CN115145288A - Intelligent walking chassis for lifting operation platform facing hilly and mountainous area environment - Google Patents
Intelligent walking chassis for lifting operation platform facing hilly and mountainous area environment Download PDFInfo
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- CN115145288A CN115145288A CN202210913286.7A CN202210913286A CN115145288A CN 115145288 A CN115145288 A CN 115145288A CN 202210913286 A CN202210913286 A CN 202210913286A CN 115145288 A CN115145288 A CN 115145288A
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 10
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- 239000002420 orchard Substances 0.000 claims description 7
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 2
- 239000003550 marker Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005358 geomagnetic field Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention relates to an intelligent walking chassis for a lifting operation platform facing to hilly and mountainous environments, which comprises a rubber crawler type walking mechanism and a chassis walking intelligent control system arranged on a chassis body. The rubber crawler type walking mechanism comprises a rubber crawler and a frame, the rubber crawler is fixedly connected to the left side and the right side of the bottom of the frame in the longitudinal direction, a horn and light are mounted in the front of and at the back of the frame, the intelligent control system comprises a control shooting device, an instrument display device, a man-machine interaction device, a wireless communication module, a navigation positioning module, a sensor, a chassis controller, a driving motor control module, a braking motor control module, a chassis leveling control module, a lifting mechanism control module, a battery management control module and an auxiliary electrical appliance control module. The carrier chassis has good walking adaptability to complex and variable hilly terrain, and ensures that the lifting operation platform has extremely high adaptability, working stability and safety.
Description
Technical Field
The invention relates to an intelligent walking chassis for a lifting operation platform facing hilly and mountainous area environments, and belongs to the field of intelligent agricultural machinery.
Background
China is the first major fruit producing and consuming country in the world, and with the increasing of the planting area of orchards, orchards with the area exceeding 62% are located in hilly mountain areas. In the fruit production flow, fruit growers often need to finish the trimming and picking of fruits by means of a herringbone ladder and carry out bagging and spraying, and the original manual operation mode is low in safety, time waste and low in efficiency under the complex and changeable hilly and mountainous area environment with wide area.
To sum up, need an intelligent walking lift operation platform for hilly and mountainous areas, wherein, intelligent walking carrier chassis should have good walking adaptability and job stabilization nature under complicated changeable hilly landform, can help the fruit grower to accomplish aerial work, reduces labourer's the work degree of difficulty and intensity, can ensure operation personnel safety again, improves whole work efficiency's device.
Disclosure of Invention
The invention relates to an intelligent walking chassis for a lifting operation platform facing hilly and mountainous area environments.
The technical scheme of the invention comprises a rubber crawler type travelling mechanism and a chassis travelling intelligent control system arranged on a chassis body;
rubber crawler-type running gear includes rubber track A and frame B, and rubber track A fixed connection is equipped with loudspeaker and light around frame B in the bottom left and right sides of the vertical direction of frame B, and light includes: the device comprises headlights, high and low beams, an outline marker light, a steering light and a brake light, wherein an instrument display device 6 and a switch key for controlling the on-off of the power supply of the whole chassis system are arranged on one side of a frame B;
the intelligent control system comprises an operation shooting device, an instrument display device 6, a man-machine interaction device 5, a wireless communication module 4, a navigation positioning module 8, a sensor 2, a chassis controller 1, a driving motor control module 10, a brake motor control module 11, a chassis leveling control module 9, a lifting mechanism control module 7, a battery management control module 12 and an auxiliary electrical appliance control module 13.
Wherein, the instrument display device displays the running state of the chassis, the state of the light and the state of the battery. The chassis running state comprises the chassis moving speed, the chassis running attitude angle, the current and the voltage passing through the motor and the motor rotating speed. The battery status includes the battery real-time charge and the battery health. The switch key controls four states of the chassis system power supply, namely system power-on, power system power-on, operation and power-off.
The fruit grower controls the shooting device 3 to send instruction information to the chassis controller 1 through the wireless communication module 4, after the chassis controller 1 receives the instruction information, the chassis controller 1 generates signals for controlling the driving motor brake module 10 and the brake motor control module 11 by combining with the chassis running state information fed back by the sensor 2 and combining with a walking control strategy so as to control the chassis to walk, and controls the chassis leveling control module 9 and the lifting mechanism control module 7 to finish leveling and lifting work after the chassis arrives at a designated operation place, and then the fruit grower on the operation platform can finish orchard operation safely and efficiently. The chassis controller 1 collects chassis running state information transmitted by the sensor 2, transmits the information to the human-computer interaction device 5 through the CAN bus, and displays the information through the instrument display device 6 in the modes of numerical values, curves, animations and the like, so that accurate and visual feedback information is provided for fruit growers. In addition, a mobile terminal is also in communication connection with the chassis controller 1 through the wireless communication module 4, and an operator can know the running state of the chassis, the position information of the chassis and the like in real time through the mobile terminal besides the instrument display device 6.
Further, the steering intake device is a remote control handle.
Further, the instrument display device is an instrument panel/liquid crystal display screen or the like.
Further, the mobile terminal is a mobile phone APP/tablet computer/computer and the like.
Further, the wireless communication module is a WIFI/2.4G/4G/5G/wireless station and the like.
Further, the sensors include a chassis attitude sensor, a current sensor, a temperature sensor, a humidity sensor, and the like.
Further, the model of the chassis attitude sensor is JY901B, and the chip is provided with a bottom plate for providing power supply and CAN bus communication.
Further, the current sensor is a unidirectional Hall current sensor chip ACS772LCB-050U-PFF-T/ACS724KMATR-10AU-T and the like.
Furthermore, the navigation positioning module is a Beidou navigation positioning system module or a global satellite positioning navigation system module.
Further, the controller is a single chip microcomputer with the model of S12XEP100.
Further, the driving motor control module adopts a brushless direct current motor and a brushless direct current motor controller.
Further, the brake motor control module adopts an electric push rod driven by a direct current brushless motor and a brushless motor drive controller.
What this design is the intelligence walking chassis that the lift operation platform of a kind of orientation hilly mountain area used, its beneficial effect has:
the invention A can replace manual operation, realizes self-walking of the rubber crawler-type chassis in hilly and mountainous areas, has good walking adaptability to complex road conditions in the hilly and mountainous areas, can ensure uniform ground pressure, and effectively protects soil.
The invention B realizes chassis driving by using two independent driving control modules, the two independent brushless direct current motor controllers control the corresponding brushless direct current motors to rotate, the output shaft of each motor drives a transmission rotating device with high reduction ratio, and the output shafts of the transmission devices on the left side and the right side respectively drive the driving wheels of the rubber crawler traveling mechanisms on the left side and the right side to rotate, thereby realizing the driving and traveling of the chassis in hilly and mountainous areas. This transmission structure chooses for use multistage gear for accomplishing to slow down and increase the torsion, guarantees great drive ratio, just so can provide great drive power, accomplishes simple compactness structurally simultaneously, avoids because of the complicated damage or the trouble that brings of bridge structure in mountain area, realizes the agricultural machinery intellectuality. The output power of the left and right driving motors can be independently controlled, so that the tangential acting force between the left and right rubber tracks and the ground can be independently adjusted, and the independent adjustment of the driving force of the left and right rubber tracks of the chassis can be realized.
The invention uses two independent electric braking modules to realize chassis braking. In the braking module, a brushless direct current motor push rod firstly reduces the speed and increases the torque through a speed reducing mechanism, and then is connected with a braking rod of a drum brake through a connecting rod mechanism, and during braking, the braking rod is subjected to the torque force generated by an electric push rod, so that the aim of electric braking is fulfilled. In the braking process, the braking force is adjusted by adopting a PWM (pulse width modulation) control method, the control force of the brake is adjusted by utilizing the change of the duty ratio, and the independent adjustment of the braking force of the left rubber track and the right rubber track is realized by two groups of independent braking modules.
A chassis attitude sensing module is mounted on a chassis, the module acquires dynamic motion attitude data of the chassis on line through three-axis acceleration and three-axis angular velocity in combination with three-way geomagnetic field measurement and an attitude calculation algorithm, and a bottom plate is arranged to provide power supply and CAN bus communication for the sensing module. The output signal of the attitude module is not only used for controlling the chassis walking, but also used for controlling a chassis leveling system.
E, the control module of the driving motor and the control module of the braking motor both adopt a layered control strategy, and each electric push rod of the driving motor and the braking motor is provided with an independent brushless direct current motor controller, so that the controllers realize the driving and the control of the motors. The chassis controller collects signals such as a motor output power regulation PWM signal, a forward and reverse rotation control GIO signal, a braking starting signal, a motor rotating speed feedback signal and the like in the motor controller, monitors the operating state of the motor in real time, and facilitates well fault diagnosis.
The CAN bus communication module is arranged in the chassis controller and forms a complete distributed bus network architecture with other electronic control units of the intelligent lifting operation platform, so that the working reliability of the intelligent lifting operation platform in the hilly and mountainous area environment is improved, and the intelligent lifting operation platform is safe and efficient.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of an intelligent walking chassis for a lifting platform of the present invention, FIG. 2 is a control architecture diagram of an intelligent control system
FIG. 3 is a block diagram of a control architecture for an independent drive control and independent brake control module
The reference numbers indicate:
A. a rubber track; B. a frame; 1. a chassis controller; 2. a sensor; 3. manipulating the intake device; 4. a wireless communication module; 5. a human-computer interaction device; 6. an instrument display device; 7. a lifting mechanism control module; 8. a navigation positioning module; 9. a chassis leveling control module; 10. driving a motor control module; 11. a brake motor control module; 12. a battery management control module; 13. an auxiliary appliance control module; 14. a brushless DC motor; 15. brushless DC motor push rod.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1, the invention provides an intelligent walking chassis for a lifting work platform facing hilly and mountainous areas, which comprises a rubber crawler type walking mechanism and a chassis walking intelligent control system installed on a chassis body. The rubber crawler type walking mechanism comprises a rubber crawler A and a frame B.
As shown in fig. 2, a fruit grower operates the intake device 3 to send instruction information to the chassis controller 1 through the wireless communication module 4, after the chassis controller 1 receives the instruction information, the chassis controller 1 generates signals for controlling the driving motor brake module 10 and the brake motor control module 11 in combination with the chassis running state information fed back by the sensor 2 and in combination with a walking control strategy so as to control the chassis to walk, and controls the chassis leveling control module 9 and the lifting mechanism control module 7 to complete leveling and lifting work after the chassis reaches a designated operation site, and then the fruit grower on the operation platform can complete orchard operation safely and efficiently. The chassis controller 1 collects chassis running state information transmitted by the sensor 2, transmits the information to the human-computer interaction device 5 through the CAN bus, and displays the information through the instrument display device 6 in the modes of numerical values, curves, animations and the like, so that accurate and visual feedback information is provided for fruit growers. In addition, a mobile terminal is also in communication connection with the chassis controller 1 through the wireless communication module 4, and an operator can know the running state of the chassis, the position information of the chassis and the like in real time through the mobile terminal besides the instrument display device 6.
Wherein, the chassis controller 1 adopts a singlechip S12XEP100. The sensors 2 include a chassis attitude sensor, a current sensor, a temperature sensor, a humidity sensor, and the like. The chassis attitude sensor acquires dynamic data of the motion attitude of the chassis on line through three-axis acceleration and three-axis angular velocity in combination with three-way geomagnetic field measurement and an attitude calculation algorithm. The preferentially adopted model of the chassis attitude sensor is JY901B. The current sensor adopts a Hall type current sensor and is used for measuring the current flowing through the motor on line, measuring the voltage at two ends of the motor by using a voltage division circuit and measuring the rotating speed of the motor by using a pulse signal output by a motor controller. The Hall type current sensor is ACS772LCB-050U-PFF-T/ACS724KMATR-10AU-T. The control intake device 3 is a remote control handle for issuing commands. The instrument display device is an instrument panel or a liquid crystal display screen. The navigation positioning module 8 is a Beidou navigation positioning system module or a global positioning navigation system module. The lifting mechanism control module 7 comprises an electro-hydraulic cylinder and a scissor type lifting mechanism, and the electro-hydraulic cylinder provides sufficient power for lifting of the scissor type mechanism. The chassis leveling control module 9 starts working when the chassis stops moving and the lifting platform needs to perform high-altitude operation, and the four supporting legs extend out to increase the span and realize quick leveling. The battery management control module 12 monitors and manages the battery cells to prevent overcharge and overdischarge of the battery and to extend the life of the battery. The chassis controller 1 integrates a current measuring circuit and a voltage measuring circuit of a chassis walking power supply battery, so that the on-line real-time measurement of the instantaneous output power of the battery is realized, and further the estimation of the power consumption of the battery and the estimation of the SOC are realized through the time accumulation of the output power of the battery. The auxiliary electrical appliance control module 13 controls the corresponding auxiliary electrical appliances such as light and speakers to work according to the walking state of the chassis, and the auxiliary electrical appliances are used for sending out driving signals and can also be used for lighting when working at night. Light includes: headlights, high beam and low beam lights, clearance lights, turn lights, brake lights, and the like.
Preferably, as shown in fig. 3, the chassis controller 1 controls two independent drive motor control modules 10 and two independent brake motor control modules 11, respectively.
In two independent drive control modules 10, two 1800W brushless motor drive controllers respectively control two brushless dc motors with power of 1500W/48V, the output shaft of each motor drives a transmission rotating device with high reduction ratio, and the output shafts of the transmission devices on the left and right sides respectively drive the driving wheels of the rubber crawler traveling mechanisms on the left and right sides to rotate, so that the chassis is driven and travels in hilly and mountainous areas. The output power of the left and right driving motors can be independently controlled, so that the tangential acting force between the left and right rubber tracks and the ground can be independently adjusted, and the independent adjustment of the driving force of the left and right rubber tracks of the chassis can be realized.
In the two independent brake control modules, the left and right 100W brushless motor controllers respectively control the electric push rods driven by the left and right direct current brushless motors, the speed and the torque are reduced and increased through the speed reducing mechanism, and then the electric push rods are connected with the brake rod of the drum brake through the connecting rod mechanism. The brake generates braking force after being acted by the push rod so as to realize chassis braking. In the braking process, the braking force is adjusted by adopting a PWM (pulse width modulation) control method, the control force of the brake is adjusted by utilizing the change of the duty ratio, and the independent adjustment of the braking force of the left rubber track and the right rubber track is realized by two groups of independent braking modules.
The driving and braking composite control of the rubber crawler traveling mechanisms on the left side and the right side realizes the control requirements of driving, braking and differential steering of the chassis. Wherein, the normal drive control adopts the synchronous control of the rubber track driving motors at the left and right sides; the normal braking control adopts the synchronous control of the left and right side brake push rod motors; the steering control is realized by asynchronous control of the left and right rubber tracks, and the chassis steering intention is realized by the coordinated control of the driving and braking systems on the left and right sides.
Dividing the steering into forward steering, pivot steering and reverse steering according to the steering intention, setting a three-level threshold value for an input signal of the manipulation intention, and dividing the steering into four steering states of light steering, medium steering, urgent steering and limit steering, wherein the light steering is realized only by the differential adjustment and control of the driving force of a left driving motor and a right driving motor; the medium steering is realized by controlling the driving force of the outer rubber track and the braking force of the inner rubber track; the sharp steering is realized by driving and controlling the outer wheels and completely braking the inner rubber track; the limit steering is realized by forward driving of the outer wheels and reverse driving of the inner wheels. The braking process of the steering control strategy meets synchronous braking and differential braking of the left rubber track and the right rubber track, the negative turning radius of the chassis during steering can be realized, the condition restriction that the field is narrow in hilly and mountainous orchard is met, the chassis direction control is easier and faster, and the requirement on maneuverability is met. When the push rod of the driving motor or the brake motor works, the current sensor can monitor the current flowing through the motor in real time and transmit the data to the instrument panel or the mobile terminal, so that an operator can know the walking state of the chassis in the whole process to complete the operation of the chassis, or the operator can timely detect the fault and timely maintain the chassis under the condition of fault.
As shown in fig. 1 to 3, the working principle of the intelligent walking chassis for the lifting platform facing hilly and mountainous areas provided by the invention is as follows:
the fruit grower controls the shooting device 3 to send instruction information to the chassis controller 1 through the wireless communication module 4, after the chassis controller 1 receives the instruction information, the chassis controller 1 generates signals for controlling the driving motor brake module 10 and the brake motor control module 11 by combining with the chassis running state information fed back by the sensor 2 and combining with a walking control strategy so as to control the chassis to walk, and controls the chassis leveling control module 9 and the lifting mechanism control module 7 to finish leveling and lifting work after the chassis arrives at a designated operation place, and then the fruit grower on the operation platform can finish orchard operation safely and efficiently. The chassis controller 1 collects chassis running state information transmitted by the sensor 2, transmits the information to the human-computer interaction device 5 through the CAN bus, and displays the information through the instrument display device 6 in the modes of numerical values, curves, animations and the like, so that accurate and visual feedback information is provided for fruit growers. In addition, a mobile terminal is also in communication connection with the chassis controller 1 through the wireless communication module 4, and an operator can know the running state of the chassis, the position information of the chassis and the like in real time through the mobile terminal besides the instrument display device 6.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An intelligent walking chassis for a lifting operation platform facing to hilly and mountainous area environments is characterized by comprising a rubber crawler type walking mechanism and a chassis walking intelligent control system arranged on a chassis body;
rubber crawler-type running gear includes rubber track A and frame B, and rubber track A fixed connection is equipped with loudspeaker and light around frame B in the bottom left and right sides of the vertical direction of frame B, and light includes: the device comprises headlights, high and low beams, an outline marker light, a steering light and a brake light, wherein an instrument display device 6 and a switch key for controlling the on-off of the power supply of the whole chassis system are arranged on one side of a frame B;
the chassis walking intelligent control system comprises a control shooting device 3, an instrument display device 6, a man-machine interaction device 5, a wireless communication module 4, a navigation positioning module 8, a sensor 2, a chassis controller 1, a driving motor control module 10, a brake motor control module 11, a chassis leveling control module 9, a lifting mechanism control module 7, a battery management control module 12 and an auxiliary electrical appliance control module 13;
the chassis controller 1 is respectively connected with the wireless communication module 4, the lifting mechanism control module 7, the navigation positioning module 8, the chassis leveling control module 9, the sensor 2, the man-machine interaction device 5, the driving motor control module 10, the braking motor control module 11, the battery management control module 12 and the auxiliary electrical appliance control module 13; the control shooting device 3 is connected with the wireless communication module 4; the driving motor control module 10 is connected with a brushless direct current motor 14; the brake motor control module 11 is connected with a brushless direct current motor electric push rod 15; the human-computer interaction device 5 is connected with the instrument display device 6;
wherein, the instrument display device 6 displays the running state of the chassis, the light state and the battery state; the chassis running state comprises the chassis moving speed, the chassis running attitude angle, the current and the voltage passing through the motor and the motor rotating speed; the battery state comprises the real-time electric quantity and the health condition of the battery;
the fruit grower sends instruction information to the chassis controller 1 through the wireless communication module 4 by operating the intake device 3, after the chassis controller 1 receives the instruction information, the chassis controller 1 generates signals for controlling the driving motor brake module 10 and the brake motor control module 11 by combining with the chassis running state information fed back by the sensor 2 and combining with a walking control strategy so as to control the chassis to walk, and controls the chassis leveling control module 9 and the lifting mechanism control module 7 to finish leveling and lifting work after the chassis reaches a designated operation site, and then the fruit grower on the operation platform can finish orchard operation safely and efficiently; the chassis controller 1 collects chassis running state information transmitted by the sensor 2, transmits the information to the human-computer interaction device 5 through the CAN bus, and then displays the information through the instrument display device 6 in the modes of numerical values, curves, animations and the like, so as to provide accurate and visual feedback information for fruit growers, in addition, a mobile terminal is also in communication connection with the chassis controller 1 through the wireless communication module 4, and an operator CAN also know the running state of the chassis and the position information of the chassis in real time through the mobile terminal besides the instrument display device 6.
2. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the manipulation and intake device is a remote control handle.
3. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the instrument display device is a dashboard/liquid crystal display.
4. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the mobile terminal is a mobile phone APP/tablet computer/computer.
5. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the wireless communication module is a WIFI/2.4G/4G/5G/radio station.
6. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the sensors comprise a chassis attitude sensor, a current sensor, a temperature sensor and a humidity sensor.
7. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the model of the chassis attitude sensor is JY901B, and the chip is provided with a bottom plate for providing power supply and CAN bus communication.
8. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the navigation and positioning module is a beidou positioning navigation system module or a global satellite positioning navigation system module; the chassis controller is a singlechip and has the model of S12XEP100.
9. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the driving motor control module employs a brushless DC motor and a brushless DC motor controller.
10. The intelligent walking chassis for the lifting operation platform facing the hilly and mountainous area environment as claimed in claim 1, wherein the brake motor control module employs an electric push rod driven by a brushless DC motor and a brushless motor drive controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913286.7A CN115145288A (en) | 2022-07-29 | 2022-07-29 | Intelligent walking chassis for lifting operation platform facing hilly and mountainous area environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913286.7A CN115145288A (en) | 2022-07-29 | 2022-07-29 | Intelligent walking chassis for lifting operation platform facing hilly and mountainous area environment |
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| CN115145288A true CN115145288A (en) | 2022-10-04 |
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| CN202210913286.7A Pending CN115145288A (en) | 2022-07-29 | 2022-07-29 | Intelligent walking chassis for lifting operation platform facing hilly and mountainous area environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI828468B (en) * | 2022-12-09 | 2024-01-01 | 行政院農業委員會 | Tracked vehicle with hub motors |
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2022
- 2022-07-29 CN CN202210913286.7A patent/CN115145288A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI828468B (en) * | 2022-12-09 | 2024-01-01 | 行政院農業委員會 | Tracked vehicle with hub motors |
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