The invention discloses a wire driven parallel unmanned agricultural robot and a control method thereof. The unmanned agricultural robot comprises a mobile platform, a pillar system, a winding system,at least four wires, an ultrasonic module and a control system, wherein the mobile platform comprises a worktable and an automatic hook lock device, the pillar system comprises a rigid support and atleast four pulley blocks, and the winding system comprises at least four winding mechanisms that are located at four corners of the rigid support and respond to the at least four pulley blocks, respectively; the same ends of four wires are respectively fixed at four corners of the worktable, and the same other ends are wound on corresponding rollers; the ultrasonic module is used to generate ultrasonic wave, so as to collect space position information of agricultural equipment below the mobile space; and the control system is used to make the worktable move above the agricultural equipment through four wires, and hoist the agricultural equipment. The invention can improve the stability and accuracy of the agricultural robot with no need of manual guiding, so that automation of operationscan be greatly improved.

    本发明公开了一种柔索并联驱动的无人农业机器人及其控制方法。该无人农业机器人包括移动平台、塔柱系统、卷扬系统、至少四根柔索、超声波模块以及控制系统。移动平台包括工作台以及自动钩锁装置,塔柱系统包括刚性支架以及至少四个滑轮组,卷扬系统包括位于刚性支架的四角且分别与至少四个滑轮组对应的至少四个卷扬机构。四根柔索的同一端分别固定在工作台的四角上,同另一端缠绕在对应的滚筒上。超声波模块用于产生超声波以采集农业设备在移动空间下方的空间位置信息。控制系统用于通过四根柔索实现工作台移动至农业设备的上方,并吊装农业设备。本发明能够提高农业机器人的稳定性和精度,无需人工导引,这样作业的自动化程度得到大幅提升。


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    Title :

    Wire driven parallel unmanned agricultural robot and control method thereof


    Additional title:

    一种柔索并联驱动的无人农业机器人及其控制方法


    Contributors:
    DONG FANGFANG (author) / DING ZHI (author) / QIAN CHEN (author) / LI XIAOYANG (author) / YIN YUANYANG (author) / DU SHUANG (author) / AN NING (author)

    Publication date :

    2020-07-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / B66D Haspeln , CAPSTANS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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