The invention provides a wheeled farmland management robot with a flexible profiling chassis and a profiling control method. The robot can carry out flexible profiling control on the posture of a vehicle body chassis according to an uneven crop canopy/ground surface; a machine hung on a chassis rack of the vehicle body is basically parallel to a crop canopy/ground below the vehicle body; the chassis/machine tool is prevented from touching the ground or damaging seedlings, the distance between the chassis/machine tool and the crop canopy/ground is always controlled within an ideal range, the robot is suitable for multiple terrains and can adapt to growth changes of crops, the application scene and the use time period of the robot are effectively widened, the operation efficiency is improved, and the overall use cost of the robot is reduced. According to the further scheme, a stable and reliable wheel leg driving structure is further provided, shaking of an operation machine tool can beeffectively reduced, the operation quality is improved, and the wheel leg driving structure is particularly suitable for the profiling control process of real-time adjustment of a wheel leg mechanismand has good durability.

    本发明提供了一种具有柔性仿形底盘的轮式农田管理机器人及仿形控制方法,所述机器人可根据起伏不平的作物冠层/地面对其车身底盘姿态进行柔性仿形控制,使挂接在车身底盘机架上的机具与车身下方的作物冠层/地面基本保持平行,避免底盘/机具触地或伤苗,将底盘/机具与作物冠层/地面的距离始终控制在理想范围内,不仅适用的地形多,且能适应作物的生长变化,有效的拓宽了机器人的应用场景和使用时间段,提高了作业效率,降低机器人的整体使用成本。在进一步的方案,还提供了一种稳定可靠的轮腿驱动结构,可有效减少作业机具的晃动,提高作业质量,尤其适应对轮腿机构进行实时调整的仿形控制过程,具有良好的耐用度。


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    Title :

    Wheeled farmland management robot with flexible profiling chassis and profiling control method


    Additional title:

    具有柔性仿形底盘的轮式农田管理机器人及仿形控制方法


    Contributors:
    CUI LONGFEI (author) / XUE XINYU (author) / YUE FEIXIANG (author) / SUN TAO (author) / JIN YONGKUI (author) / DING SUMING (author) / ZHANG SONGCHAO (author) / QIN WEICAI (author) / YANG FENGBO (author)

    Publication date :

    2020-09-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft



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