CN101380975B - Crawler automatic running vehicle - Google Patents
Crawler automatic running vehicle Download PDFInfo
- Publication number
- CN101380975B CN101380975B CN2008102317932A CN200810231793A CN101380975B CN 101380975 B CN101380975 B CN 101380975B CN 2008102317932 A CN2008102317932 A CN 2008102317932A CN 200810231793 A CN200810231793 A CN 200810231793A CN 101380975 B CN101380975 B CN 101380975B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- crawler
- automatic running
- vehicle frame
- motor driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a crawler automatic travelling vehicle which comprises a frame, a track driving mechanism, a guide mechanism, a control mechanism and a power supply. The travelling vehicle is controlled by a microprocessor. The automatic travelling vehicle is guided by the form that a vehicle travelling route is laid with a rubber hose; a guide device which consists of a guide rod, a guide wheel and a shock absorber and is installed at the front end of the vehicle body follows the rubber hose to get vehicle guidance information to calculate the transverse deviation and the direction deviation of the vehicle body and the travelling route; a relative control signal is sent to a motor controller which is connected with the track driving mechanism according to the transverse deviation and the direction deviation, so as to control the automatic travelling vehicle to turn, accelerate, decelerate, start and stop, and the vehicle is ensured to travel along the rubber hose automatically. The movement route of the automatic travelling vehicle can be changed conveniently by moving the position of the rubber hose, therefore, the operation is simple and convenient and the route can be changed flexibly. The top of the vehicle body is equipped with a solar battery panel which provides a whole system with the power supply and causes no oil consumption and no pollution.
Description
Technical field
The present invention relates to a kind of crawler automatic running vehicle that is used for agricultural production, belong to the field machine automatic field.
Background technology
In recent years, because the world energy sources price rises steadily, the driving engine energy utilization rate is low relatively, and the abominable of agriculture production environment, feasible extremely is necessary to develop a kind of solar energy type automatic exercise vehicle, replaces the people to carry out such as the bigger farm work of hazard ratio such as spraying insecticide.
At present, the navigate mode that Automatic Vehicle adopted that is used for agricultural production mainly contains GPS navigation, vision guided navigation, electromagnetically induced navigation, laser navigation etc.But all there is bigger problem in above-mentioned various navigate mode at aspects such as working environment, cost, system flexibilities.The GPS navigation cost is higher, and positioning signal is subject to the influence of surrounding buildings, trees etc.; The image processing more complicated is had relatively high expectations to processing speed in the vision guided navigation, and system is subject to extraneous light influence.The change of electromagnetically induced guidance path is flexible relatively poor, and system cost is higher.
Summary of the invention is arranged
At prior art problems and defective, the invention provides a kind of crawler automatic running vehicle that utilizes track adjusting wheel to navigate.This kind navigate mode not only can improve navigation accuracy, increases system flexibility, and can cost-cutting.
The technical scheme that realizes the foregoing invention purpose is a kind of crawler automatic running vehicle, comprise vehicle frame 7, track driving mechanism, guiding mechanism, control mechanism and power supply, described track driving mechanism is by the track adjusting wheel that is installed in vehicle frame front end both sides, the drive wheel of both sides, rear end, be installed in the crawler belt between track adjusting wheel and the drive wheel, be installed in the caterpillar wheel that the vehicle frame outside contacts with the crawler belt inside bottom, output, input end are formed with drive wheel and DC machine bonded assembly retarder respectively; Described power supply is made up of the solar panel that is installed in the vehicle frame top, middle battery pack; Described guiding mechanism by the positive front end of an end and vehicle frame be connected, the other end and bumper one end bonded assembly pilot bar, with reeded track adjusting wheel in the middle of the other end bonded assembly of bumper, the spring that is installed between pilot bar and the bumper is formed; Described control mechanism is by the motor driver that is installed in central frame beam, microprocessor and be installed in vehicle frame and the coder of pilot bar, pilot bar and bumper junction is formed;
Wherein, the power input of battery pack is connected with solar panel, mouth is connected with the power input of microprocessor and motor driver, the signal wire (SW) of microprocessor is connected with the incoming signal end of coder and motor driver respectively, and the output signal end of motor driver is connected with the respective end of DC machine.
Described motor driver, DC machine, retarder respectively have two.
The principle of work of crawler automatic running vehicle of the present invention: on vehicle operation route, lay India rubber tube, and track adjusting wheel is placed on the India rubber tube, when vehicle ', under the effect of damper spring pressure, groove on the track adjusting wheel remains with India rubber tube and contacts, and track adjusting wheel is constantly travelled forward along India rubber tube.Simultaneously, vehicle-mounted microprocessor is according to two car body and pilot bars that coder is measured, angle of inclination between track adjusting wheel and the pilot bar calculate the lateral deviation and the deviation in direction of car body and running route, and send corresponding control signal and give two electric machine controllers that are connected with track driving mechanism, the rotation of controller control motor, the moment of rotation that is produced passes to left and right sidesing driving wheel respectively by two retarders, thereby realize to Automatic Vehicle turn to, quicken, the control of deceleration, start-stop, vehicle is walked along India rubber tube automatically.Can change the moving line of automatic running vehicle easily by the position of mobile India rubber tube, simple to operate, route diversion is more flexible.The car body top is equipped with solar panel, and cell panel becomes electric energy with conversion of solar energy and is stored in the storage battery, and battery pack had not both had oil consumption for motor, microprocessor, coder etc. provide power supply, and was pollution-free again.
The navigate mode that crawler automatic running vehicle of the present invention adopted need not carry out complicated image processing, and without the registration device of purchase price costliness, guidance mode is simple, and system flexibility is good, the precision height.Crawler vehicle adopts the solar panel power supply, not only energy savings but also protect environment.Simultaneously, tracklaying vehicle can alleviate Work machine rolling soil again.Automatic Vehicle of the present invention can be travelled automatically, need not manual operation, and spraying medicine, fertilising, Shi Shui, picking fruit etc. automatically for the field provides a good mobile platform, has good application prospects.
Description of drawings
Fig. 1 is the control system block scheme of crawler automatic running vehicle;
Fig. 2 is the front view of crawler automatic running vehicle.
Below be the concrete description of symbols in the accompanying drawing 1～2 of the present invention:
1 battery pack, 2 microprocessors, 3 motor drivers, 4 DC machine, 5 retarders, 6 solar panels, 7 vehicle frames, 8 drive wheels, 9 caterpillar wheels, 10 track adjusting wheels, 11 crawler belts, 12 track adjusting wheels, 13 bumpers, 14 springs, 15 coders, 16 pilot bars, 17 coders
The specific embodiment
The specific embodiment that provides below in conjunction with accompanying drawing and contriver is described in further detail crawler automatic running vehicle of the present invention.
A kind of crawler automatic running vehicle, referring to (Fig. 2), comprise vehicle frame 7, track driving mechanism, guiding mechanism, control mechanism and power supply, described track driving mechanism is by the track adjusting wheel 10 that is installed in vehicle frame 7 front end both sides, the drive wheel 8 of both sides, rear end, be installed in the crawler belt 11 between track adjusting wheel 10 and the drive wheel 8, be installed in the caterpillar wheel 9 that vehicle frame 7 outsides contact with crawler belt 11 inside bottom, output, input end are formed with drive wheel 8 and DC machine 4 bonded assembly retarders 5 respectively; Described power supply is made up of the battery pack 1 in the middle of the solar panel 6 that is installed in vehicle frame 7 tops; Described guiding mechanism by an end be connected with vehicle frame 7 positive front ends, the other end and bumper 13 1 end bonded assembly pilot bars 16, with the middle reeded track adjusting wheel 12 of the other end bonded assembly of bumper 13, the spring 14 that is installed between pilot bar 16 and the bumper 13 is formed; Described control mechanism is by the motor driver 3 that is installed in the middle of the vehicle frame 7, microprocessor 2 and be installed in vehicle frame 7 and form with the coder (15,17) of bumper 13 junctions with pilot bar 16, pilot bar 16;
Wherein, the power input of battery pack 1 is connected with solar panel 6, mouth is connected with the power input of microprocessor 2 with motor driver 3, the signal wire (SW) of microprocessor 2 respectively with coder (17,15) be connected with the incoming signal end of motor driver 3, the output signal end of motor driver 3 is connected referring to (Fig. 1) with the respective end of DC machine 4.
Described motor driver 3, DC machine 4, retarder 5 respectively have two.
Claims (6)
1. crawler automatic running vehicle, comprise vehicle frame (7), track driving mechanism, guiding mechanism, control mechanism and power supply, described track driving mechanism is by the track adjusting wheel (10) that is installed in vehicle frame (7) front end both sides, the drive wheel of both sides, rear end (8), be installed in the crawler belt (11) between track adjusting wheel (10) and the drive wheel (8), output, input end are formed with drive wheel (8) and DC machine (4) bonded assembly retarder (5) respectively; Described power supply is made up of the solar panel (6) that is installed in vehicle frame (7) top, middle battery pack (1); It is characterized in that, described guiding mechanism by the positive front end of an end and vehicle frame (7) be connected, the other end and bumper (13) one end bonded assembly pilot bars (16), with reeded track adjusting wheel (12) composition in the middle of the other end bonded assembly of bumper (13); Described control mechanism is by the motor driver (3) that is installed on the vehicle frame (7), microprocessor (2) and be installed in vehicle frame (7) and form with the coder (15,17) of bumper (13) junction with pilot bar (16), pilot bar (16);
Wherein, the power input of battery pack (1) is connected with solar panel (6), mouth is connected with the power input of microprocessor (2) with motor driver (3), the signal wire (SW) of microprocessor (2) respectively with coder (17,15) the incoming signal end with motor driver (3) is connected, and the output signal end of motor driver (3) is connected with the respective end of DC machine (4);
Described coder (17,15) detects the angle of inclination between car body and pilot bar (16) and track adjusting wheel (10) and the pilot bar (16) respectively, and detected angle signal is passed through the signal wire (SW) input microprocessor.
2. crawler automatic running vehicle according to claim 1 is characterized in that, described motor driver (3) has two.
3. crawler automatic running vehicle according to claim 1 is characterized in that, described DC machine (4) has two.
4. crawler automatic running vehicle according to claim 1 is characterized in that, described retarder (5) has two.
5. crawler automatic running vehicle according to claim 1 is characterized in that, described track driving mechanism comprises that also is installed in the caterpillar wheel (9) that vehicle frame (7) outside contacts with crawler belt (11) inside bottom.
6. crawler automatic running vehicle according to claim 1 is characterized in that, described guiding mechanism comprises a spring (14) that is installed between pilot bar (16) and the bumper (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102317932A CN101380975B (en) | 2008-10-17 | 2008-10-17 | Crawler automatic running vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102317932A CN101380975B (en) | 2008-10-17 | 2008-10-17 | Crawler automatic running vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101380975A CN101380975A (en) | 2009-03-11 |
| CN101380975B true CN101380975B (en) | 2011-04-27 |
Family
ID=40461076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102317932A Expired - Fee Related CN101380975B (en) | 2008-10-17 | 2008-10-17 | Crawler automatic running vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101380975B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515885A (en) * | 2016-11-29 | 2017-03-22 | 徐州科源液压股份有限公司 | Double-caterpillar-band damping chassis |
| CN114104807A (en) * | 2021-12-29 | 2022-03-01 | 苏州金韦尔机械有限公司 | Crawler-type transmission device for solar packaging film |
| CN114568134A (en) * | 2022-02-15 | 2022-06-03 | 益阳市良诚机械制造有限公司 | Novel self-propelled round bundle bundling machine of track |
-
2008
- 2008-10-17 CN CN2008102317932A patent/CN101380975B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101380975A (en) | 2009-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201208991Y (en) | Automatic navigation vehicle | |
| CN104317289A (en) | Novel forklift type AGV (automatic guided vehicle) trolley | |
| CN208092543U (en) | A kind of AGV travelling bogies with magnetic guide | |
| CN105501863A (en) | Monorail logistics trolley based on greenhouse interior accurate positioning and control method thereof | |
| CN109606506A (en) | A kind of control method that diagonal driving turns to | |
| CN203639819U (en) | Walking mechanism of principal rafter inspection trolley | |
| CN204178235U (en) | A kind of Novel fork vehicle AGV dolly | |
| CN207067802U (en) | Improve the combining structure of AGV positioning precisions | |
| CN101380975B (en) | Crawler automatic running vehicle | |
| CN111813127A (en) | Automatic automobile transfer robot system of driving formula | |
| CN203211311U (en) | Self-propelled railcar | |
| CN206053460U (en) | A kind of car carrying dolly | |
| CN206394549U (en) | A kind of protection device for pilotless automobile laser range finder | |
| CN208432902U (en) | A kind of dual-drive dual-control transport vehicle based on AGV technology | |
| CN202557397U (en) | Vehicle LED (Light-Emitting Diode) headlamp curve control system | |
| CN103863333A (en) | Miniature overhead track motor car transport system | |
| CN209037703U (en) | A kind of transportation robot to be navigated based on laser and visual combination | |
| CN110304172B (en) | Mechanical device with obstacle crossing and moving functions | |
| CN109532883B (en) | Highway void rail tire train | |
| CN206510961U (en) | A kind of dolly that operation is moved for remote control | |
| CN111877118A (en) | Road traffic marking line drawing device | |
| CN110341823A (en) | One kind climbing building trolley | |
| CN202923475U (en) | Curve control system for LED (Light Emitting Diode) headlamp of automobile | |
| CN203164762U (en) | Automatic guidance and obstacle avoidance system for cars | |
| CN212670245U (en) | Automatic tracking and marking system for intelligent rail transit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110427 Termination date: 20111017 |