WO2022088288A1

WO2022088288A1 - Navigation structure and unmanned aerial vehicle

Info

Publication number: WO2022088288A1
Application number: PCT/CN2020/129282
Authority: WO
Inventors: 陈洪生; 李俊杰; 宋红军; 张海建
Original assignee: 苏州极目机器人科技有限公司
Priority date: 2020-10-28
Filing date: 2020-11-17
Publication date: 2022-05-05
Also published as: CN213799486U

Abstract

A navigation structure and an unmanned aerial vehicle, the navigation structure comprising a mounting assembly (1), an arcuate first navigation rod (2), and an arcuate second navigation rod (3); the first navigation rod (2) and the second navigation rod (3) protrude in the direction away from one another, and the first navigation rod (2) and the second navigation rod (3) are both mounted on the mounting assembly (1), the mounting assembly (1) being configured to be rotatably connected to the front of the vehicle body (4); the first navigation rod (2) and the second navigation rod (3) can approach one another or move away from one another on the mounting assembly (1) in order to adjust the spacing between the first navigation rod (2) and the second navigation rod (3). The present navigation structure enables the vehicle body (4) to automatically follow the direction of extension of boundaries and drive along ridges, increasing working efficiency and reducing the labour intensity of workers.

Description

Navigation Structures and Autonomous Vehicles

The present disclosure claims the priority of a Chinese patent application with application number 202022439108.4 filed with the Chinese Patent Office on October 28, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of agricultural machinery, such as a navigation structure and an unmanned vehicle.

Background technique

In agricultural activities, it is often necessary to use unmanned vehicles to walk in the farmland and perform various farm operations. The unmanned vehicles in the related art can walk between the ridges of the farmland according to the preset route. Therefore, relative to the position of the crops, the forward direction of the unmanned vehicles that follow the preset route is prone to deviation, thus easily crushing the crops or unable to operate the crops accurately.

In order to solve the problem of crushing crops or inability to operate crops accurately, a camera is installed at the front end of the unmanned vehicle in the related art, and the steering of the unmanned vehicle is controlled by identifying the crops. However, this method has high requirements on the recognition algorithm, and in the case of poor ambient light, it directly affects the accuracy of the recognition algorithm, resulting in the inability to accurately control.

SUMMARY OF THE INVENTION

The present application provides a navigation structure and an unmanned vehicle, which can alleviate the technical problems in the related art that the unmanned vehicle has poor control accuracy and cannot operate accurately when driving in the field.

The present application provides a navigation structure, including a mounting assembly, an arc-shaped first navigation rod and an arc-shaped second navigation rod;

The first navigation rod and the second navigation rod protrude in a direction away from each other, and both the first navigation rod and the second navigation rod are mounted on the mounting assembly, and the mounting assembly is configured It is connected to the front of the vehicle body for rotation;

The first navigation rod and the second navigation rod can approach or move away from each other on the mounting assembly to adjust the distance between the first navigation rod and the second navigation rod.

The present application also provides an unmanned vehicle, comprising the navigation structure and a vehicle body described in the above technical solutions, wherein a mounting assembly in the navigation structure is rotatably connected in front of the vehicle body.

Description of drawings

The following will briefly introduce the accompanying drawings used in the description of the specific embodiments or related technologies. Obviously, the accompanying drawings in the following description are some embodiments of the present application. On the premise of paying creative work, other drawings can also be obtained based on these drawings.

1 is a top view of a navigation structure and a vehicle body provided in Embodiment 1 of the present application;

FIG. 2 is a schematic structural diagram of a navigation structure provided in Embodiment 1 of the present application;

Fig. 3 is the bottom view of the navigation structure in Fig. 2;

4 is a schematic structural diagram of a navigation structure and a vehicle body provided in Embodiment 2 of the present application;

FIG. 5 is a top view of the navigation structure and the vehicle body provided by the second embodiment of the present application;

6 is a schematic structural diagram of a navigation structure provided in Embodiment 2 of the present application;

Figure 7 is a bottom view of the navigation structure in Figure 6;

FIG. 8 is a schematic structural diagram of a groove provided in Embodiment 2 of the present application.

Icons: 1-installation components; 10-first shaft; 11-second shaft; 12-first arc chute; 13-second arc chute; 14-installation plate; 15-connecting rod; 150-th a limit post; 151- the second limit post; 2- the first navigation rod; 20- the first pin; 21- the first curved plate; 210- the first curved plate; 211- the first curved plate; -Second Navigation Lever; 30-Second Pin; 31-Second Curved Panel; 310-Second Upper Curved Panel; 311-Second Lower Curved Panel; ; 7- pressure detector; 8- slope.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Example 1:

As shown in FIG. 1 to FIG. 3 , the navigation structure provided in this embodiment includes a mounting assembly 1 , an arc-shaped first navigation rod 2 and an arc-shaped second navigation rod 3 . The first navigation rod 2 and the second navigation rod 3 protrude toward the direction away from each other, and the first navigation rod 2 and the second navigation rod 3 are both mounted on the mounting assembly 1, and the mounting assembly 1 is configured to be rotatably connected to the vehicle body 4 in front. The first navigation rod 2 and the second navigation rod 3 can be close to or away from each other on the mounting assembly 1 to adjust the distance between the first navigation rod 2 and the second navigation rod 3 .

The navigation structure provided in this embodiment is suitable for the border-to-be-explored operation areas such as the rows formed by the growth and arrangement of crops in the farmland and the trenches where no crops are planted. Correspondingly, the navigation structure provided in this embodiment can be used for Detect crop planting boundaries or ditch-slope boundaries. Before using the navigation structure provided in this embodiment, firstly adjust the distance between the first navigation rod 2 and the second navigation rod 3 to be suitable for the distance between the two sides of the working area to be detected, and then adjust the first After the distance between the navigation rod 2 and the second navigation rod 3 is determined, the first navigation rod 2 and the second navigation rod 3 are fixed on the mounting assembly 1, so that the distance between the first navigation rod 2 and the second navigation rod 3 is maintained fixed. Then, the vehicle body 4 installed with the navigation structure can be driven to walk in the working area to be explored. It should be noted that, in order to enable the first navigation rod 2 and the second navigation rod 3 to effectively search for the boundary of the working area to be detected, and to prevent the vehicle body 4 from directly hitting the boundary, the outermost part of the first navigation rod 2 (that is, the first The distance between the farthest distance of a navigation stick 2 from the second navigation stick 3) and the outermost side of the second navigation stick 3 (that is, the farthest distance of the second navigation stick 3 from the first navigation stick 2) should be different smaller than the width of the vehicle body 4 . In this embodiment, the distance between the farthest distance of the first navigation rod 2 from the second navigation rod 3 and the farthest distance of the second navigation rod 3 from the first navigation rod 2 may be greater than the width of the vehicle body 4 .

When the side wall of the first navigation rod 2 or the side wall of the second navigation rod 3 is in contact with the crop or slope at the boundary of the work area to be explored, the first navigation rod 2 or the second navigation rod 3 will be affected by The above-mentioned reaction force of the crops or the slope will further drive the mounting assembly 1 to rotate on the vehicle body 4 and deviate from the running direction of the vehicle body 4 . By measuring the rotation angle and rotation direction of the mounting assembly 1 on the vehicle body 4, and then adjusting the driving direction of the vehicle body 4 according to the above-mentioned rotation angle and rotation direction, crops or slopes can be effectively avoided, so that the vehicle body 4 can move along the vehicle body 4. Walking in the direction of the boundary extension of the operation area to be explored, preventing the vehicle body 4 from crushing crops or being unable to operate the crops accurately, or preventing the vehicle body 4 from hitting the ditch slope.

It should be noted that, in order to prevent the navigation structure from passing through the crops and entering the adjacent row, the length of the first navigation rod 2 and the length of the second navigation rod 3 are both greater than the distance between the adjacent crops planted in the same row, that is, the first navigation rod and the second navigation rod The respective lengths of the two navigation rods are greater than the distances for planting adjacent crops in the same row. When the first navigation rod 2 or the second navigation rod 3 is in conflict with the crops, the probability of passing through the gaps of the adjacent crops and entering other rows is reduced. . In one embodiment, both the first navigation rod 2 and the second navigation rod 3 are arc-shaped, which can reduce damage to crops on the one hand, and on the other hand, the end of the first navigation rod 2 away from the vehicle body 4 is closer to the One side of the second navigation rod 3 extends, the end of the second navigation rod 3 away from the vehicle body 4 extends to the side close to the first navigation rod 2 , and the two protrude in the direction away from each other, which can further avoid the first navigation rod 2 And the second navigation rod 3 directly penetrates the gap of the adjacent crops. Through the design of the width and shape of the first navigation rod 2 and the second navigation rod 3, while reducing crop damage, the first navigation rod 2 and the second navigation rod 3 can be prevented from passing through the gap between adjacent crops and entering other crops. to improve the accuracy of boundary detection.

In this embodiment, the boundary of the working area to be detected is detected by direct contact. Compared with sensors such as cameras, it is more intuitive and accurate, and will not be affected by the environment. accomplish.

In addition, since the first navigation rod 2 and the second navigation rod 3 can be close to or away from each other on the installation assembly 1, and the distance between the first navigation rod 2 and the second navigation rod 3 is adjustable, the first navigation rod 2 and The second navigation bar 3 can be applied to crops with different row spacings. And since the distance between the first navigation rod 2 and the second navigation rod 3 can be adjusted, the first navigation rod 2 and the second navigation rod 3 can be made close to each other or away from each other directly on the mounting assembly 1, so there is no need to replace different navigation rods. The size of the first navigation stick 2 and the second navigation stick 3 is more convenient to operate.

In practical applications, the process of approaching or moving away from each other between the first navigation rod 2 and the second navigation rod 3 can be realized in various ways, such as slidingly connecting the first navigation rod 2 and the second navigation rod 3 respectively. On the installation assembly 1 , or the first navigation rod 2 and the second navigation rod 3 are installed on the telescopic installation assembly 1 .

In this embodiment, as shown in FIGS. 2 and 3 , the first end of the first navigation rod 2 or the first end of the second navigation rod 3 is rotatably connected to the mounting assembly 1 , or the first navigation rod 2 The first end of the navigation rod 3 and the first end of the second navigation rod 3 are both rotatably connected to the mounting assembly 1 .

Since the first end of the first navigation rod 2 or the first end of the second navigation rod 3 is rotatably connected to the installation assembly 1, when the first navigation rod 2 or the second navigation rod 3 is rotated and connected to the installation assembly 1 The distance between the first navigation bar 2 and the second navigation bar 3 can be adjusted after the end of the navigator is rotated as the center of rotation. In one embodiment, as shown in FIG. 1 to FIG. 3 , in this embodiment, the first end of the first navigation rod 2 can be rotatably connected to the installation assembly 1 through the first rotating shaft 10 , and the first end of the second navigation rod 3 is rotatably connected to the mounting assembly 1 . The end is rotatably connected to the mounting assembly 1 through the second shaft 11 . And the mounting assembly 1 is provided with a first arc-shaped sliding groove 12 extending along the circumferential direction of the first rotating shaft 10 and a second arc-shaped sliding groove 13 extending along the circumferential direction of the second rotating shaft 11 . The shaft of the first navigation rod 2 is slidably connected to the first arc-shaped chute 12 through the first latch 20 , and the shaft of the second navigation rod 3 is slidably connected to the second arc-shaped chute 13 through the second plug 30 . Through the shape design of the first arc-shaped chute 12 and the second arc-shaped chute 13, the adjustment is made simpler and more convenient, and the adjustment range of the first navigation rod 2 and the second navigation rod 3 can also be increased.

The first arc-shaped chute 12 is used to cooperate with the first pin 20 to enhance the stability of the first navigation rod 2 , and the second arc-shaped chute 13 is used to cooperate with the second plug 30 to improve the stability of the second navigation rod 3 .

Wherein, in order to realize the rotational connection between the first navigation rod 2 and the installation assembly 1, and after adjusting the distance between the first navigation rod 2 and the second navigation rod 3, the first navigation rod 2 can be fixed on the On the installation assembly 1, the first rotating shaft 10 or the first plug 20 is a bolt and nut assembly, or the first rotating shaft 10 and the first plug 20 are both a bolt and nut assembly.

Similarly, in order to realize the rotational connection between the second navigation rod 3 and the installation assembly 1, and to fix the second navigation rod 3 after adjusting the distance between the second navigation rod 3 and the second navigation rod 3 On the installation assembly 1, the second rotating shaft 11 or the second plug 30 is a bolt and nut assembly, or, the second rotating shaft 11 and the second plug 30 are both a bolt and nut assembly.

In this embodiment, as shown in FIGS. 1-3 , the mounting assembly 1 includes a mounting plate 14 , and the mounting plate 14 is located on a horizontal plane and is rotatably connected to the front of the vehicle body 4 . The first navigation rod 2 and the second navigation rod 3 are symmetrically mounted on the mounting plate 14 by taking the extension line of the rotational connection between the mounting plate 14 and the vehicle body 4 in the running direction of the vehicle body 4 as the axis of symmetry.

In one embodiment, the first rotating shaft 10 , the first plug 20 , the second rotating shaft 11 and the second plug 30 are all vertically mounted on the mounting plate 14 .

Wherein, there is an interval between the symmetrically arranged first navigation rod 2 and the second navigation rod 3, which not only facilitates the improvement of the stability of the navigation structure, but also enlarges the distance between the first navigation rod 2 and the second navigation rod 3. The maximum distance makes the navigation structure more suitable for the edge-to-be-explored operation area with a large distance between the borders on both sides.

In one embodiment, the mounting assembly 1 further includes a connecting rod 15 , and the mounting plate 14 is rotatably connected to the vehicle body 4 through the connecting rod 15 . The first end of the connecting rod 15 is fixed on the mounting plate 14 , and the second end is rotatably connected to the vehicle body 4 .

The connecting rod 15 is used to increase the distance between the mounting plate 14 and the vehicle body 4, so that the boundary can be detected in advance, and a reaction time is reserved for judging the rotation angle of the vehicle body 4 according to the rotation angle of the mounting assembly 1 relative to the driving direction of the vehicle body 4 , to prevent the vehicle body 4 from colliding with crops or side slopes at the boundary of the working area to be explored before turning.

The connecting rod 15 may be vertically connected between the mounting plate 14 and the vehicle body 4 , that is, the connecting rod 15 is perpendicular to the width extending direction of the vehicle body 4 . Thus, the extension distance is increased, making the structure more compact.

As shown in FIG. 2 , the navigation structure provided in this embodiment further includes a first limiting column 150 and a second limiting column 151 . The first limiting column 150 and the second limiting column 151 are respectively arranged at intervals on the connecting rod 15 . Both sides are fixed on the vehicle body 4 .

The first limiting column 150 and the second limiting column 151 are used to cooperate with each other to limit the rotation angle of the connecting rod 15 , so as to limit the rotation angle of the mounting assembly 1 and prevent the vehicle body 4 from overturning due to excessive rotation of the navigation structure.

When the operation area to be explored is the farmland where crops are planted, the first navigation rod 2 and the second navigation rod 3 at a certain height from the ground are easy to damage the leaves of the crops and thus affect the growth of the crops, or easily collide with the branches of the crops, thereby causing the crops to be damaged. Therefore, in this embodiment, the ground height of the optional first navigation rod 2 and the second navigation rod 3 are both smaller than the growth height of the leaves of the crops, so as to ensure that the first navigation rod 2 and the second navigation rod 3 are in contact with the growing crops. A firmer root, that is, the installation height of the navigation structure corresponds to the height of the root of the crop, and is smaller than the growth height of the leaves of the crop, so as to avoid damage to the leaves of the crop by the navigation structure.

In one embodiment, a height adjustment mechanism may also be installed between the installation assembly 1 and the vehicle body 4, and the height adjustment mechanism is configured to adjust the height of the installation assembly 1 from the ground, and then the first navigation rod 2 and the second navigation rod can be adjusted. The height of the navigation rod 3 from the ground makes the navigation structure suitable for crops with different heights.

Wherein, the height adjustment mechanism may adopt a device including a telescopic structure, such as an electric push rod or a telescopic tube.

As shown in FIGS. 1-3 , an elastic member 5 is installed between the installation assembly 1 and the vehicle body 4 , and the elastic member 5 is used to store energy when the installation assembly 1 is deflected relative to the running direction of the vehicle body 4 .

Since the elastic member 5 stores energy when the mounting assembly 1 is deflected relative to the running direction of the vehicle body 4, the vehicle body 4 is then deflected so that both the first navigation rod 2 and the second navigation rod 3 are separated from foreign objects such as crops or slopes, etc. The installation assembly 1 is no longer subjected to the thrust of the foreign object. At this time, the elastic member 5 releases the energy to reset, and at the same time pulls the installation assembly 1 to reset together, so that the first navigation rod 2, the second navigation rod 3 and the installation assembly 1 are all returned to their positions. In the running direction of the vehicle body 4, no angular deviation is generated, and at this time, the vehicle body 4 keeps the running direction and no longer deflects. When the first navigation rod 2 or the second navigation rod 3 collides with a foreign object such as a crop again in front of the vehicle body 4 , the first navigation rod 2 , the second navigation rod 3 and the mounting assembly 1 generate the offset direction and the offset angle again. , and then the rotation of the vehicle body 4 can be controlled according to the regenerated offset direction and offset angle. Through the action of the elastic member 5, the vehicle body 4 can be made to deflect the direction with the change of the deflection direction and the deflection angle, and travel along the extension direction of the boundary.

It should be noted that the elastic member 5 may not be set between the installation assembly 1 and the vehicle body 4, and the first navigation rod 2, the second navigation rod 3 and the installation assembly 1 do not need to be reset. When the navigation stick 3 collides with the foreign object again and the angle changes, it is necessary to calculate the current offset angle and offset direction through the previous offset angle and offset direction, although this calculation method makes the structure of the navigation structure more complex. It is simple, but the algorithm is complicated, so that the accuracy of the offset angle and the offset direction of the first navigation rod 2 , the second navigation rod 3 and the mounting assembly 1 cannot be guaranteed.

It can be seen that the reset function of the elastic member 5 can make the calculation process of the rotation angle of the vehicle body 4 more convenient and accurate. Therefore, in this embodiment, an elastic member 5 is installed between the optional component and the vehicle body 4 .

The elastic member 5 may be a tension spring, a rubber strip with good elasticity, or the like.

As shown in FIG. 1 , the navigation structure provided in this embodiment further includes an angle detector 6 and a control component. The angle detector 6 is connected to the control assembly, and the angle detector 6 is arranged at the rotational connection between the mounting assembly 1 and the vehicle body 4, and the angle detector 6 is configured to detect the deflection of the mounting assembly 1 relative to the driving direction of the vehicle body 4 , and send the detected angle information to the control component. The control assembly is configured to be connected with the driving mechanism of the vehicle body 4 and configured to control the driving mechanism to operate to steer the vehicle body 4 according to the angle information it receives.

The angle detector 6 and the control assembly cooperate with each other to automatically calculate the steering and rotation angle of the vehicle body 4 and control the rotation of the vehicle body 4 according to the calculation results when the first navigation rod 2 and the second navigation rod 3 collide with foreign objects and the angle changes. The vehicle body 4 can be made to automatically follow the extension direction of the boundary and follow the ridge, thereby improving the work efficiency and reducing the labor intensity of the staff.

In addition, the angle detector 6 can also detect the rotation angle of the mounting assembly 1 when the elastic member 5 resets the mounting assembly 1 , so as to calibrate the reset mounting assembly 1 and determine whether the mounting assembly 1 is accurately reset. In one embodiment, when the offset angle of the mounting assembly 1 after reset is the same as the offset angle of the mounting assembly 1 when it abuts against the foreign object, and the offset direction is opposite, the reset is accurate. If the reset is not accurate, the control unit can control the alarm unit connected to it to alarm, thereby prompting calibration.

The reset calibration process described above can have a range of deviations, which can improve the applicability of the device.

Wherein, the angle detector 6 can be an angle sensor, and the control component can be a programmable logic controller.

As shown in FIG. 1 , the navigation structure provided in this embodiment further includes a pressure detector 7 . The pressure detector 7 is arranged on the installation assembly 1 and is connected to the control assembly. The pressure detector 7 is configured to detect the first navigation rod 2 and the control assembly. The pressure received by at least one of the second navigation sticks 3, and the pressure information detected by it is sent to the control assembly. The control assembly can control the driving mechanism to stop working to stop the vehicle body 4 when the pressure value detected by the pressure detector 7 is greater than the preset value according to the pressure information it receives. In this embodiment, only one pressure detector 7 can detect the force of the first navigation rod 2 and the second navigation rod 3 , so that the structure is simple and the installation and maintenance are more convenient. In other embodiments, the pressure detector 7 can also be arranged on at least one of the first navigation stick 2 and the second navigation stick 3 respectively, so as to improve the real-time detection and detection accuracy.

When the pressure value detected by the pressure detector 7 is greater than the preset value, the abutting force between the navigation structure and the foreign object such as crops is relatively large, and at this time, the navigation structure may have collided with the foreign objects such as crops. Since the control assembly can control the drive mechanism to stop working when the pressure value detected by the pressure detector 7 is greater than the preset value, the pressure detector 7 can cooperate with the control assembly at this time to control the drive mechanism of the vehicle body 4 to stop working in time, Further, the vehicle body 4 is controlled to stop, so as to prevent the vehicle body 4 from colliding with foreign objects subsequently, thereby reducing damage to the vehicle body 4 and the foreign objects.

Wherein, the pressure detector 7 may be a pressure sensor.

Embodiment 2:

As shown in FIG. 4 and FIG. 5 , the structure and function of the navigation structure provided in this embodiment are substantially the same as those in the above-mentioned first embodiment. As for the similarities between this embodiment and the above-mentioned first embodiment, since it has been described in detail in the above-mentioned first embodiment, it will not be repeated here. The following describes the differences between this embodiment and the above-mentioned first embodiment.

Different from the first embodiment, as shown in FIG. 4 , FIG. 6 and FIG. 7 , the navigation structure provided in this embodiment further includes a first curved panel 21 and a second curved panel 31 . The board surface of the first curved panel 21 is curved along the length direction of the first navigation rod 2 , and the first curved panel 21 is connected with the first navigation rod 2 . The plate surface of the second curved surface is curved along the length direction of the second navigation rod 3 , and the second curved surface plate 31 is connected with the second navigation rod 3 .

As shown in FIG. 8 , when the operation area to be explored is a ditch, since the ditch has a certain depth and both sides of the ditch have a certain slope, the contact area between the rod-shaped first navigation rod 2 and the ditch slope is relatively small. Small, only the rod-shaped second navigation rod 3 has a small contact area with the ditch slope. When the vehicle body 4 runs between the grooves, it is difficult for the first navigation rod 2 and the second navigation rod 3 to touch the ditch. The width is small (Usually the width of the ditch gradually decreases from top to bottom, forming an inclined slope 8), which makes it difficult for the vehicle body 4 to turn in time between the ditch and collide with the slope 8 and overturn.

The first curved panel 21 and the second curved panel 31 can increase the area of the navigation structure, thereby increasing the contact area between the first navigation bar 2 and foreign objects such as crops, and increasing the contact area between the second navigation bar 3 and foreign objects such as crops. The contact area can further increase the probability that the navigation structure detects the slope 8, thereby improving the turning probability of the vehicle body 4 and improving the navigation accuracy.

Therefore, the navigation structure provided in the first embodiment is more suitable for crops between rows, and the navigation structure provided in this embodiment is more suitable for ditches.

In one embodiment, as shown in FIG. 6 and FIG. 7 , the first curved panel 21 includes a first upper curved panel 210 and a first lower curved panel 211 , and the bottom edge of the first upper curved panel 210 and the first lower curved panel are The top edges of the 211 are connected, and the first upper curved panel 210 and the first lower curved panel 211 are arranged in a V shape. The second curved panel 31 includes a second upper curved panel 310 and a second lower curved panel 311 , the bottom edge of the second upper curved panel 310 is connected with the top edge of the second lower curved panel 311 , and the second upper curved panel 310 and the first The two lower curved panels 311 are arranged in a V shape.

The first curved panel 21 includes a first upper curved panel 210 and a first lower curved panel 211, and when the first upper curved panel 210 and the first lower curved panel 211 are arranged in a V shape, that is, the first curved panel 21 is in the When the central axis of the vehicle body 4 in the driving direction is further concave, the first curved panel 21 can be better adapted to the slope surface 8, which can ensure the probability of the navigation structure detecting the slope surface 8 at the same time. The probability of the first curved panel 21 contacting the slope surface 8 is reduced, thereby preventing the vehicle body 4 from turning too frequently and reducing the work efficiency.

Similarly, when the second curved panel 31 includes a second upper curved panel 310 and a second lower curved panel 311, and the second upper curved panel 310 and the second lower curved panel 311 are arranged in a V-shape, that is, the second curved panel 31 When its central axis along the running direction of the vehicle body 4 is further concave, the second curved panel 31 can be better adapted to the slope 8, which can ensure the probability of the navigation structure detecting the slope 8. At the same time, appropriately reducing the probability of the second curved panel 31 contacting the slope surface 8 can also prevent the vehicle body 4 from turning too frequently and reduce the work efficiency.

It should be noted that the structures of the first upper curved panel 210 and the first lower curved panel 211, as well as the second upper curved panel 310 and the second lower curved panel 311 may be U-shaped, arc-shaped, etc. The center shaft can be concave.

Embodiment three:

The unmanned vehicle provided in this embodiment includes a vehicle body 4, and further includes the navigation structure in the first embodiment or the navigation structure in the second embodiment, the installation component 1 in the navigation structure in the first embodiment or the navigation structure in the second embodiment The mounting assembly 1 in the structure is rotatably connected to the front of the vehicle body 4 .

Since the unmanned vehicle provided in this embodiment includes the navigation structure in the first embodiment or the navigation structure in the second embodiment, the unmanned vehicle provided in this embodiment is the same as the navigation structure in the first embodiment or the navigation structure in the second embodiment. The structure can solve the same technical problem and achieve the same technical effect, which will not be repeated here.

The navigation structure provided by the present application includes a mounting assembly, an arc-shaped first navigation rod, and an arc-shaped second navigation rod; the first navigation rod and the second navigation rod protrude in a direction away from each other, and the first navigation rod and the second navigation rod The two navigation rods are both mounted on the installation assembly, and the installation assembly is configured to be rotatably connected to the front of the vehicle body; the first navigation rod and the second navigation rod can be close to or away from each other on the installation assembly to adjust the first navigation rod and the second navigation rod. Spacing between second navigation sticks. In the navigation structure provided by the present application, the arc-shaped first navigation rod and the arc-shaped second navigation rod protruding in the direction away from each other are used for edge detection of crops, and the arc design will not damage the crops. During use, the first navigation rod and the second navigation rod can abut with the crop during the process of traveling with the vehicle body, and after contacting, the mounting assembly is driven to deflect on the vehicle body under the reaction force of the crop. By obtaining the above deflection angle and adjusting the rotation angle of the vehicle body according to the deflection angle, the vehicle body can walk along the planting direction of the crops, thereby preventing the vehicle body from crushing the crops or failing to operate the crops accurately. The above-mentioned method of using the deflection angles of the first navigation rod and the second navigation rod to adjust the rotation angle of the vehicle body has lower requirements on the recognition algorithm, is not affected by ambient light, and has a high accuracy rate. In addition, since the first navigation rod and the second navigation rod can be close to or away from each other on the installation assembly, the distance between the first navigation rod and the second navigation rod can be adjusted, and the first navigation rod and the second navigation rod can be applied for crops with different row spacing. Moreover, when adjusting the distance between the first navigation rod and the second navigation rod, the first navigation rod and the second navigation rod can be made close to each other or away from each other directly on the installation assembly, so it is not necessary to replace the first navigation rod of different sizes. lever and second navigation lever, the operation is more convenient.

The unmanned vehicle provided by the present application includes the above-mentioned navigation structure and a vehicle body, and a mounting assembly in the navigation structure is rotatably connected in front of the vehicle body. The unmanned vehicle provided by the present application includes the above-mentioned navigation structure, so the unmanned vehicle provided by the present application has the same advantages as the above-mentioned navigation structure.

Claims

A navigation structure, comprising a mounting assembly (1), an arc-shaped first navigation rod (2) and an arc-shaped second navigation rod (3);

The first navigation rod (2) and the second navigation rod (3) protrude toward the direction away from each other, and the first navigation rod (2) and the second navigation rod (3) are both installed on the On the mounting assembly (1), the mounting assembly (1) is configured to be rotatably connected to the front of the vehicle body (4);

The first navigation rod (2) and the second navigation rod (3) can approach or move away from each other on the mounting assembly (1) to adjust the first navigation rod (2) and the second navigation rod (2). The distance between the two navigation sticks (3).
The navigation structure according to claim 1, wherein at least one of the first end of the first navigation rod (2) and the first end of the second navigation rod (3) is rotatably connected to the mounting assembly (1) on.
The navigation structure according to claim 1, wherein the lengths of the first navigation rod (2) and the second navigation rod (3) are both greater than the distance for planting adjacent crops in the same row.
The navigation structure according to claim 1, further comprising a first curved panel (21) and a second curved panel (31);

The first curved panel (21) is bent along the length direction of the first navigation rod (2), and the first curved panel (21) is connected with the first navigation rod (2);

The second curved panel (31) is bent along the length direction of the second navigation rod (3), and the second curved panel (31) is connected with the second navigation rod (3).
The navigation structure according to claim 4, wherein the first curved panel (21) comprises a first upper curved panel (210) and a first lower curved panel (211), the first upper curved panel (210) The bottom edge is connected with the top edge of the first lower curved panel (211), and the first upper curved panel (210) and the first lower curved panel (211) are arranged in a V shape;

The second curved panel (31) includes a second upper curved panel (310) and a second lower curved panel (311), and the bottom edge of the second upper curved panel (310) is connected to the second lower curved panel (310). 311) are connected, and the second upper curved panel (310) and the second lower curved panel (311) are arranged in a V shape.
The navigation structure according to any one of claims 1-5, wherein the farthest distance from the first navigation rod (2) to the second navigation rod (3) and the second navigation rod (3) ) and the distance between the farthest point of the first navigation rod (2), which is greater than the width of the vehicle body (4).
The navigation structure according to any one of claims 1-5, wherein an elastic member (5) is installed between the installation assembly (1) and the vehicle body (4), and the elastic member (5) is is configured to store energy when the mounting assembly (1) is deflected relative to the direction of travel of the vehicle body (4).
The navigation structure according to any one of claims 1-5, further comprising an angle detector (6) and a control assembly;

The angle detector (6) is connected with the control assembly, and the angle detector (6) is arranged at the rotational connection between the installation assembly (1) and the vehicle body (4), the The angle detector (6) is configured to detect the deflection angle of the mounting assembly (1) relative to the running direction of the vehicle body (4), and to send the angle information detected by the angle detector (6) to the control assembly;

The control assembly is configured to be connected with a drive mechanism of the vehicle body (4), and is configured to control the drive mechanism to work according to the angle information received by the control assembly to turn the vehicle body (4) .
The navigation structure according to claim 8, further comprising a pressure detector (7), the pressure detector (7) being arranged on the mounting assembly (1) and connected with the control assembly, so The pressure detector (7) is configured to detect the pressure received by the mounting assembly (1), and send the pressure information detected by the pressure detector (7) to the control assembly;

The control assembly can, according to the pressure information received by the control assembly, control the drive mechanism to stop working to make the vehicle body ( 4) Parking.
An unmanned vehicle, the unmanned vehicle comprises the navigation structure according to any one of claims 1-9 and a vehicle body (4), and a mounting assembly (1) in the navigation structure is rotatably connected to the vehicle body (4) in front.