TWM634262U - Electric self-propelled vehicle with overhead track-type - Google Patents

Abstract

An electric self-propelled vehicle with overhead track-type includes a loading platform, a power supplying device, two cameras, a computing device, two power mechanisms, and two track wheel sets. The power supplying device, two cameras, and the computing device are installed within the loading platform. Two power mechanisms are installed under the loading platform. Two track wheel sets are respectively installed under two power mechanisms. The power supplying device provides the energy for the operation of the electric self-propelled vehicle. Two cameras are respectively located on the front and rear sides of the loading platform. Two power mechanisms are respectively located on the left and right sides of the loading platform. The computing device is signally connected to the cameras to correspondingly provide a control signal to the power mechanisms. Two track wheel sets are respectively controlled by the power mechanisms to drive the electric self-propelled vehicle to move.

Description

Elevated tracked electric self-propelled vehicle

The utility model relates to an electric self-propelled vehicle, in particular to an elevated crawler-type electric self-propelled vehicle for agriculture.

Most of the current agricultural work vehicles use fuel engines to burn fuel to provide chemical energy to generate power. In addition to the high cost of the engine, burning fuel will produce oily smoke and carbon dioxide, high carbon emissions and cause environmental pollution. In addition, even when the fuel agricultural work vehicle is in standby, it still needs to run the fuel engine continuously, and there is not only an oily smell of exhaust gas, but also noise problems in the surrounding area. Furthermore, the method of using the engine to run still needs to configure a clutch and a gearbox, which not only increases the overall weight but also increases the construction cost.

The purpose of this model is to propose an elevated crawler-type electric self-propelled vehicle comprising: a load platform, a power supply device, two cameras, a processing and computing device, two power mechanisms and two crawler wheel sets. The power supply device, camera and processing computing device are installed inside the load platform, the power mechanism is installed under the load platform, and the track wheel assembly is installed under the power mechanism. The power supply device is used to provide the energy required for the operation of the elevated crawler electric self-propelled vehicle. The two cameras are respectively located on the front and rear sides of the load platform, and the two power mechanisms are respectively located on the left and right sides of the load platform. The signal processing computing device is connected to the camera to provide corresponding control signals to the power mechanism, and the track wheel set is controlled by the power mechanism to drive the elevated crawler-type electric self-propelled vehicle to move.

In some embodiments, each power mechanism includes: a drive controller, a DC brushless motor, and a reduction gear set. The drive controller signal is connected to the processing computing device and the DC brushless motor. The driving controller is used for receiving control signals from the processing computing device and correspondingly providing driving signals to the brushless DC motor. The reduction gear set is pivotally connected to the output shaft of the brushless DC motor to reduce the speed of the brushless DC motor.

In some embodiments, the DC brushless motor is a 1.5 kilowatt (kW) or 3 kW DC brushless motor, and the reduction ratio of the reduction gear set is 1/60 or 1/30.

In some embodiments, the above-mentioned power supply device is located at the front side or the center of the load platform, the above-mentioned processing and computing device is located at the center of the load platform, and the above-mentioned power mechanism is located at the rear side of the load platform.

In some embodiments, each camera is a depth camera, and the above-mentioned processing operation device receives the depth images captured by each camera to provide corresponding control signals.

In some embodiments, the above-mentioned processing operation device uses model predictive control to provide control signals correspondingly according to the depth images captured by each camera.

In some embodiments, each track wheel set is composed of a track, a driving wheel and a plurality of rollers, and the track surrounds the driving wheel and the rollers.

In some embodiments, the above-mentioned reduction gear set drives the driving wheels to drive the displacement of the track to control the forward, backward and turning of the elevated crawler-type electric self-propelled vehicle.

In some embodiments, the above-mentioned power supply device includes a rechargeable battery, wherein the rechargeable battery is a lithium iron phosphate battery.

In some embodiments, the above-mentioned elevated crawler-type electric self-propelled vehicle further includes: a charging system electrically connected to the rechargeable battery to charge and store the rechargeable battery.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail together with the accompanying drawings.

Embodiments of the present invention are discussed in detail below. It should be appreciated, however, that the embodiments provide many applicable concepts that can be implemented in a wide variety of specific contexts. The discussed and disclosed embodiments are for illustration only, and are not intended to limit the scope of the present invention.

Compared with wheeled trucks, crawler trucks have better grip and smaller steering radius. The characteristics of crawlers make them have strong environmental adaptability, and can adapt to common soil, mud, sandy, and crushed soil in farmland, orchards, and gardening. Rocky, ... and other rough terrain environments, so crawler trucks are especially suitable for agricultural operations.

FIG. 1 is a schematic side view of an elevated crawler-type electric bicycle 10 according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing a top view configuration of an elevated crawler-type electric bicycle 10 according to an embodiment of the present invention. The elevated crawler-type electric self-propelled vehicle 10 includes a load platform 1 , a power supply device 2 , two cameras 3 , a processing operation device 4 , two power mechanisms 5 and two track wheel sets 6 .

In the embodiment of the present invention, the power supply device 2, the two cameras 3 and the processing operation device 4 are installed inside the load platform 1, the two power mechanisms 5 are installed under the load platform 1, and the two track wheel groups 6 are installed respectively. Located under the two power mechanisms 5 , the above configuration can make the top of the load platform 1 completely clear and more items (such as crops) can be placed on the load platform 1 .

In the embodiment of the present invention, the two power mechanisms 5 are respectively located on the left and right sides of the load platform 1 (the left side corresponds to the left direction L indicated in FIG. 2 , and the right side corresponds to the right direction R indicated in FIG. 2 ). The two crawler wheel sets 6 are installed under the two power mechanisms 5 respectively. In other words, the two crawler wheel sets 6 are also located on the left and right sides of the load platform 1 respectively. Specifically, the two power mechanisms 5 are respectively located on the left and right sides of the elevated crawler-type electric self-propelled vehicle 10 , and the two crawler wheel sets 6 are also respectively located on the left and right sides of the elevated crawler-type electric self-propelled vehicle 10 .

In the embodiment of the present invention, each crawler wheel set 6 is made up of crawler belt 61, driving wheel 62 and a plurality of rollers 63, and crawler belt 61 surrounds driving wheel 62 and roller 63, and driving wheel 62 drives the displacement of crawler belt 61 to drive The elevated crawler-type electric self-propelled vehicle 10 advances, retreats and turns.

In the embodiment of the present invention, the two cameras 3 are respectively located on the front and rear sides of the loading platform 1 (the front side corresponds to the forward direction F marked in Figure 1 and Figure 2, and the rear side corresponds to the backward direction B marked in Figure 1 and Figure 2). In other words, the two cameras 3 are respectively arranged at the front and the rear of the elevated crawler-type electric self-propelled vehicle 10 . In the embodiment of the present invention, the two cameras 3 are depth cameras and are respectively arranged on the front and the rear of the elevated crawler-type electric self-propelled vehicle 10, so as to obtain the front and rear images of the elevated crawler-type electric self-propelled vehicle 10 through shooting. depth image.

The signal processing device 4 is connected to the camera 3 to provide corresponding control signals to the power mechanism 5, and the track wheel set 6 is controlled by the power mechanism 5 to drive the elevated crawler-type electric self-propelled vehicle 10 to move. In the embodiment of the present invention, the processing operation device 4 is, for example, an industrial computer, a small laptop, a mini computer, a mini barebone system, a microprocessor, an embedded system, etc. connection line) signal to connect the second camera 3 (as shown in Figure 2) to obtain the depth image of the front and rear of the elevated crawler electric vehicle 10 from the second camera 3, so that the processing computing device 4 can obtain the depth image through the depth image It is known whether there is an obstacle in the front and rear of the elevated crawler-type electric self-propelled vehicle 10 and the distance between the elevated crawler-type electric self-propelled vehicle 10 and the obstacle.

In the embodiment of the present invention, the processing device 4 receives the depth images captured by the two cameras 3 to provide corresponding control signals to the two power mechanisms 5 . Specifically, the processing operation device 4 uses model predictive control (Model predictive control, MPC) to provide corresponding control signals to the two power mechanisms 5 according to the depth image. For example, the processing operation device 4 uses model predictive control to convert the linear velocity and angular velocity of the operation result into the wheel speed of each track wheel set 6. In other words, the control signal provided by the processing operation device 4 to the power mechanism 5 corresponds to the track wheel Wheel speed for group 6. For example, the processing and computing device 4 can implement elevated crawlers through communication and synchronization procedures, data flow connected with data centers, and trajectory data to build maps, GPS-RTK for precise vehicle body positioning, and wide-area path planning algorithms. The path planning of the type electric self-propelled vehicle 10, thereby converting the path planning result into a control signal corresponding to the track wheel set 6.

In the embodiment of the present invention, each power mechanism 5 includes: a drive controller, a DC brushless motor and a reduction gear set. The drive controller (for example, via RS485 communication) is connected to the processing operation device 4 (as shown in Figure 2, the power mechanism 5 is connected to the processing operation device 4) to receive the control signal from the processing operation device 4, and the drive controller signal is connected to the DC wireless Brush the motor. Specifically, the drive controller receives the control signal to provide the drive signal to the brushless DC motor accordingly. The reduction gear set is pivotally connected to the output shaft of the brushless DC motor to reduce the speed of the brushless DC motor and generate high torque.

In this new embodiment, the reduction gear set of the power mechanism 5 is used to drive the driving wheel of the track wheel set 6 to drive the displacement of the crawler belt of the track wheel set 6 to control the forward, backward and forward of the elevated crawler-type electric self-propelled vehicle 10. turn around. Specifically, the design of the elevated crawler-type electric self-propelled vehicle 10 can make the car body rotate in situ without falling off the wheels, and walk smoothly without bumping.

In the embodiment of the present invention, the drive controller of the power mechanism 5 can be selected as a 2.4 kilowatt (kW) or 3.6kW drive controller, and the DC brushless motor of the power mechanism 5 can be selected as a 1.5kW or 3kW DC brushless motor. The speed reduction ratio of the reduction gear set of the power mechanism 5 can be 1/60 or 1/30, but the above numerical values are only examples, and the present invention is not limited thereto. In the embodiment of the present invention, the power distribution drawing of the drive controller of the power mechanism 5 is designed and wired in a single-layer manner, which can be quickly designed and manufactured and is beneficial to reduce production costs.

In the embodiment of the present invention, the power supply device 2 is used to provide the energy required for the operation of the elevated crawler electric self-propelled vehicle. In an embodiment of the present invention, the power supply device 2 includes a rechargeable battery, such as a lithium iron phosphate battery. The rechargeable battery of the power supply device 2 is responsible for supplying power to the processing operation device 4 and the two power mechanisms 5 (as shown in Figure 2, the power supply device 2 is connected to the processing operation device 4 and the power mechanism 5 to supply power to the processing operation device 4 and the power mechanism 5 ), or even be responsible for powering the second camera 3 .

In the embodiment of the present invention, the rechargeable battery of the power supply device 2 can be a rechargeable battery of 48 volts (Volt, V), 53 or 105 ampere hours (Ah), but the above values are only examples, and the present invention is not limited thereto. In the embodiment of the present invention, the maximum output current of the rechargeable battery of the power supply device 2 can provide 200 amperes, but the above numerical value is only an example, and the present invention is not limited thereto.

In an embodiment of the present invention, the elevated crawler-type electric self-propelled vehicle 10 may further include a charging system (not shown in the figure), which is electrically connected to the rechargeable battery of the power supply device 2 to charge the battery through an AC (110V/220V) plug-in method. The battery charges and stores energy.

In an embodiment of the present invention, the elevated crawler-type electric self-propelled vehicle 10 further includes a battery switch (not shown), which is electrically connected to the rechargeable battery of the power supply device 2, so that the operator can manually turn on/off The power supply of the power supply device 2. Specifically, the above-mentioned battery switch is designed outside the drive controller of the power mechanism 5, so as to cut off the power immediately in case of an emergency.

In the embodiment of the present invention, as shown in Figure 1, the power supply device 2 with the largest volume is located at the front side or the center of the load platform 1, the processing operation device 4 is located at the center of the load platform, and the power mechanism 5 is located behind the load platform 1 On the side, the second camera 3 of the small parts is respectively located at the front and the rear of the vehicle. Through the above-mentioned configuration, the center of gravity of the elevated crawler-type electric self-propelled vehicle 10 can be kept in the middle, so as to keep the vehicle body stable and enhance the stability of the vehicle.

Based on the above, one of the functions of the new model is that, compared with the traditional fuel agricultural locomotive, the elevated crawler-type electric self-propelled vehicle 10 of the present invention is driven by electricity, and the elevated crawler-type electric self-propelled vehicle 10 can be moved forward without using a clutch. , back and turn, and does not need to be changed through a gearbox, which can reduce the overall weight, reduce construction costs, and reduce environmental pollution. In addition, compared with wheeled electric vehicles, crawler electric vehicles have better grip, smaller turning radius, and the car body will not fall off the wheels when turning in situ. Walking smoothly without bumps in rough terrain environment.

The features of several embodiments are outlined above, so those skilled in the art can better understand the aspects of the present invention. Those skilled in the art should understand that they can easily use the present invention as a basis to design or modify other processes and structures, thereby achieving the same goals and/or achieving the same advantages as the embodiments described herein . Those skilled in the art should also be able to understand that these equivalent constructions do not depart from the spirit and scope of the present invention, and they can make various changes, substitutions and changes without departing from the spirit and scope of the present invention.

1: Loading platform 2: Power supply device 3: camera 4: Processing device 5: Power mechanism 6: track wheel set 10: Elevated crawler electric self-propelled vehicle 61: track 62: Drive wheel 63:Roller B: backward direction F: forward direction L: left direction R: right direction

A better understanding of the aspect of the present invention can be obtained from the following detailed description in conjunction with the accompanying drawings. It is to be noted that, in accordance with the standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or decreased for clarity of discussion. [ Fig. 1 ] is a schematic side view showing an elevated crawler-type electric bicycle according to an embodiment of the present invention. [ FIG. 2 ] is a schematic diagram showing a top view configuration of an elevated crawler-type electric self-propelled vehicle according to an embodiment of the present invention.

1: Loading platform

2: Power supply device

3: camera

4: Processing device

5: Power mechanism

6: track wheel set

10: Elevated crawler electric self-propelled vehicle

61: track

62: Drive wheel

63:Roller

B: backward direction

F: forward direction

Claims (10)

An elevated crawler electric self-propelled vehicle, comprising: a loading platform; A power supply device installed inside the loading platform and used to provide the energy required for the operation of the elevated crawler-type electric self-propelled vehicle; Two cameras, installed inside the load platform and located on the front and rear sides of the load platform respectively; Two power mechanisms, installed under the load platform and respectively located on the left and right sides of the load platform; A processing computing device installed inside the load platform and connected to the cameras to provide a control signal to the power mechanisms respectively; and Two crawler wheel sets are respectively installed under the power mechanisms and are respectively controlled by the power mechanisms to drive the elevated crawler-type electric self-propelled vehicle to move. The elevated crawler-type electric self-propelled vehicle as described in claim 1, wherein each of the power mechanisms includes: A DC brushless motor; a drive controller, signally connected to the processing operation device and the DC brushless motor, wherein the drive controller is used to receive the control signal from the processing operation device to provide a drive signal to the DC brushless motor correspondingly; and A reduction gear set is pivotally connected to the output shaft of the DC brushless motor to reduce the rotation speed of the DC brushless motor. The elevated crawler-type electric self-propelled vehicle as described in claim 2, wherein the brushless DC motor is a brushless DC motor of 1.5 kilowatts (kW) or 3kW, and the reduction ratio of the reduction gear set is 1/60 or 1/ 30. The elevated crawler-type electric self-propelled vehicle as described in claim 1, wherein the power supply device is located at the front side or the center of the loading platform, wherein the processing and computing device is located at the center of the loading platform, and wherein the power mechanisms are located at the Rear side of the load platform. The elevated crawler-type electric self-propelled vehicle as described in claim 1, wherein each of the cameras is a depth camera, wherein the processing operation device receives the depth images captured by each of the cameras to provide the control signal correspondingly. The elevated crawler electric self-propelled vehicle as described in claim 5, wherein the processing operation device uses model predictive control to provide the control signal correspondingly according to the depth images captured by each of the cameras. The elevated crawler-type electric self-propelled vehicle as described in claim 2, wherein each of the crawler wheel sets is composed of a crawler, a driving wheel and a plurality of rollers, wherein the crawler surrounds the driving wheel and the rollers. The elevated crawler-type electric self-propelled vehicle as described in claim 7, wherein the reduction gear set drives the driving wheel to drive the displacement of the crawler belt to control the forward, backward and turning of the elevated crawler-type electric self-propelled vehicle. The elevated crawler-type electric self-propelled vehicle as described in claim 1, wherein the power supply device includes a rechargeable battery, wherein the rechargeable battery is a lithium iron phosphate battery. The elevated crawler-type electric self-propelled vehicle as described in claim 9 further includes: A charging system is electrically connected to the rechargeable battery to charge and store the rechargeable battery.

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