[Topographic adaptive and instrument self-balancing four-wheel drive experimental vehicle]
Introduction to function:
China Agricultural University is a comprehensive university with a focus on agriculture. In the professional teaching process of agronomy, engineering, water conservancy, animal science, food science and other disciplines, a large number of practical cases of modern agricultural production were introduced, including the principles and applications of various advanced instruments and automation equipment, and farmland was opened. Teaching experiments related to production, application and principle analysis in environments such as orchards, farms and food processing plants.
In the process of teaching experiments, it is necessary to use the corresponding equipment and equipment, such as: farmland information sampling, crop data collection, automatic fruit picking, animal monitoring, feed feeding, etc., often encounter narrow working areas, uneven road surface, complex environment In the case, the instrument used in the experiment has a large weight, and it is difficult to carry it by manual transportation to the experimental place; and during the experimental operation, the position of the instrument and equipment needs to be adjusted to maintain a horizontal reference or a fixed relative angle. /position. In the general use process, small tractors are used for transportation. The land occupation is large, the loading and unloading transportation cost is high, and there are potential safety hazards. The manual calibration of the position of the equipment and equipment, the work intensity is large, and the level is also unstable, which causes the experimental data to be misaligned and difficult to correct. The correctness of the results and analysis conclusions; some mobile platforms designed for scientific research have strong pertinence, fixed structure and poor adaptability, which is difficult to meet the needs of various experimental conditions.
In view of the actual problems in the above teaching experiment, the terrain adaptive and instrument self-balancing four-wheel drive test vehicle series developed, standard body size: length 1300cm, width 920mm, height 900mm, body quality (including battery and balancer) 46kg, design Load 75kg, speed: 0.5-3.5km/h, position adjustment mechanism maximum adjustment angle 23°. According to the difference in steering structure, it is divided into three models. The UGV-01 adopts a twisting mechanism, and the relative position of the front and rear bodies is changed by the electric push rod, that is, the angle between the front and rear wheels is adjusted to realize the steering, the steering process of the vehicle body is stable, and the requirements of the low speed experiment are met; the UVG-02 type adopts the parallelogram rod. The mechanism drives the four-bar linkage mechanism through a linear motor to drive the installation shaft of the steering wheel to adjust the traveling direction. The steering control is simple, the position is accurate, and the response speed is fast, which is suitable for use in a large space experimental environment; UGV- The 03 type adopts an omnidirectional four-wheel mechanism. The stepping motor drives the worm gear and the worm gear reduction mechanism to directly adjust the angle of each wheel to achieve precise control of the movement direction at any angle, and is suitable for the experimental environment of the greenhouse. The design and structure of the whole series of test vehicles are innovative. They are constructed with aluminum profiles and are light in weight. The maximum mass of instruments that can be loaded is 75Kg, and the maximum driving speed is 3.5 km/h. The body adopts a split structure and passes through a coaxial torsion mechanism. To ensure that the four wheels can actually contact the uneven ground, avoiding the situation that the car body is suspended and slipped. At the same time, it is convenient to replace different types of wheels according to the experimental conditions, so as to achieve adaptation to various terrains and soils; the car body connection mechanism is simple and universal. It can quickly and easily realize the adjustment of the width of the car body and the ground clearance to meet various experimental conditions, such as: monitoring the growth of crops with different ridge spacing and different growth periods; the test vehicle uses 24V rechargeable battery DC Power supply, easy for outdoor experiments, and reduce fuel emissions; the drive is a full-time four-wheel drive with DC motor, good driving maneuverability and driving tracking, ensuring the working power and smooth running of the test car; Developed 2-axis/3-axis self-balancing mechanism that combines multiple sensing information and adjusts stepping through a single-chip microcomputer The motor can automatically adjust to the set relative position in the static and moving state. During the experiment, the position deviation caused by the bumps on the road surface is corrected, the balance of the installed experimental instruments and equipment is maintained, and the experimental test is guaranteed. Stability; test vehicle is controlled by single-chip microcomputer, and has ZigBee, Wifi multiple data transmission modes, which can realize remote collection of remote control and experimental data. With GPS module, it can also realize positioning sampling, which provides convenient experimental operation and real-time data acquisition. Effective technical means.
The terrain adaptive and instrument self-balancing four-wheel drive test vehicle series form an easy-to-use remote control carrier platform that can adapt to various terrains and working environments. It is convenient to carry various instruments and equipment, and automatically adjust the position to replace tractor handling and Manual operation greatly reduces the experimental preparation workload for undergraduate and postgraduate courses such as agronomy and engineering, saving costs and improving the efficiency of teaching practice.
In addition, the design of this series of test vehicles combines the many foundations and professional knowledge of engineering, and can provide physical cases and models of structural and transmission knowledge points for mechanical engineering, mechanical design, mechanical and electrical engineering courses, etc. for signal processing, The courses of automatic control, single-chip microcomputer and data transmission provide a verification platform for practice and design, which makes the curriculum knowledge and practical application closely combined, increases the interest and is easy to understand, and further enhances the students' enthusiasm for learning.
Name of the work: terrain adaptive and instrument self-balancing four-wheel drive experimental car series
Completed by: China Agricultural University
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