CN215922373U

CN215922373U - Crawler-type unmanned sensing vehicle

Info

Publication number: CN215922373U
Application number: CN202122589318.6U
Authority: CN
Inventors: 陈方圆; 綦建前; 斯可克; 卢宏双; 刘爱华; 南思乔; 王喜庆; 张帅松
Original assignee: Beijing Auspicious Science And Technology Co ltd; Fengma Technology Nanjing Co ltd; China Agricultural University
Current assignee: Beijing Auspicious Science And Technology Co ltd; Fengma Technology Nanjing Co ltd; China Agricultural University
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-03-01
Anticipated expiration: 2031-10-26

Abstract

A crawler-type unmanned sensor vehicle comprises a movement device and a detection device; the detection device is fixed to the top of the moving device, the moving device is in a crawler type, the moving device can automatically convey the detection device to a detection position, and the detection device detects physical parameters of an object or an area to be detected at the detection position. This unmanned sensing car of crawler-type can realize unmanned operation, and the shock attenuation is respond well, and the testing result is more accurate.

Description

Crawler-type unmanned sensing vehicle

Technical Field

The utility model relates to a crawler-type unmanned sensing vehicle. The utility model particularly relates to an automatic crawler-type sensing vehicle in the technical field of agricultural automation, which can implement multiple operations such as human control, semi-automatic control, automatic control detection and the like on complex ground such as fields, greenhouses, orchards, jungles and the like.

Background

The temperature, humidity, CO for example, of fields, greenhouses, orchards, jungles, etc. need to be monitored regularly when planting in these places₂Concentration, illumination condition and the like so as to better control the cultivation of crops and the growth of crops. The detection of these physical parameters is usually performed by the inspector pulling the instrument to the location, but is troubling to the inspector due to the effects of outdoor extreme weather.

Agricultural land is generally land or sand, and soil property is comparatively soft and the ground is uneven, and wheeled vehicle is difficult for going on this kind of ground, takes place the condition such as wheel is absorbed in, is blocked easily.

In addition, the sensing vehicle usually utilizes instruments such as a sensor to detect physical parameters of crops, and the vibration of the sensing vehicle and the shaking of the instruments caused by uneven ground can cause inaccurate detection results of the sensor.

Disclosure of Invention

The utility model aims to provide a crawler-type unmanned sensing vehicle, which overcomes one or more of the problems in the prior art, can realize unmanned operation, has good damping effect and enables a detection result to be more accurate.

The above purpose is achieved by a crawler-type unmanned sensor vehicle, which comprises a movement device and a detection device; the detection device is fixed to the top of the moving device, the moving device is in a crawler type, the moving device can automatically convey the detection device to a detection position, and the detection device detects physical parameters of an object or an area to be detected at the detection position.

Because the movement device adopts the crawler type, the movement device is particularly suitable for running on the ground with soft soil such as fields, the risk that wheels sink into the soil is avoided, the movement device and the detection device arranged on the movement device can run more stably, and the detection result of the detection device is more accurate.

According to another aspect of the present invention, the sensing device includes a bracket fixedly mounted on the top of the sporting device and a plurality of sensors mounted on the bracket, the sensors being movable in vertical and horizontal directions.

Thus, a plurality of sensors can be mounted on the detection device, and the sensors on the detection device can move along the vertical direction and the horizontal direction, so that a plurality of positions can be detected more flexibly.

According to another aspect of the utility model, the moving device comprises two sides of crawler type wheel devices, wherein an air-liquid damper is arranged for absorbing impact force of the outside on the crawler type unmanned sensing vehicle and buffering vibration.

The movement device can run more stably through the gas-liquid shock absorber, the detection device basically does not shake, and therefore the detection result is more accurate.

According to another aspect of the utility model, the crawler wheel device comprises a plurality of pairs of pressure-bearing wheels and anti-impact wheels which are connected by shafts, wherein each pair of pressure-bearing wheel and anti-impact wheel is provided with a separately-loaded gas-liquid damper, and one end of the gas-liquid damper is arranged on a shaft (32) connecting each pair of pressure-bearing wheel and anti-impact wheel.

Because each pair of pressure-bearing wheel and anti-impact wheel is provided with a separate gas-liquid damper, the damping effect of the movement device is better.

According to another aspect of the utility model, the track of the tracked unmanned sensor vehicle is a rubber track.

The rubber track is more wear-resistant and has better vibration reduction effect.

According to another aspect of the present invention, the main body frame of the exercise device is of a shell type structure.

Thereby enabling the exercise apparatus to reduce its own weight, be more stable, and reduce costs.

According to another aspect of the utility model, the gas-liquid damper connected to the shock-proof wheel is at an angle to the vertical direction so as to absorb the impact force on the tracked unmanned sensor vehicle.

According to a further aspect of the utility model, a data receiving device is provided, to which the detection device can wirelessly transmit the detected physical parameter.

This enables the operator to receive the desired physical parameter quickly and accurately, for example in a control room.

According to another aspect of the utility model, the pressure-bearing wheel and the anti-impact wheel are connected to the shaft by means of flange bearings, between which a sleeve is arranged with clearance, said sleeve being connected in a sliding manner to the flange bearings of the pressure-bearing wheel or the anti-impact wheel.

The sleeve is preferably designed as a copper tube. The gaps are formed between the shaft sleeve and the flange bearing and between the shaft sleeve and the shaft, so that even if the flange bearing is clamped, the wheels of the crawler-type unmanned sensing vehicle can also rotate, and the situation that the wheels are clamped cannot occur.

The sensing vehicle adopts a multistage vibration reduction mode, namely, rubber track vibration reduction and gas-liquid damper vibration reduction are used, so that the stability of the sensor on the sensing vehicle is reliably ensured, and the condition that the detection result is inaccurate due to the shaking of the sensor is avoided. The shaft sleeve on the shaft connecting each pair of impact-proof wheel and pressure-bearing wheel can ensure that the wheels can still normally rotate under the condition that the wheel bearing is blocked, and the sensing vehicle can normally run, so that the arrangement is particularly suitable for sandy land of a field garden.

Drawings

For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals in the drawings refer to like parts. It will be appreciated by persons skilled in the art that the drawings are intended to illustrate preferred embodiments of the utility model without any limiting effect on the scope of the utility model, and that the various components in the drawings are not drawn to scale.

FIG. 1 is a perspective view of a tracked unmanned sensor vehicle according to an embodiment of the utility model.

FIG. 2 is a view of a motion device of a tracked unmanned sensor vehicle according to an embodiment of the utility model.

FIG. 3 is a schematic view of wheels and pneumatic and hydraulic dampers of a tracked unmanned sensor vehicle according to an embodiment of the present invention;

FIG. 4 is a cross-section taken along A-A in FIG. 3;

FIG. 5 is a top view of FIG. 3;

FIG. 6 is another schematic view of wheels and air-liquid dampers of a tracked unmanned sensor vehicle according to an embodiment of the present invention.

The reference numerals appearing herein correspond to technical terms as follows:

1. a motion device; 2. a detection device; 11. a gas-liquid damper; 12. a pressure bearing wheel; 13. a driving wheel; 14. a tension wheel; 15. a vehicle cover; 16. an anti-collision guard plate; 19. anti-impact wheels; 20. a support; 21. a stringer; 22. a cross beam; 23. a sensor locking ring; 31. a flange bearing; 32. a shaft; 33. and a shaft sleeve.

Detailed Description

The technical solutions of the present invention are further described below by way of specific embodiments with reference to the drawings, but the present invention is not limited to these embodiments. What has been described herein is merely a preferred embodiment in accordance with the present invention and other ways of practicing the utility model will occur to those skilled in the art and are within the scope of the utility model. With respect to the drawings, directional terminology, such as "upper," "lower," "left," "right," "front," "rear," etc., is used with reference to the orientation of the drawings as described. Because components of embodiments of the present invention can be implemented in a variety of orientations, the directional terminology is used for purposes of illustration and is in no way limiting.

A tracked unmanned sensor vehicle according to the present invention is described in detail below with reference to fig. 1-3.

Referring to fig. 1, the crawler-type unmanned sensor vehicle disclosed by the utility model mainly comprises a movement device 1 and a detection device 2, wherein the detection device 2 is fixed at the top of the movement device 1, the movement device 1 is a part responsible for sensing the movement of the vehicle, the detection device 2 carried by the top is conveyed to a required position in a field, a greenhouse, an orchard and a jungle, and then the detection device 2 is used for detecting physical parameters of a target crop or a space near the target crop. The sensing vehicle can be remotely controlled through remote control, such as driving in all directions, detection operation and the like.

The moving device 1 comprises crawler-type wheel devices positioned on two sides of the moving device 1, and the crawler-type wheel devices can better run on loose soil and soft soil in the field, so that the situation that wheels sink into the soil is avoided. The two sides of the vehicle body are respectively provided with an annular crawler belt, when the sensor vehicle walks, the sensor vehicle is in contact with the ground, and the skilled person can select a proper crawler belt pattern according to the requirement, such as splay or herringbone and various patterns matched with the splay or herringbone and the shapes, as long as the crawler belt has acceptable flexibility and sideslip prevention and has a sufficient friction coefficient. Preferably, the track of the running gear 1 uses a rubber track, which has better vibration damping performance.

Referring to fig. 1 to 2, the crawler wheel devices on both sides of the moving device 1 include a driving wheel 13 and a tension wheel 14 respectively located at both ends of the upper side. The driving wheel 13 is electrically connected with the motor of the movement device 1. The driving wheel 13 is located at the middle of the outer circumference of the track and has teeth engaged with the inner ring of the track, and when the motor is started, the track is driven to rotate by the driving wheel 13. The tensioning wheel 14 is connected with an adjusting spring and an adjusting handle, the relative positioning between the tensioning wheel 14 and other wheels in the crawler-type wheel devices on two sides can be adjusted in the horizontal direction through the adjusting handle, the length of the ring of the whole crawler is reduced or enlarged, and therefore the tightness of the crawler is in a proper state.

The crawler-type wheel device further comprises a plurality of pressure bearing wheels 12 respectively positioned in the middle of the lower side of the crawler and anti-impact wheels 19 positioned at the front end and the rear end of the lower side of the crawler. The pressure-bearing wheel 12 mainly functions to bear the weight of the vehicle body, and the impact-preventing wheel 19 mainly functions to buffer the impact of external force on the vehicle body. Preferably, two pairs of pressure-bearing wheels 12 are provided in the middle portion of the crawler, and a pair of anti-shock wheels 19 are provided in front of and behind the two pairs of pressure-bearing wheels 12, respectively. Unlike the driving wheel 13 and the tension wheel 14 which are individually arranged, the impact prevention wheels 19 and the pressure-bearing wheels 12 are arranged in pairs, and each pair of impact prevention wheel 19 and each pair of pressure-bearing wheel 12 are connected through a shaft 32. The diameter sizes of the driving wheel 13 and the tension wheel 14 are the same, and the diameter sizes of the driving wheel 13 and the tension wheel 14 are also the same, however, the diameter sizes of the driving wheel 13 and the tension wheel 14 are larger than the diameter sizes of the driving wheel 13 and the tension wheel 14.

Preferably, the pressure-bearing wheel 12 and the anti-impact wheel 19 are connected with the shaft through a flange bearing 31, a shaft sleeve 33 is arranged between the flange bearing 31 and the shaft 32 with a gap, and the shaft sleeve 33 is connected with the flange bearing 31 of the pressure-bearing wheel 12 or the anti-impact wheel 19 in a sliding mode. The sleeve is preferably a copper tube. As the wheels of the crawler-type unmanned sensing vehicle are easy to be drawn into sand when the crawler-type unmanned sensing vehicle runs in the field, when the balls in the flange bearing 31 are stuck by the sand, the wheels can still rotate through the relative rotation between the flange bearing 31 and the shaft sleeve, and therefore the vehicle can still move.

In order to obtain a more excellent damping effect, the sensor vehicle of the present invention is provided with a gas-liquid damper 11 in a crawler wheel device of the moving device 1. As an example, the sensing vehicle of the present invention may be provided with a single pneumatic-hydraulic shock absorber 11 for each pair of the shock-proof wheel 19 and the pressure-bearing wheel 12 connected by the shaft 32 in the moving device 1, so that when various impacts are applied to complicated and variable terrains, the shock-absorbing effect is better because each pair of the shock-proof wheel 19 and the pressure-bearing wheel 12 can receive independent shock-absorbing measures, and the sensing vehicle can run smoothly and continue to work. Each gas-liquid damper 11 has an upper end connected to the main body of the exercise apparatus 1 and a lower end connected to a shaft 32 connecting each pair of the shock absorbing wheel 19 and the pressure receiving wheel 12.

Preferably, the gas-liquid damper 11 connected with the impact prevention wheel 19 is arranged obliquely, namely, at an angle with the vertical direction, so that the impact prevention wheel 19 can be decomposed into two forces in the vertical direction and the horizontal direction when being impacted by external force, thereby better absorbing the impact force of the drug spraying vehicle. Through a plurality of experiments by the inventor, the angle between the gas-liquid damper 11 connected with the shock-proof wheel 19 and the vertical direction is preferably about 30-45 degrees. Preferably, the impact wheels 19 and pressure-bearing wheels 12 are made of polyoxymethylene. Polyoxymethylene materials are particularly suitable for such applications because of their good elasticity and high hardness.

The top of the moving device 1 is provided with a vehicle cover 15 for covering the controller and driving parts loaded inside the moving device 1, and the vehicle cover 15 also plays a role of reinforcing the vehicle body. When the sensor car runs in fields, greenhouses, orchards and jungles, the sensor car is inevitably blocked by some objects and even suffers from collision. Thus, referring to FIG. 2, to provide enhanced protection to the sensing vehicle, crash panels 16 are also attached to the front and rear of the hood 15 by hinges, respectively, according to one example of the present invention. A portion of at least one of the front and rear crash panels 16 is designed as a transparent portion so that an operator can inspect the dashboard of the sports apparatus 1 covered by the crash panel 16 through the transparent portion, on which various motion data and control parameters of the sports apparatus 1 can be displayed.

The articulated elements of the anti-collision guard plate 16 can have two articulated motion directions, when upwards articulated, an operator can upwards open the anti-collision guard plate 16 to check the vehicle body, control the instrument panel and other operations, and when the anti-collision guard plate 16 is impacted by external force, the articulated elements are downwards articulated along with the downward movement of the external force on the anti-collision guard plate 16, and the micro switch connected with the articulated elements informs the controller of the motion device 1 to stop driving the driving part. After stopping the driving, in order to restart the driving, the operator may press a restart switch provided on the main body of the exercise apparatus 1, or may restart the exercise apparatus by remote control. The restart switch may be provided on the dashboard, for example.

The main body frame of the moving device 1 is of a shell structure instead of a full-frame structure, so that the firmness and stability of the vehicle body are realized while the size of the vehicle body is kept small, and the sensor vehicle can be flexibly suitable for the operating environment.

As shown in fig. 1, the detection device 2 comprises a support 20 and a sensor, not shown, the support 20 comprising a longitudinal beam 21 and a plurality of transverse beams 22, both of which are designed to be movable to accommodate crops or spaces of different heights. One end of each cross beam is fixedly connected with the longitudinal beam, for example by screws, and the other end is provided with a sensor locking ring 23 for fixing a sensor for detecting physical parameters of crops or spaces. Fig. 1 shows an example in which several transverse beams are arranged in parallel one after the other in the longitudinal direction of a longitudinal beam, wherein the transverse beams can also be arranged on the support base. But the beams may also point in different directions. Preferably, the end of the cross beam for mounting the sensor faces the front of the sensor vehicle, so that the advantage that the sensor vehicle does not arrive before the sensor vehicle and the sensor arrives first can be realized, thereby measuring a space which is not easy to enter by the sensor vehicle with narrow environment.

Preferably, the physical parameters for detection of the unmanned sensor vehicle can be field temperature, humidity and CO₂Concentration, light conditions, etc. Different instruments may be mounted on the sensor locking ring 23 as desired.

Furthermore, a data receiving device is provided, to which the detection device can wirelessly transmit the detected physical parameters. Therefore, the data can be monitored by the staff anytime and anywhere, and the required physical parameters can be quickly and accurately received in the control room so as to take corresponding measures.

The sensor vehicle in the utility model is a small sensor vehicle, and the movement device 1 preferably has the dimensions of 860mm in length, 450mm in width and 290mm in height.

The main body of the sensor vehicle is made of stainless steel, preferably 304 stainless steel, which is suitable for outdoor open-air operation, and has high mechanical strength and good acid resistance and alkali resistance.

The sensing vehicle adopts a multistage vibration reduction mode, namely, rubber track vibration reduction and gas-liquid damper vibration reduction are used, so that the stability of the sensor on the sensing vehicle is reliably ensured, and the condition that the detection result is inaccurate due to the shaking of the sensor is avoided. The shaft sleeve on the shaft connecting each pair of impact-proof wheel and pressure-bearing wheel can ensure that the wheels can still normally rotate under the condition that the wheel bearing is blocked, and the sensing vehicle can normally run.

The specific embodiments described herein are merely illustrative of the spirit of the utility model. Those skilled in the art to which the utility model relates may effect alterations, additions or substitutions to the described embodiments without departing from the spirit of the utility model or exceeding the scope thereof as defined by the appended claims.

Claims

1. A crawler-type unmanned sensor vehicle comprises a movement device (1) and a detection device (2);

wherein the detection device (2) is fixed on the top of the moving device (1), the moving device (1) is in a crawler type,

the method is characterized in that: the movement device (1) can automatically transport the detection device (2) to a detection position, at which the detection device (2) detects physical parameters of an object or area to be detected.

2. The tracked unmanned sensor vehicle of claim 1, characterized in that the detection means (2) comprise a support (20) fixedly mounted on top of the movement means (1) and a plurality of sensors mounted on the support, the sensors being movable in vertical and horizontal directions.

3. The tracked unmanned sensor vehicle of claim 1 or 2, wherein the moving device (1) comprises a crawler wheel device on two sides, and an air-liquid damper (11) for absorbing impact force of the outside on the tracked unmanned sensor vehicle and buffering vibration is arranged in the crawler wheel device.

4. The tracked unmanned sensor vehicle of claim 3, characterized in that the tracked wheel device comprises a plurality of pairs of pressure-bearing wheels (12) and anti-shock wheels (19) connected by shafts (32), wherein each pair of pressure-bearing wheel (12) and anti-shock wheel (19) is provided with a separately-loaded gas-liquid damper (11), and one end of the gas-liquid damper (11) is mounted on the shaft (32) connecting each pair of pressure-bearing wheel (12) and anti-shock wheel (19).

5. The tracked unmanned sensor vehicle of claim 1 or claim 2, wherein the tracks of the tracked unmanned sensor vehicle are rubber tracks.

6. The tracked unmanned sensor vehicle of claim 1 or 2, characterized in that the main body frame of the moving means (1) is of shell-type construction.

7. The unmanned, tracked-sensor vehicle according to claim 1 or 2, wherein the gas-liquid shock absorbers (11) connected to the shock wheels (19) are angled from the vertical so as to absorb the impact forces to which the vehicle is subjected.

8. The tracked unmanned sensor vehicle of claim 1 or 2, further provided with a data receiving means, said detection means being capable of wirelessly transmitting the detected physical parameter to said data receiving means.

9. The tracked unmanned sensor vehicle of claim 4, characterized in that the pressure-bearing wheel (12) and the impact-prevention wheel (19) are connected to the shaft by means of a flange bearing (31), a bushing (33) is arranged between the flange bearing (31) and the shaft (32) with clearance, and the bushing (33) is slidably connected to the flange bearing (31) of the pressure-bearing wheel (12) or of the impact-prevention wheel (19).