WO2022088297A1 - 探边组件及无人车 - Google Patents

探边组件及无人车 Download PDF

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Publication number
WO2022088297A1
WO2022088297A1 PCT/CN2020/129798 CN2020129798W WO2022088297A1 WO 2022088297 A1 WO2022088297 A1 WO 2022088297A1 CN 2020129798 W CN2020129798 W CN 2020129798W WO 2022088297 A1 WO2022088297 A1 WO 2022088297A1
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Prior art keywords
edge detection
pressure sensor
applying member
force applying
force
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PCT/CN2020/129798
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English (en)
French (fr)
Inventor
陈洪生
李俊杰
宋红军
张海建
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苏州极目机器人科技有限公司
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Publication of WO2022088297A1 publication Critical patent/WO2022088297A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for

Definitions

  • the present application relates to the technical field of agricultural machinery, for example, to an edge detection component and an unmanned vehicle.
  • the unmanned vehicle walks in the field according to the positioning signal and according to the preset route.
  • the planting position of the crops is irregular, and the unmanned vehicle is easy to crush the crops.
  • sensors are generally installed on the unmanned vehicle. , and change the driving direction of the unmanned vehicle by visually recognizing crops or obstacles.
  • this method has high requirements on the environment and algorithms, and cannot be applied to the complex environment of the field.
  • the present application provides an edge detection assembly and an unmanned vehicle, which can solve the technical problem that the unmanned vehicle easily crushes crops in the related art.
  • the edge detection assembly provided by the utility model includes an edge detection mechanism, a return mechanism and a pressure sensor; wherein, the edge detection mechanism includes an edge detection member and a force application member, and the edge detection member is fixed on the force application member ; the pressure sensor is arranged on one side of the force application member, and is arranged to drive the force application member to contact the pressure sensor when the edge detecting member is acted by an external force; one end of the return mechanism is connected to the pressure sensor.
  • the force applying member is hinged and arranged to drive the force applying member to an initial position, and the force applying member is arranged to be non-contact with the pressure sensor when the force applying member is at the initial position.
  • FIG. 1 is a schematic structural diagram of an edge detection assembly provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a return mechanism in an edge detection assembly provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of the connection between a controller and a pressure sensor in an edge detection assembly provided by an embodiment of the present application.
  • Icon 1-edge detection mechanism; 11-edge detection piece; 12-force member; 13-chute; 2-return mechanism; 21-shaft body; 22-base; 23-shell; 24-spring; 3 -pressure sensor; 4-pressure sensor fixed base; 5-car body; 6-controller.
  • the present application provides an edge detection assembly and an unmanned vehicle, and the following provides a detailed description of the edge detection assembly and the unmanned vehicle provided by the application in several embodiments.
  • the edge detection assembly includes an edge detection mechanism 1 , a return mechanism 2 and a pressure sensor 3 ;
  • the edge detection mechanism 1 includes an edge detection member 11 and a force applying member 12.
  • the edge detecting member 11 is fixed on the force applying member 12, and the force applying member 12 is hinged with the body 5 of the unmanned vehicle;
  • the pressure sensor 3 is fixedly connected with the body 5 of the unmanned vehicle, and the pressure sensor 3 is arranged on the force applying member 12 side, when the edge detecting member 11 is acted by an external force, the force applying member 12 is driven to contact the pressure sensor 3 .
  • the first end of the return mechanism 2 is hinged with the force-applying member 12, and the second end of the return mechanism 2 is hinged with the body 5 of the unmanned vehicle.
  • the force application member 12 is provided in non-contact with the pressure sensor 3 .
  • the external force acting on the edge detecting member 11 may be an external force formed due to the collision of the obstacle when the edge detecting member 11 detects an obstacle, and the edge detecting member 11 drives the force applying member under the action of the external force. 12.
  • the force-applying member 12 When the force-applying member 12 is at the initial position, the force-applying member 12 can remain detached from the pressure sensor 3 under the action of the restoring force of the return mechanism 2, so that it will not contact the pressure sensor 3 to generate a pressure value. 12 When the edge detecting member 11 rotates, the force applying member 12 will come into contact with the pressure sensor 3 to generate a pressure value. At this time, since one end of the return mechanism 2 is connected to the force applying member 12, the return mechanism 2 is in the storage state. When the edge detection member 11 is separated from the obstacle, the force applying member 12 automatically returns to the initial position under the restoring force of the return mechanism 2, and the pressure value detected by the pressure sensor 3 is convenient for the unmanned vehicle according to the pressure sensor. The pressure value is used to control the driving direction of the unmanned vehicle.
  • the force applying member 12 is in the initial position and the pressure sensor 3 detects the initial pressure value when it does not interfere with the obstacle. , when it collides with the obstacle, the force-applying member 12 deviates from the initial position and the pressure sensor 3 detects the real-time pressure value. When the force-applying member 12 is separated from the obstacle, the force-applying member 12 can automatically return to the initial position for subsequent detection.
  • the edge detection component can detect whether an obstacle is detected by direct contact, with a simple structure and high detection accuracy.
  • the edge detection component is arranged in front of the unmanned vehicle.
  • the force applying member 12 is at the initial position.
  • the pressure value of the pressure sensor 3 is the initial pressure value.
  • the edge detection member 11 follows the unmanned vehicle. The vehicle moves while walking in the field; after the edge detecting member 11 collides with the obstacle, the thrust exerted by the obstacle on the edge detecting member 11 enables the force applying member 12 to overcome the restoring force generated by the return mechanism 2, thereby driving the force applying member 12 to the opposite side.
  • the edge detection assembly also includes a controller 6, the pressure sensor 3 is connected to the controller 6, and the pressure sensor 3 converts the real-time pressure value and the initial pressure value into an electrical signal and transmits it to the controller 6, thereby determining that no one is unmanned.
  • the rotation direction and rotation size of the vehicle are controlled by controlling the motor of the unmanned vehicle to make the motor rotate at a differential speed to control the rotation direction and rotation size of the unmanned vehicle, so as to prevent the unmanned vehicle from crushing the crops and prevent the unmanned vehicle from crossing the boundary and entering other areas.
  • the positioning signal is not good, it can drive accurately between the fields and ridges, and improve the intelligence of the machine.
  • the return mechanism 2 drives the force applying member 12 to rotate to the initial position, and the force applying member 12 is released from the contact with the pressure sensor 3, thereby completing the steering.
  • the controller 6 obtains the pressure value of the pressure sensor 3 at preset time intervals, so as to continuously determine the rotation direction and rotation size according to the pressure value, and control the steering of the unmanned vehicle, so that The driving trajectory of the unmanned vehicle is smoother, saving energy.
  • the edge detecting member 11 is hinged with the force applying member 12, the force applying member 12 is provided with a chute 13, the edge detecting member 11 is provided with a protrusion, the protrusion extends into the sliding groove 13, and the protrusion can Slide along the chute 13.
  • the edge detecting member 11 is hingedly connected with the force applying member 12 , which can adjust the position of the edge detecting member 11 relative to the force applying member 12 , and then adjust the position of the edge detecting member 11 , thereby improving the applicability of the edge detecting assembly.
  • the two edge detection members 11 on both sides of the vehicle body can be far away from each other or close to each other, so as to adjust the detection width to adapt to the row distance of different crops and different unmanned vehicles , and fix the edge detecting member 11 and the force applying member 12 after the distance is adjusted.
  • the edge detecting member 11 and the force applying member 12 are connected by bolts and nuts.
  • the edge detection member 11 is fixed on the force applying member 12 by means of bolts and nuts.
  • the edge detection member 11 can rotate around the axis of the bolt to adjust the detection range of the edge detection member 11.
  • the edge detection member 11 can also slide along the chute 13. The position of the edge detecting member 11 can be further adjusted, thereby further expanding the adjustment range and adapting to different vehicle body and crop row spacing. After the distance is adjusted, tighten the bolts and nuts.
  • the edge detection assembly further includes a pressure sensor fixing base 4, the pressure sensor fixing base 4 is fixedly connected with the vehicle body 5 of the unmanned vehicle, the pressure sensor 3 is fixed on the pressure sensor fixing base 4, and the force applying member 12 is connected to the unmanned vehicle.
  • the pressure sensor fixing base 4 is hinged, and at the same time, the end of the return mechanism 2 away from the force applying member 12 is fixed with the pressure sensor fixing base 4 , and the pressure sensor 3 is fixed on the vehicle body 5 through the pressure sensor fixing base 4 .
  • the pressure sensor 3 and the pressure sensor fixing base 4 may be fixed by welding, or may be fixed on the pressure sensor fixing base 4 by fasteners. Fasteners may be in any suitable form such as bolts or screws.
  • the pressure sensor fixing base 4 and the body 5 of the unmanned vehicle are fixedly connected by fasteners.
  • the fasteners can be in any suitable form such as bolts or screws.
  • the return mechanism 2 includes a shaft body 21 , a base 22 , a housing 23 and a spring 24 .
  • the base 22 has a first groove
  • the casing 23 has a second groove
  • the base 22 is fixedly connected to the casing 23, and the first groove and the second groove form a cavity.
  • the base 22 and the casing 23 is a threaded connection, and the height of the cavity formed by them can be adjusted by turning to improve the applicability.
  • the shaft body 21 passes through the housing 23 and extends into the cavity, and the shaft body 21 can slide relative to the housing 23; the first end of the spring 24 is in contact with the shaft body 21, and the second end of the spring 24 is in contact with the first groove abutting the bottom surface.
  • the base 22 is hinged with the pressure sensor fixing base 4
  • the shaft body 21 is hinged with the force applying member 12 .
  • the housing 23 has a central hole, the shaft body 21 passes through the central hole and can slide relative to the central hole, the shaft body 21 is provided with a boss, and the boss is located in the cavity, the first The end is in contact with the boss, and the second end of the spring 24 is in contact with the bottom surface of the first groove.
  • the spring 24 After the pressure sensor 3 is in contact with the force applying member 12, the spring 24 is compressed. When the edge detecting member 11 is separated from the obstacle, the spring 24 extends to the initial state, thereby driving the force applying member 12 to return to the initial position.
  • the base 22 and the housing 23 are screwed together by screws, so that the axial length of the cavity can be adjusted, thereby adjusting the preload force of the spring 24 .
  • the edge detecting member 11 is a probe rod having a circular arc segment, through which it collides with the obstacle.
  • the edge detection member 11 is an arc-shaped probe rod, and the outer contour of the arc-shaped probe rod is relatively smooth, which can prevent the edge detection member 11 from damaging crops.
  • the height of the edge detection member 11 corresponds to the root of the crop, and the height of the edge detection member 11 is smaller than the growth height of the crop leaves, so as to prevent the edge detection member 11 from damaging the crop leaves.
  • the obstacles detected by the edge detecting member 11 of the present application include not only actual obstacles (such as stones, utility poles, etc.), but also the protruding ridge boundaries of field plots, crop rows connected by crop root points, etc. . Therefore, when the edge detection member 11 detects the row of crops, in order to prevent the edge detection member 11 from damaging the crops, one end of the probe rod of the edge detection member 11 can be extended in the direction away from the obstacle, that is, the center of the arc segment is away from the obstacle, and the The arc segment of the edge detecting member 11 collides with the obstacle, so as to avoid losses caused by direct collision of one end of the edge detecting member 11 with the obstacle.
  • the edge detection component provided in this embodiment detects obstacles by directly colliding with the edge detection member 11, and uses the root of the crop as the driving boundary for detection, which improves the detection accuracy. Compared with identifying obstacles through the camera, the algorithm Simple and more accurate, and will not be affected by light, it can also be used normally at night, with strong applicability. By setting the edge detection component at the front end of the vehicle body 5, the situation of obstacles in front can be judged in advance, so as to control the unmanned vehicle to drive in the channel of the crop row, so that the detection is more timely and the steering timeliness is improved.
  • the unmanned vehicle provided in this embodiment includes the edge detection assembly provided in Embodiment 1.
  • the edge detection assembly is disposed at the front end of the vehicle body 5 of the unmanned vehicle.
  • the edge detection components are respectively arranged on both sides of the front end of the unmanned vehicle body 5 , which can detect obstacles on both sides of the vehicle body 5 , thereby protecting the vehicle body and preventing the vehicle body 5 from hitting the obstacles thing.
  • the side surface of the edge detecting member 11 is protruded from the side wall of the vehicle body 5 , that is, the arc segment protrudes from the side wall of the vehicle body 5 , to prevent the car body 5 from directly colliding with the crops and crushing the crops.
  • the two edge detection members 11 are arranged opposite each other, and the end away from the vehicle body 5 extends toward the central axis of the vehicle body 5 in the driving direction. damage, so that the unmanned vehicle can move freely between the passages.
  • the height of the edge detection component corresponds to the height of the root of the crop, and is not higher than the growth height of the leaves of the crop.
  • the installation height of the edge detection assembly and the vehicle body 5 can be adjusted as required, and the adjustment method is not limited, including but not limited to automatic adjustment by hydraulic means, or manual adjustment by means of fixed clamping and so on.
  • the edge detection components are respectively arranged on both sides of the front end of the unmanned vehicle, and extend out of the vehicle body 5 by a preset distance, so as to detect obstacles in advance and improve the timeliness of control.
  • the controller 6 of the edge detection component continuously obtains the pressure value of the pressure sensor 3, and confirms the rotation direction and rotation angle in real time according to the pressure value.
  • the unmanned vehicle continuously adjusts the driving direction according to the rotation direction and rotation angle, so that the driving trajectory of the unmanned vehicle
  • the actual trajectory that is smoother and tends to the boundary of the crop row enables the unmanned vehicle to follow the actual trajectory of the crop row and improves the operation accuracy.
  • the obstacle is detected by the pressure sensor 3, and the magnitude of the real-time pressure value can be obtained to determine the rotation angle of the unmanned vehicle, so as to adaptively control the unmanned vehicle.
  • the real-time pressure value is detected by the pressure sensor 3, and when the real-time pressure value is greater than the preset threshold, an alarm message is issued or the unmanned vehicle is controlled to stop driving, which can prevent the edge detector 11 from being damaged or overturned due to excessive force.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种探边组件，包括探边机构（1）、回位机构（2）和压力传感器（3）。探边机构（1）包括探边件（11）和施力件（12）。探边件（11）固定在施力件（12）上。压力传感器（3）设置于施力件（12）一侧，并设置为在探边件（11）受外力作用时带动施力件（12）与压力传感器（3）接触。回位机构（2）的一端与施力件（12）铰接，并设置为带动施力件（12）至初始位置。施力件（12）设置为在施力件（12）位于初始位置时，与压力传感器（3）非接触设置。还公开一种包括该探边组件的无人车。

Description

探边组件及无人车
本申请要求申请日为2020年10月28日、申请号为202022439107.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及农业机械技术领域，例如涉及一种探边组件及无人车。
背景技术
在农业生产中，对植物进行种植、浇水及喷洒农药等操作是必不可少的环节，为降低人力成本，提高工作效率，通常使用无人车进行操作。
相关技术中，无人车根据定位信号并按照预设的路线在田间行走，然而作物的种植位置并不规律，无人车容易压伤作物，基于这种情况，一般在无人车上安装传感器，并通过视觉识别作物或者障碍物，来改变无人车行驶方向，然而，这种方法对环境、算法的要求都较高，无法适用于田间复杂环境。
发明内容
本申请提供了一种探边组件及无人车，能够解决相关技术中的无人车容易压伤作物的技术问题。
本实用新型提供的探边组件，包括探边机构、回位机构和压力传感器；其中，所述探边机构包括探边件和施力件，所述探边件固定在所述施力件上；所述压力传感器设置于所述施力件一侧，并设置为在所述探边件受外力作用时带动所述施力件与所述压力传感器接触；所述回位机构的一端与所述施力件铰接，并设置为带动所述施力件至初始位置，且所述施力件设置为在所述施力件位于初始位置时，与所述压力传感器非接触设置。
附图说明
图1是本申请一实施例提供的探边组件的结构示意图；
图2是本申请一实施例提供的探边组件中的回位机构的结构示意图；
图3是本申请一实施例提供的探边组件中的控制器和压力传感器连接的示意图。
图标：1-探边机构；11-探边件；12-施力件；13-滑槽；2-回位机构；21-轴体；22-底座；23-壳体；24-弹簧；3-压力传感器；4-压力传感器固定基体；5-车体；6-控制器。
具体实施方式
本申请提供了一种探边组件及无人车，下面给出多个实施例对申请提供的探边组件及无人车进行详细描述。
实施例一
本实施例提供的探边组件，如图1至图2所示，该探边组件包括探边机构1、回位机构2和压力传感器3；探边机构1包括探边件11和施力件12，探边件11固定在施力件12上,施力件12与无人车的车体5铰接；压力传感器3与无人车的车体5固定连接，压力传感器3设置于施力件12一侧，在探边件11受外力作用时，带动施力件12与压力传感器3接触。回位机构2的第一端与施力件12铰接，回位机构2的第二端铰接于无人车的车体5，回位机构2带动施力件12恢复至初始位置，且在施力件12位于初始位置时，施力件12与压力传感器3非接触设置。本实施例中，探边件11受到的外力作用可以是当探边件11检测到障碍物时，由于障碍物的抵触从而形成的外力，探边件11在该外力的作用下带动施力件12。
施力件12位于初始位置时，施力件12在回位机构2的恢复力作用下，可以保持与压力传感器3的脱离，从而不会接触压力传感器3而产生压力数值，而当施力件12在探边件11的作用下发生转动时，施力件12会与压力传感器3接触而产生压力数值，此时由于回位机构2一端与施力件12连接，使得回位机构2处于蓄能状态，当探边件11脱离障碍物时，施力件12在回位机构2的恢复力作用下自动回复至初始位置，通过压力传感器3的检测压力数值，便于无人车根据压力传感器的压力数值而控制无人车的行驶方向。
通过本实施例中探边件11、施力件12、回位机构2和压力传感器3的设计，使得在未抵触障碍物时，施力件12处于初始位置而压力传感器3检测到初始压力数值，当抵触障碍物时，施力件12偏离初始位置而压力传感器3检测到实时压力数值，当脱离障碍物时，施力件12可自动回复至初始位置，以便之后的探测，通过本实施例的探边组件可以以直接接触的方式检测是否探测到障碍物，结构简单，检测精度高。
探边组件设置在无人车前方，在探边件11未抵触障碍物时，施力件12位于 初始位置，此时压力传感器3的压力数值为初始压力数值，探边件11随着无人车在田间行走而移动；在探边件11抵触障碍物后，障碍物对探边件11施加的推力使施力件12可以克服回位机构2产生的恢复力，从而带动施力件12相对于无人车的车体5转动，施力件12远离初始位置，使施力件12朝向压力传感器3移动，直至施力件12压到压力传感器3，使压力传感器3产生压力数值，此时为实时压力数值。如图3所示，探边组件还包括一控制器6，压力传感器3与控制器6连接，压力传感器3将实时压力数值和初始压力数值转换成电信号传送给控制器6，从而确定无人车的旋转方向和旋转大小，通过控制无人车的电机使电机差速旋转从而控制无人车的旋转方向和旋转大小，防止无人车压伤作物，避免无人车穿过边界而进入其他通道中，即使定位信号不好时，也可以在田垄间精确行驶，提高机器智能化程度。
当探边件11脱离抵触物体时，回位机构2带动施力件12转动至初始位置，施力件12脱离与压力传感器3的接触，从而完成转向。在一实施例中，在探边件11抵触障碍物时，控制器6间隔预设时间获取压力传感器3的压力数值，从而不断根据压力数值确定旋转方向和旋转大小，控制无人车转向，使得无人车的行驶轨迹更加光滑，节约能源。
在一实施例中，探边件11与施力件12铰接，施力件12上设有滑槽13，探边件11上设有凸起，凸起伸入滑槽13，且凸起能够沿滑槽13滑动。
探边件11与施力件12铰接，能够调节探边件11相对于施力件12的位置，进而调节探边件11的位置，从而提高探边组件的适用性。当在车体前端两侧各设置一探边组件时，车体两侧的两个探边件11可以相互远离或者相互靠近，从而调节探测宽度，以适应不同作物的行距以及不同的无人车，待距离调定后将探边件11与施力件12固定。
在一实施例中，探边件11与施力件12通过螺栓和螺母连接。
探边件11依靠螺栓和螺母固定在施力件12上，探边件11可以绕螺栓的轴线转动，从而调节探边件11的探测范围，探边件11还可以沿滑槽13滑动，这样可以进一步调节探边件11的位置，从而进一步扩大调节范围，适应不同的车体和作物行间距，待距离调定后将螺栓和螺母紧固。
在一实施例中，探边组件还包括压力传感器固定基体4，压力传感器固定基体4与无人车的车体5固定连接，压力传感器3固定在压力传感器固定基体4上，施力件12与压力传感器固定基体4铰接，同时，回位机构2远离施力件12的一端 与压力传感器固定基体4固定，压力传感器3通过压力传感器固定基体4固定在车体5上。其中压力传感器3与压力传感器固定基体4可以通过焊接的方式固定，也可以通过紧固件固定在压力传感器固定基体4上。紧固件可以为螺栓或螺钉等任意适合的形式。
在一实施例中，压力传感器固定基体4与无人车的车体5通过紧固件固定连接。为了便于安装和拆卸，紧固件可以为螺栓或螺钉等任意适合的形式。
在一实施例中，回位机构2包括轴体21、底座22、壳体23和弹簧24。底座22具有第一凹槽，壳体23具有第二凹槽，底座22与壳体23固定连接，第一凹槽和第二凹槽形成腔体，在一实施例中，底座22与壳体23为螺纹连接，可通过旋动调整它们形成的腔体的高度，以提高适用性。轴体21穿过壳体23并伸入腔体内，且轴体21能够相对于壳体23滑动；弹簧24的第一端与轴体21抵接，弹簧24的第二端与第一凹槽的底面抵接。底座22与压力传感器固定基体4铰接，轴体21与施力件12铰接。
在一实施例中，壳体23上具有中心孔，轴体21穿过中心孔并能够相对于中心孔滑动，轴体21上设有凸台，且凸台位于腔体内，弹簧24的第一端与凸台抵接，弹簧24的第二端与第一凹槽的底面抵接。
在压力传感器3与施力件12接触后，弹簧24被压缩，当探边件11与障碍物分离后，弹簧24伸长至初始状态，从而带动施力件12回位至初始位置。
在一实施例中，底座22与壳体23通过螺纹旋接，能够调节腔体的轴向长度，从而调节弹簧24的预紧力。
在一实施例中，探边件11为具有圆弧段的探杆，通过所述圆弧段与障碍物抵触。在一实施例中，探边件11为圆弧状探杆，圆弧状探杆的外轮廓较为圆滑，能够防止探边件11伤害作物。
为了进一步减少对作物的伤害，探边件11的高度对应作物根部，并且探边件11的高度小于作物叶片生长高度，从而避免探边件11伤害作物叶片。
本申请的探边件11探测的障碍物不仅包括实际障碍物(例如石块、电线杆等)，还可以包括田间地块凸出的垄边界、以作物根部点作为连线的作物行等等。故探边件11在探测作物行时，为了避免探边件11伤害作物，可以将探边件11的探杆的一端向远离障碍物的方向延伸，即圆弧段的中心背离障碍物，通过探边件11圆弧段与障碍物抵触，避免探边件11的一端直接与障碍物抵触而造成损失。
本实施例提供的探边组件，通过探边件11直接抵触的方式来检测障碍物， 并且将作物根部作为行驶边界进行探测，提高了探测准确度，相比于通过摄像头来识别障碍物，算法简单更加准确，并且不会受到光照影响，在夜间也可以正常使用，适用性强。将探边组件设置于车体5前端，可提前判断前方障碍物情况，从而控制无人车行驶在作物行的通道中，使得探测更加及时，提高转向及时性。
实施例二
本实施例提供的无人车，包括实施例1提供的探边组件。
在一实施例中，探边组件设置于无人车的车体5的前端。在本实施例中，如图1所示，探边组件分别设置于无人车车体5前端的两侧，可以检测车体5两侧的障碍物，从而保护车体防止车体5撞击障碍物。
为了便于车体在沿行种植的作物的通道间行驶，避免对作物的损伤，探边件11的侧面凸出设置于车体5的侧壁，即圆弧段凸出于车体5侧壁，防止车体5直接与作物抵触而压伤作物。同时，将两个探边件11相对设置，远离车体5的一端向车体5的行驶方向的中轴线延伸，两个探边件11在车体前端形成圆形，进一步减小对作物的伤害，使得无人车可以在通道间自由行使。
本实施例中，探边组件的高度对应作物的根部高度，同时不高于作物的叶片生长高度。并且，探边组件与车体5的安装高度可以根据需要进行调整，调整方式也不做限制，包括但不限于通过液压方式自动调整，或者通过固定卡接的方式手动调整等等。
探边组件分别设置在无人车前端两侧，延伸出车体5预设距离，从而提前探测障碍物情况，提高控制及时性。探边组件的控制器6不断获取压力传感器3的压力数值，并且根据压力数值实时确认旋转方向和旋转角度，无人车根据该旋转方向和旋转角度不断调整行驶方向，使得无人车的行驶轨迹更加光滑、趋向于作物行边界的实际轨迹，使得无人车可以跟随作物行的实际轨迹行驶，提高作业精度。
通过压力传感器3来探测障碍物，可以通过获得实时压力数值的大小，来确定无人车的旋转角度大小，以便适应性控制无人车。同时，通过压力传感器3检测实时压力数值，在实时压力数值大于预设阈值时，发出报警信息或者控制无人车停止行驶，可防止探边件11受力过大造成损伤、翻车等现象。

Claims (10)

  1. 一种探边组件，包括探边机构、回位机构和压力传感器；其中，
    所述探边机构包括探边件和施力件，所述探边件固定在所述施力件上；
    所述压力传感器设置于所述施力件一侧，并设置为在所述探边件受外力作用时带动所述施力件与所述压力传感器接触；
    所述回位机构的一端与所述施力件铰接，并设置为带动所述施力件至初始位置，所述施力件设置为在所述施力件位于初始位置时，与所述压力传感器非接触设置。
  2. 根据权利要求1所述的探边组件，其中，所述探边件与所述施力件铰接，所述施力件上设有滑槽，所述探边件上设有凸起，所述凸起设置于所述滑槽内，且所述凸起设置为沿所述滑槽滑动。
  3. 根据权利要求2所述的探边组件，还包括螺栓和螺母，所述探边件与所述施力件通过所述螺栓和所述螺母连接。
  4. 根据权利要求1所述的探边组件，其中，所述探边组件还包括压力传感器固定基体；
    所述压力传感器固定在所述压力传感器固定基体上，所述施力件与所述压力传感器固定基体铰接，所述回位机构远离所述施力件的一端与所述压力传感器固定基体铰接。
  5. 根据权利要求4所述的探边组件，其中，所述回位机构包括轴体、底座、壳体和弹簧；
    所述底座具有第一凹槽，所述壳体具有第二凹槽，所述底座与所述壳体固定连接，所述第一凹槽和所述第二凹槽形成腔体；
    所述轴体穿过所述壳体并伸入所述腔体内，且所述轴体可相对于所述壳体滑动；
    所述弹簧的第一端与所述轴体抵接，所述弹簧的第二端与所述第一凹槽的底面抵接；
    所述底座与所述压力传感器固定基体铰接，所述轴体与所述施力件铰接。
  6. 根据权利要求1所述的探边组件，其中，探边组件还包括控制器，所述压力传感器与所述控制器连接，所述控制器设置为在所述探边件抵触障碍物时，间隔预设时间获得所述压力传感器的压力数值。
  7. 根据权利要求1所述的探边组件，其中，所述探边件为具有圆弧段的探杆。
  8. 一种无人车包括车体及权利要求1-7中任一项所述的探边组件，所述探边 组件设置于所述无人车的车体的前端。
  9. 根据权利要求8所述的无人车，其中，所述探边件的侧面凸出于所述车体的侧壁。
  10. 根据权利要求8所述的无人车，其中，所述探边件远离所述车体的一端向所述车体的行驶方向的中轴线延伸。
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