WO2022088288A1 - Structure de navigation et véhicule aérien sans pilote - Google Patents

Structure de navigation et véhicule aérien sans pilote Download PDF

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Publication number
WO2022088288A1
WO2022088288A1 PCT/CN2020/129282 CN2020129282W WO2022088288A1 WO 2022088288 A1 WO2022088288 A1 WO 2022088288A1 CN 2020129282 W CN2020129282 W CN 2020129282W WO 2022088288 A1 WO2022088288 A1 WO 2022088288A1
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WO
WIPO (PCT)
Prior art keywords
navigation
rod
curved panel
vehicle body
navigation rod
Prior art date
Application number
PCT/CN2020/129282
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English (en)
Chinese (zh)
Inventor
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
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Application filed by 苏州极目机器人科技有限公司 filed Critical 苏州极目机器人科技有限公司
Publication of WO2022088288A1 publication Critical patent/WO2022088288A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present application relates to the technical field of agricultural machinery, such as a navigation structure and an unmanned vehicle.
  • unmanned vehicles 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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;
  • FIG. 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.
  • FIG. 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.
  • 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.
  • the navigation structure provided in this embodiment can be used for Detect crop planting boundaries or ditch-slope boundaries.
  • the vehicle body 4 installed with the navigation structure can be driven to walk in the working area to be explored.
  • 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 .
  • 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 .
  • the first navigation rod 2 or the second navigation rod 3 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • the first end of the first navigation rod 2 can be rotatably connected to the installation assembly 1 through the first rotating shaft 10
  • 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 .
  • 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
  • the shaft of the second navigation rod 3 is slidably connected to the second arc-shaped chute 13 through the second plug 30 .
  • 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
  • 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 .
  • the first navigation rod 2 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.
  • 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.
  • 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.
  • 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 .
  • first navigation rod 2 and the second navigation rod 3 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.
  • 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 .
  • the extension distance is increased, making the structure more compact.
  • 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.
  • 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.
  • 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.
  • the height adjustment mechanism may adopt a device including a telescopic structure, such as an electric push rod or a telescopic tube.
  • 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 .
  • 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.
  • 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.
  • no angular deviation is generated, and at this time, the vehicle body 4 keeps the running direction and no longer deflects.
  • 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.
  • the rotation of the vehicle body 4 can be controlled according to the regenerated offset direction and offset angle.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the angle detector 6 can be an angle sensor, and the control component can be a programmable logic controller.
  • 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.
  • 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.
  • 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.
  • 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.
  • the pressure detector 7 may be a pressure sensor.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the structure and function of the navigation structure provided in this embodiment are substantially the same as those in the above-mentioned first embodiment.
  • 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.
  • 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 .
  • the contact area between the rod-shaped first navigation rod 2 and the ditch slope is relatively small.
  • the rod-shaped second navigation rod 3 has a small contact area with the ditch slope.
  • 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.
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • first upper curved panel 210 and the first lower curved panel 211 may be U-shaped, arc-shaped, etc.
  • the center shaft can be concave.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

Structure de navigation et véhicule aérien sans pilote, la structure de navigation comprenant un ensemble de montage (1), une première tige de navigation (2) arquée, et une seconde tige de navigation (3) arquée ; la première tige de navigation (2) et la seconde tige de navigation (3) faisant saillie dans le sens à l'opposé l'une de l'autre, et la première tige de navigation (2) et la seconde tige de navigation (3) sont toutes les deux montées sur l'ensemble de montage (1), l'ensemble de montage (1) étant conçu pour être relié de manière à pouvoir tourner à l'avant du corps de véhicule (4) ; la première tige de navigation (2) et la seconde tige de navigation (3) peuvent s'approcher l'une de l'autre ou s'éloigner l'une de l'autre sur l'ensemble de montage (1) afin d'ajuster l'espacement entre la première tige de navigation (2) et la seconde tige de navigation (3). La présente structure de navigation permet au corps de véhicule (4) de suivre automatiquement le sens d'extension des limites et conduire le long des crêtes, accroissant l'efficacité de travail et réduisant l'intensité de travail des travailleurs.
PCT/CN2020/129282 2020-10-28 2020-11-17 Structure de navigation et véhicule aérien sans pilote WO2022088288A1 (fr)

Applications Claiming Priority (2)

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CN202022439108.4 2020-10-28
CN202022439108.4U CN213799486U (zh) 2020-10-28 2020-10-28 导航结构和无人车

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WO2022088288A1 true WO2022088288A1 (fr) 2022-05-05

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