the manual labor force, so that people can simply control the orchard rotary tillage robot through the transmitter, which greatly improves the work efficiency, and is easy to use and operate, which meets the needs of my country's agricultural development and is suitable for large-scale promotion.

The embodiment of the present invention announces the preferred embodiment, but is not limited to this, those of ordinary skill in the art can easily understand the spirit of the present invention according to the above-mentioned embodiment, and make different extensions and changes, However, as long as they do not depart from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims (7)

1. an orchard rotary tillage robot, comprising a walking unit, a rotary tilling unit and a control unit, is characterized in that: the walking unit comprises a crawler vehicle driven by a brushless motor, and the rotary tilling unit comprises a rotary tiller, and the rotary tiller The machine is hinged on the tail of the crawler through a connecting rod, and a lifting rod motor is fixedly installed on the crawler. The driving rod of the lifting rod motor is hinged with the top of the rotary tiller through the lifting rod, and the lifting rod is pulled by the lifting rod motor. The rotary tiller can be lifted, and a rotary tiller motor is also fixed on the crawler. tillage tool; The control unit includes a control module, a transmitter and a ground control station. The brushless motor, the lifting rod motor, and the rotary tiller motor are all connected to the control module. The control module is connected with a receiver, and the control module receives the The machine communicates with the transmitter and the ground control station wirelessly. 2. The orchard rotary tillage robot according to claim 1, wherein the control unit further comprises an ESC, the ESC is connected to the control module, and the output end of the ESC is connected to a brushless motor, a lifting rod motor, and a rotary tiller. Motor connection. 3 . The orchard rotary tillage robot according to claim 1 , wherein the control unit further comprises a Raspberry Pi connected to the control module, and the receiver is connected to the control module through the Raspberry Pi. 4 . 4. orchard rotary tillage robot as claimed in claim 1, is characterized in that: described control unit also comprises wireless data transmission antenna, the 4G communication module that is connected with control module, and wireless data transmission antenna is connected with 4G communication module and receiver , the receiver is wirelessly connected to the transmitter through a wireless data transmission antenna, and the control module is wirelessly connected to the ground station through a 4G communication module. 5 . The orchard rotary tillage robot according to claim 1 , wherein the control unit further comprises a differential module connected with the control module. 6 . 6 . The orchard rotary tillage robot according to claim 1 , wherein the control unit further comprises a direction finding antenna, a positioning antenna and an inertial navigation module connected with the control module. 7 . 7. The orchard rotary tillage robot according to claim 1, wherein the ground station comprises a computer.

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