CN212873282U

CN212873282U - With ridge subassembly and unmanned car

Info

Publication number: CN212873282U
Application number: CN202022439110.1U
Authority: CN
Inventors: 陈洪生; 李俊杰; 宋红军; 张海建
Original assignee: Suzhou Eavision Robotic Technologies Co Ltd
Current assignee: Suzhou Eavision Robotic Technologies Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-04-02
Anticipated expiration: 2030-10-28

Abstract

The utility model provides a ridge following component and an unmanned vehicle, relating to the technical field of agricultural machinery, wherein the ridge following component comprises a wheel body, a connecting piece and an angle sensor; the annular side wall of the wheel body is used for being abutted against objects, and the diameter of the wheel body is larger than the distance between the adjacent objects; one end of the connecting piece is connected with the wheel body, the other end of the connecting piece is hinged with the vehicle body to form a hinge point, and the wheel body drives the connecting piece to rotate around the hinge point to form a rotation angle based on the abutting of the object; the angle sensor is used for detecting the rotation angle information. Because the cyclic annular lateral wall of wheel body is slick and sly arc to can rotate around the axis, be difficult to the injury crop, and the wheel body setting is at the height with the root butt of crop, because the growth of crop root is comparatively firm, also can prevent to harm the crop. In addition, the annular side wall contact area of the wheel body is large, the annular side wall can be in contact with the root of the plant comprehensively, the probability of missing crops is reduced, and therefore the accuracy of detecting operation boundaries is improved.

Description

With ridge subassembly and unmanned car

Technical Field

The utility model belongs to the technical field of the agricultural machine technique and specifically relates to a follow ridge subassembly and unmanned car is related to.

Background

Modern agriculture is developing towards the direction of intellectuality and automation, and the degree of agricultural intellectuality is also higher and higher, and a large amount of unmanned equipment is applied to agricultural production.

However, since the planting positions of crops are irregular, the unmanned equipment can easily crush the crops when driving along the planned path; and the field environment is complicated, the positioning signal is poor, when the positioning of the unmanned equipment is inaccurate, the unmanned equipment cannot operate accurately, the crops are easily damaged, the operation effect is influenced by the factors, and the crop yield is finally influenced.

In order to avoid influencing the operation effect and the crop yield, a probe rod extending forwards can be arranged on the unmanned equipment, when the unmanned equipment operates in the field, the operation boundary is detected by the probe rod, however, the probe rod easily damages crops, the crops are easily omitted in the moving process of the probe rod, the accuracy rate of edge finding cannot be guaranteed, and the operation boundary cannot be accurately detected.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a follow ridge subassembly to solve the technical problem on the unable accurate detection operation border among the prior art.

The utility model provides a ridge following component, which comprises a wheel body, a connecting piece and an angle sensor;

the annular side wall of the wheel body is used for abutting against objects, and the diameter of the wheel body is larger than the distance between the adjacent objects;

one end of the connecting piece is connected with the wheel body, the other end of the connecting piece is hinged with the vehicle body to form a hinge point, and the wheel body drives the connecting piece to rotate around the hinge point to form a rotation angle based on the abutting of the object; the angle sensor is used for detecting the rotation angle information.

Further, the ridge-following assembly also comprises a controller;

the controller is connected with the angle sensor and can receive the rotation angle information and adjust the advancing direction of the vehicle body according to the rotation angle information.

Further, the ridge-following assembly further comprises a first pressure sensor;

the first pressure sensor is arranged on the side wall of the wheel body, and the controller controls the vehicle body to stop moving when the pressure value detected by the first pressure sensor is greater than a preset value.

Further, the connecting piece comprises a first connecting rod, a second connecting rod and a second pressure sensor;

the first connecting rod, the second pressure sensor and the second connecting rod are sequentially connected, the first connecting rod is connected with the wheel body, and the second connecting rod is used for being hinged with a vehicle body;

and when the pressure value detected by the second pressure sensor is greater than a preset value, the controller controls the vehicle body to stop moving.

Further, still include canceling release mechanical system with the ridge subassembly, canceling release mechanical system respectively with connecting piece and car connection are used for with the connecting piece resets to preset the position.

Further, the reset mechanism comprises a first elastic piece and a second elastic piece;

the first elastic piece and the second elastic piece are symmetrically arranged on two sides of the connecting piece; one end of the first elastic piece is connected with the connecting piece, and the other end of the first elastic piece is connected with the vehicle body; one end of the second elastic piece is connected with the connecting piece, and the other end of the second elastic piece is connected with the vehicle body.

Furthermore, the diameter of the wheel body is D, the width of the vehicle body walking channel is D, and D is less than or equal to 4/5D.

Further, the wheel body is fixedly connected with the connecting piece, or the wheel body is rotatably connected with the connecting piece, and the wheel body can rotate around the axis of the wheel body.

The utility model also aims to provide an unmanned vehicle, which comprises a vehicle body and the ridge following component provided by the utility model;

along the direction vertical to the advancing direction of the vehicle body, the outer side wall of the wheel body is flush with or protrudes out of the outer side wall of the vehicle body.

Further, the wheel body of the ridge following component is convexly arranged at the front end of the vehicle body, and the cross section of the wheel body is parallel to the cross section of the vehicle body.

The utility model provides a ridge following component, which comprises a wheel body, a connecting piece and an angle sensor; the annular side wall of the wheel body is used for abutting against objects, and the diameter of the wheel body is larger than the distance between the adjacent objects; one end of the connecting piece is connected with the wheel body, the other end of the connecting piece is hinged with the vehicle body to form a hinge point, and the wheel body can drive the connecting piece to rotate around the hinge point; the angle sensor is used for detecting the offset angle value of the connecting piece. During the use, along automobile body advancing direction, the wheel body sets up in automobile body the place ahead, and when the cyclic annular lateral wall of wheel body touch barriers such as ridge or crop root, drive the connecting piece and rotate around the pin joint under the thrust effect of barrier, after angle sensor acquireed the angle value of connecting piece skew, can transmit the angle value of skew to the controller, the controller can change the walking route in order to dodge the barrier according to the angle value control automobile body of connecting piece skew. Because the cyclic annular lateral wall of wheel body is slick and sly arc to can rotate around the axis, be difficult to the injury crop, and the wheel body setting is at the height with the root butt of crop, because the growth of crop root is comparatively firm, also can prevent to harm the crop. In addition, the diameter of wheel body is greater than the distance between the adjacent object, and its detection range is great, and the wheel body can contact with the barrier in diversified, and contact barrier that can be comparatively comprehensive avoids the omission of barrier to improve the accuracy that detects the operation border.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an unmanned vehicle provided by an embodiment of the present invention;

fig. 2 is a usage state diagram of the unmanned vehicle provided by the embodiment of the present invention;

fig. 3 is a schematic view of a ridge-following assembly provided by an embodiment of the present invention;

fig. 4 is a schematic view of another direction of the ridge and heel assembly according to the embodiment of the present invention.

Icon: 1-a wheel body; 11-a ring-shaped portion; 12-a fixed part; 13-a reinforcement bar; 14-a reinforcement; 2-a first pressure sensor; 3-a connector; 31-a first connecting rod; 32-a second connecting rod; 4-a first elastic member; 5-an angle sensor; 6-vehicle body; 7-crop plants; 8-a second elastic member; 9-second pressure sensor.

Detailed Description

The technical solution of the present invention will be described in detail and initially with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a with ridge subassembly and unmanned car, it is right to give a plurality of embodiments below the utility model provides a carry out detailed description with ridge subassembly and unmanned car.

Example 1

The ridge-following assembly provided by the present embodiment, as shown in fig. 1 to 4, includes a wheel body 1, a connecting member 3 and an angle sensor 5; the annular side wall of the wheel body 1 is used for abutting against objects, and the diameter of the wheel body 1 is larger than the distance between adjacent objects; one end of the connecting piece 3 is connected with the wheel body 1, the other end of the connecting piece 3 is hinged with the vehicle body 6 to form a hinge point, and the wheel body 1 drives the connecting piece 3 to rotate around the hinge point to form a rotation angle based on the butting of an object; the angle sensor 5 is used to detect the rotation angle information.

Wherein, the diameter of wheel body is greater than the distance between the adjacent object, and fundamentally avoids surveying the omission of object, improves the degree of accuracy with the ridge. Wherein, the distance between adjacent objects is the distance between adjacent crops planted in the same row. Further, the wheel body is the level setting, and the cross section of wheel body is parallel with the horizontal plane to increase the detection scope of wheel body, reduce the probability of omitting the object, and reduce the diameter of wheel body as far as possible, avoid the structure redundancy. During the use, along 6 advancing direction of automobile body, wheel body 1 sets up in 6 the place ahead of automobile body, and when objects/barriers such as ridge or 7 roots of crops were run into to the cyclic annular lateral wall of wheel body 1, drive connecting piece 3 and rotate around the pin joint under the thrust effect of barrier, after angle sensor 5 acquireed 3 turned angle information of connecting piece, can be with turned angle information transmission to controller, the controller can change the route of walking in order to dodge the barrier according to 3 turned angle information control automobile body of connecting piece. Because the cyclic annular lateral wall of wheel body 1 is slick and sly arc, frictional force between wheel body 1 and the crop 7 is less, is difficult to harm crop 7 to wheel body 1 sets up for being close to ground, and it corresponds the crop root, and in practical application, wheel body 1 sets up the height with the root butt of crop 7, because the growth of crop 7 root is comparatively firm, can prevent to harm crop 7. Further, the height of the wheel body 1 can be adjusted according to the characteristics of crops to adapt to different crops, and the height of the wheel body 1 is not limited herein as long as the wheel body can correspond to a position where the crops are not easy to damage.

In addition, because with the root contact of the cyclic annular lateral wall that the ridge subassembly utilized wheel body 1 and crop 7, adopt contact mode direct detection, the use does not receive the influence of factors such as blade sheltering from, environment, light, has improved and has detected the accuracy, and the practicality is stronger.

The connecting piece 3 can be a connecting rod, and can also be in any suitable form such as a connecting plate.

Wherein, angle sensor 5 can set up on the pin joint of connecting piece 3 with automobile body 6, and angle sensor 5 is equipped with the pivot, and its pivot is connected in the pin joint with connecting piece 3, can rotate along with the rotation of connecting piece 3 to detect turned angle. The wheel body 1 drives the connecting piece 3 to rotate around the pin joint under the thrust action of the barrier, and simultaneously drives the rotation of the angle sensor 5, so that the rotation angle is detected. The body of the angle sensor 5 is provided on the vehicle body 6.

With ridge subassembly in the use, connecting piece 3 is at horizontal rotation, and the axial of wheel body 1 is parallel with vertical direction to make the annular lateral wall of wheel body 1 can directly with the barrier butt, reduce the degree of difficulty that the angle detected, thereby reduce the detection error, the expansion detection range as much as possible simultaneously reduces the size of wheel body 1. In other alternative embodiments, the rotating surface of the connecting element 3 and the axial direction of the wheel body 1 may be set arbitrarily, and may be fixed or adjustable, as long as the rotating surface of the connecting element 3 and the axial direction of the wheel body 1 can be determined. Furthermore, the ridge following assembly also comprises a controller; the controller is connected with the angle sensor 5, and the controller can receive the rotation angle information and adjust the advancing direction of the vehicle body 6 according to the rotation angle information.

In an optional embodiment, in an initial state, the extending direction of the connecting piece 3 is set to be parallel to the advancing direction, when the wheel body 1 is collided by obstacles such as crops 7 or ridges, the connecting piece 3 rotates in a deviated mode in a horizontal plane and is in an inclined state relative to the advancing direction, the rotating angle information of the connecting piece 3 can be acquired through the angle sensor 5, and the controller controls the vehicle body 6 provided with the ridge following assembly to change the advancing path according to the rotating angle information so as to avoid the obstacles such as the crops 7 or the ridges. The rotation angle information obtained by the angle sensor 5 comprises an angle value and a direction value, preferably, the angle value and the direction value are directly converted into an adjusting value output by the ridge following component, the algorithm is visual and simple, and the application range is wide.

In an optional embodiment, the connecting part 3 is limited to rotate in the horizontal plane, the extending direction of the connecting part 3 and the axial direction of the wheel body 1 are obtained and sent to the controller, the controller can fuse the extending direction of the connecting part 3, the axial direction of the wheel body 1 and the rotation angle information obtained by the angle sensor 5, an adjusting value is calculated and output, and the vehicle body 6 provided with the ridge following assembly can adjust the form and direction according to the adjusting value, so that field operation is achieved.

Further, the ridge following assembly also comprises a first pressure sensor 2; the first pressure sensor 2 is arranged on the side wall of the wheel body 1, and when the pressure value detected by the first pressure sensor 2 is greater than a preset value, the controller controls the vehicle body 6 to stop advancing. Preferably, be provided with a plurality of first pressure sensor 2 on the lateral wall of wheel body 1, perhaps first pressure sensor 2 is cyclic annular evenly distributed on the lateral wall to can directly detect the conflict condition of wheel body 1 and barrier, avoid striking damage crop 7.

When the stress of the wheel body 1 is larger than the preset value of the first pressure sensor 2, the first pressure sensor 2 transmits a pressure value signal to the traveling system of the vehicle body 6 through the controller, and the controller controls the traveling system to stop running, so that the vehicle body 6 stops advancing, and the ridge following assembly and/or crops are protected from being damaged. The function of the device is not only to detect the obstacles such as crops 7 or ridges, but also to detect other obstacles in the field, and if the obstacles are detected in the middle of the channel, the vehicle body 6 stops moving forward to avoid mechanical damage.

Further, the connecting member 3 includes a first connecting rod 31, a second connecting rod 32, and a second pressure sensor 9; the first connecting rod 31, the second pressure sensor 9 and the second connecting rod 32 are sequentially connected, the first connecting rod 31 and the second connecting rod 32 form a connecting piece 3 through the second pressure sensor 9, the first connecting rod 31 is connected with the wheel body 1, and the second connecting rod 32 is used for being hinged with the vehicle body 6; when the pressure value detected by the second pressure sensor 9 is greater than the preset value, the controller controls the vehicle body 6 to stop traveling.

When the wheel body 1 is pressed, the pressure is transmitted to the second pressure sensor 9 through the first connecting rod 31 connected with the wheel body 1, the second pressure sensor 9 controls the vehicle body 6 to move and stop through the controller through an electric signal, and when the pressure value exceeds a preset value, the controller controls the vehicle body 6 to stop moving so as to avoid mechanical/crop damage. At this time, the second pressure sensor 9 is disposed between the first connecting rod 31 and the second connecting rod 32, and since the stress of the wheel body 1 is directly transmitted to the second connecting rod 32 through the first connecting rod 31, only one pressure sensor is needed to detect the stress condition of any position of the wheel body 1, so that the cost is saved, and the utilization rate is increased. Further, still include canceling release mechanical system with the ridge subassembly, canceling release mechanical system respectively with connecting piece and automobile body coupling for reset the connecting piece to preset the position, wherein, preset the position and can be the initial condition of connecting piece 3. Canceling release mechanical system is used for replying connecting piece 3 to initial condition, guarantees the continuous use that the angle detected, reduces the degree of difficulty that the angle detected, and simultaneously, canceling release mechanical system can also avoid connecting piece 3's angle too big, improves the real-time of angle detection.

In this embodiment, the return mechanism includes a first elastic member 4 and a second elastic member 8; the first elastic part 4 and the second elastic part 8 are symmetrically arranged at two sides of the connecting part 3; one end of the first elastic part 4 is connected with the connecting part 3, and the other end of the first elastic part 4 is connected with the vehicle body 6; one end of the second elastic member 8 is connected to the connecting member 3, and the other end of the second elastic member 8 is connected to the vehicle body 6. First elastic component 4 and second elastic component 8 symmetry are triangle-shaped and set up in connecting piece 3 both sides to guarantee that connecting piece 3 does not receive the power effect, reply initial condition, this initial condition is with the appointed direction of ridge subassembly installation when, when installing in automobile body 6 front end with the ridge subassembly, connecting piece 3's initial condition is its extending direction towards the arbitrary direction of automobile body 6 front end, perhaps is towards the arbitrary angle of the direction that automobile body 6 traveled. When following the ridge subassembly and installing in automobile body 6 central authorities, the initial condition of connecting piece 3 is that its extending direction is on a parallel with automobile body 6 direction of travel, when following the ridge subassembly and installing in automobile body non-central position, the initial condition of connecting piece 3 is that its extending direction and automobile body 6 direction of travel are the angle setting, and the angle does not do the restriction here.

In order to facilitate the installation and the disassembly, so that the structure is simpler, the first elastic member 4 and the second elastic member 8 may be tension springs.

As shown in fig. 1, the first elastic member 4 and the second elastic member 8 are symmetrically disposed on two sides of the connecting member 3, the connecting member 3 rotates in a horizontal plane, when the wheel body 1 does not receive thrust, the first elastic member 4 and the second elastic member 8 are in an initial state, an extending direction of the connecting member 3 is parallel to a traveling direction of the vehicle body 6, when the wheel body 1 receives thrust of an obstacle, and the connecting member 3 deflects toward one side of the first elastic member 4, the first elastic member 4 is compressed, the second elastic member 8 is extended, after the thrust away from the obstacle disappears, the first elastic member 4 returns to rebound to the initial state, the second elastic member 8 shortens to the initial state, and the extending direction of the connecting member 3 returns to be parallel to the traveling direction of the vehicle body 6. When 7 roots of crops or ridge were run into to the cyclic annular lateral wall of wheel body 1, drive connecting piece 3 and rotate around the pin joint under the thrust effect of barrier, after automobile body 6 changes the route of advancing, until wheel body 1 breaks away from the barrier, thrust disappears, and connecting piece 3 returns to the extending direction of connecting piece 3 and the position that automobile body 6 advancing direction is parallel under the effect of first elastic component and second elastic component 8 to drive wheel body 1 and return to the position of initial condition. When the front of the vehicle body 6 contacts with a new crop 7, the connecting piece 3 continues to generate a rotating direction and a rotating angle, so that the vehicle body 6 is controlled to change a traveling path, the vehicle body direction is continuously updated and adjusted, and the vehicle can travel along the ridges more conveniently and accurately.

In order to improve the precision, when the reset mechanism enables the connecting piece 3 to reset, the rotation angle detected by the angle sensor 5 can be calibrated, the rotation angle is continuously superposed from the beginning to the end of obtaining the rotation angle, whether the rotation angle returns to the angle value of the initial position after the detection is finished, if the rotation angle is equal to the angle value of the initial position, the reset is accurate, the consistency of the extending direction and the advancing direction of the connecting piece 3 is ensured, and if the reset is inaccurate, the controller can prompt the calibration. The reset calibration can have a deviation range, thereby improving the applicability of the device. In other embodiments, whether the reset is accurate or not can be judged by that the rotation angle value of the connecting piece 3 is the same as the previous angle value and the rotation direction is opposite, and then corresponding operation is executed.

In order to simplify and follow the ridge subassembly, also can not set up canceling release mechanical system, connecting piece 3 need not to reset, conflicts once more at wheel body 1 this moment and when taking place the angle change, need through the turned angle and the direction of rotation of previous time, calculates turned angle and the direction of rotation of this time, and this kind of mode structure is simpler.

In order to prevent the connecting piece 3 from being too large in rotation angle and incapable of resetting in time and detecting other crops 7 in time, limiting rods are arranged on two sides of the connecting piece 3 and arranged between the connecting piece 3 and the resetting mechanism, so that the work of the resetting mechanism cannot be hindered. On the other hand, the connecting piece 3 is prevented from being rotated by too large angle due to too large stress, the driving instability caused by too large steering angle of the vehicle body 6 can be further avoided, and the driving safety and stability are improved.

Further, the wheel body 1 is provided in plurality, and the plurality of wheel bodies 1 are arranged in sequence along the extending direction of the connecting piece 3.

Set up a plurality of wheels body 1, can make controller response time more abundant, avoid wheel body 1 and barrier contact back, the controller is too late to control automobile body 6 and adjusts the direction of travel, improves the reliability with the ridge.

Furthermore, the diameter of the wheel body 1 is D, the width of the running channel of the vehicle body 6 is D, and D is less than or equal to 4/5D.

Along the direction perpendicular with 6 advancing direction of automobile body, the width of wheel body 1 is more than or equal to 6 width of automobile body, is less than the width of walking passageway to guarantee that automobile body 6 can walk between the passageway of walking, avoid the collision of automobile body 6 and barriers such as crop 7 or ridge simultaneously.

D is less than or equal to 4/5D, thereby reducing the number of times of turning the vehicle body 6. The larger the width of the wheel body 1 of the ridge following component is, the more the number of times of turning the vehicle body 6 is, and the width needs to be properly reduced in order to improve the operation efficiency.

When the ridge subassembly is followed in the installation, what make 1 contradicts of wheel body is that 7 firm roots of crops grow, and the mounting height of wheel body 1 is less than or equal to the height that the crop blade grows, if the mounting height is higher, injures blade (influence growth) or 7 branches of crops (cause and empty), is unfavorable for following the ridge operation, also does not benefit to the growth of crop 7 easily.

Wherein, the wheel body 1 can be fixedly connected with the connecting piece 3; alternatively, the wheel body 1 may be rotatably connected to the link 3, and the wheel body 1 may be rotatable about the axis of the wheel body 1. When the wheel body 1 is rotationally connected with the connecting piece 3, the wheel body 1 can rotate due to the friction between the wheel body 1 and the crop 7 when in conflict operation, and the friction between the wheel body 1 and the crop 7 can be greatly reduced due to the fact that the wheel body 1 is very flexible and sliding friction exists between the wheel body and the crop 7, and therefore the crop 7 is further prevented from being damaged.

Further, in order to improve the flexibility of the wheel body 1 and reduce the mass of the wheel body 1, the wheel body 1 includes an annular ring portion 11, a fixing portion 12 located at the center, and a reinforcing rod 13 connecting between the fixing ring portion 11 and the fixing portion 12, which is designed to be hollow, so as to reduce the mass of the wheel body 1. In order to improve the firmness of the wheel body 1, reinforcing pieces 14 are arranged between the reinforcing rods 13 and the annular part 11 and between the reinforcing rods 13 and the fixing part 12, so that the overall strength of the wheel body 1 is improved, and damage caused by collision is avoided. When the wheel body 1 rotates around the axis, the wheel body is connected with the rotating shaft at one end of the connecting piece 3 through the fixing part 12, so that the wheel body can rotate by taking the rotating shaft as an axis, sliding friction is formed between the wheel body 1 and crops 7, and damage to the crops 7 is reduced.

In this embodiment, the ridge subassembly that follows that this embodiment provided is slick and sly arc because the cyclic annular lateral wall of wheel body 1, and wheel body 1 can use the pivot to rotate as the axle center, is difficult to harm crop 7 to wheel body 1 sets up the height with the root butt of crop 7, because the growth of crop 7 root is comparatively firm, also can prevent to harm crop 7. In addition, the diameter of wheel body 1 is greater than the distance of the adjacent crop of same row planting, is less than the width of passageway of traveling to make with ridge subassembly can be in field safety form, and can not cross the boundary, avoid basically detecting the omission of crop, improve operation boundary detection accuracy, wherein, the boundary in this embodiment can include the boundary that the adjacent crop of same row planting was formed along a line. The rotatably arranged wheel body 1 generates sliding friction when contacting with the obstacle, so that the friction force between the wheel body 1 and the obstacle is further reduced, and the damage to the crops 7 is reduced. Can drive automobile body 6 current between the crop passageway with the ridge subassembly, prevent to overwhelm crop 7, reduce the influence to crop 7, because the operation border detection accuracy who follows the ridge subassembly is higher, can improve the operation precision, prevent that automobile body 6 from traveling other passageways to do not receive the influence of factors such as blade shelter from, environment, light, the practicality is strong.

Example 2

The unmanned vehicle provided by the embodiment comprises a vehicle body 6 and a ridge following assembly provided by the embodiment 1; along the direction vertical to the advancing direction of the vehicle body 6, the outer side wall of the wheel body 1 is flush with or protrudes out of the outer side wall of the vehicle body 6. The collision between the vehicle body 6 and the crops 7 is avoided, and the crops 7 are prevented from being damaged.

In an alternative embodiment, the wheel body 1 is arranged at the front end of the vehicle body 6 in a protruding mode, so that the track of the ridge is predicted in advance. Furthermore, the whole wheel body 1 is arranged at the front end of the vehicle body 6 in a protruding mode, crops 7 can be found in time, and the direction of the unmanned vehicle can be accurately controlled to be adjusted. Simultaneously, the cross section of wheel body 1 is on a parallel with the cross section of automobile body 6 for wheel body 1 detects crop 7 with the biggest detection range, thereby can suitably reduce the size of wheel body 1, and weight reduction improves the operating efficiency.

The ridge following assembly of the present embodiment is mounted on the vehicle body 6, and may be mounted at any position of the vehicle body 6 as long as the initial state of the connecting member 3 is toward the front end of the vehicle body 6. When wheel body 1 receives external thrust effect to act on, connecting piece 3 rotates and forms turned angle, leaves external thrust effect when acting on as wheel body 1, and preset position is got back to connecting piece 3 under the canceling release mechanical system effect, the real-time detection turned angle of being convenient for to improve unmanned car's the sensitivity that turns to.

During the use, along 6 advancing direction of automobile body, wheel body 1 sets up in 6 the place ahead of automobile body, when obstacles such as ridge or 7 roots of crops were run into to the cyclic annular lateral wall of wheel body 1, drive connecting piece 3 and rotate around the pin joint under the thrust effect of obstacle, angle sensor 5 acquires the turned angle information of connecting piece 3, can be with turned angle information transmission to controller, the controller can change the route of walking in order to dodge the obstacle according to connecting piece 3 turned angle control automobile body 6, perhaps travel along the direction that border/ridge extend. It can be understood that the extending direction of the boundary/ridge is the extending direction of the planting growth of the crops 7, such as the crops 7 shown in fig. 2, two rows of the crops 7 are planted and arranged, and the middle channel is used for walking. The unmanned vehicle of this embodiment is through following the actual conditions on ridge subassembly tracking boundary/ridge, adjusts the direction of travel of unmanned vehicle in real time to make unmanned vehicle can be automatic traveling between the ridge, accurate operation.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A ridge-following component is characterized by comprising a wheel body, a connecting piece and an angle sensor;

2. The ridge-following assembly of claim 1, wherein the ridge-following assembly further comprises a controller;

the controller is connected with the angle sensor, receives the rotation angle information and adjusts the advancing direction of the vehicle body according to the rotation angle information.

3. The ridge-following assembly of claim 2, further comprising a first pressure sensor;

4. The ridge assembly of claim 2 wherein the connector comprises a first connector bar, a second connector bar, and a second pressure sensor;

5. The ridge following assembly as claimed in any one of claims 1 to 4, further comprising a reset mechanism connected to the connecting member and the vehicle body, respectively, for resetting the connecting member to a preset position.

6. The ridge and heel assembly of claim 5 wherein said return mechanism comprises a first resilient member and a second resilient member;

7. The ridge and heel assembly as claimed in any one of claims 1 to 4, wherein the diameter of the wheel body is D, the width of the vehicle body walking channel is D, and D is not more than 4/5D.

8. The ridge and heel assembly as claimed in any one of claims 1-4, wherein the wheel body is fixedly connected with the connecting member, or the wheel body is rotatably connected with the connecting member, and the wheel body can rotate around the axis of the wheel body.

9. An unmanned vehicle comprising a vehicle body and the ridge-and-ridge assembly of any one of claims 1-8;

10. The unmanned vehicle of claim 9, wherein the wheel body of the ridge and heel assembly is convexly disposed at a front end of the vehicle body, and a cross section of the wheel body is parallel to a cross section of the vehicle body.