Unmanned vehicle

Abstract

The application provides an unmanned vehicle, which comprises a vehicle body, the vehicle body comprising a chassis and a control assembly connected with the chassis, the control assembly comprising a support arm and a functional module arranged on the support arm, the support arm being used for arranging the functional module at a preset height position relative to the chassis so as to form a load accommodating area at the chassis. By arranging the functional module at the preset height position of the chassis through the support arm, the space of the vehicle body of the unmanned vehicle is saved, the space for installing the load of the unmanned vehicle is further expanded, the overall layout of the unmanned vehicle is simple and reasonable, and the space utilization rate is high. In addition, the control assembly is convenient to install and simple to operate, and the application range of the unmanned vehicle is further expanded.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, specifically to an unmanned vehicle. Background Technology

[0002] With the continuous development of technology, unmanned vehicles are widely used in agriculture, industry, and other scenarios. For example, in industrial material handling, unmanned vehicles work in conjunction with robotic arms to replace traditional manual handling; in plant protection, various operating devices are installed on agricultural unmanned vehicles to complete tasks such as spraying pesticides, seeds, and powders. Compared with traditional manual methods, the application of unmanned vehicles in these fields can improve work efficiency and save manpower.

[0003] However, in existing technologies, control components are usually placed inside the body of the autonomous vehicle, occupying chassis space and greatly limiting the vehicle's layout. This further reduces the space available for installing loads in the autonomous vehicle, and at the same time, the functions of the control components cannot be fully utilized. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. An embodiment of this application provides an unmanned vehicle.

[0005] In a first aspect, one embodiment of this application provides an unmanned vehicle, which includes a body, a chassis, and a control component connected to the chassis. The control component includes a support arm and a functional module disposed on the support arm. The support arm is used to position the functional module at a preset height relative to the chassis so as to form a load-bearing area at the chassis.

[0006] In one embodiment of this application, the support arm includes a main support arm and an end support arm connected to the main support arm.

[0007] In one embodiment of this application, the main arm of the support arm includes a support portion connected to the chassis and a connecting portion connected to the support portion.

[0008] In one embodiment of this application, the functional module includes a control module, which is mounted on the main arm of the support arm and is used to control the operation of the unmanned vehicle.

[0009] In one embodiment of this application, the support portion includes a support cavity, and the control module is disposed within the support cavity.

[0010] In one embodiment of this application, the functional module includes a radar module and a first antenna module and a second antenna module located on both sides of the radar module.

[0011] In one embodiment of this application, the radar module includes a radar housing, a radar plate that can rotate inside the radar housing, and a drive module that drives the radar plate to rotate. The first end of the radar housing is connected to the connecting part through a connecting seat, the second end of the radar housing is connected to the end arm of the support arm through a fixed seat, and the radar plate is connected to the fixed seat through the drive module.

[0012] In one embodiment of this application, the central axis of the radar housing coincides with the central axis of the portion of the support arm connected to the radar module.

[0013] In one embodiment of this application, the functional module includes a visual sensor module, which is mounted on the outside of the radar housing via a first mounting part. The visual sensor module is used to detect the shape of obstacles.

[0014] In one embodiment of this application, the functional module includes a lighting module, which is mounted on the outside of the radar housing via a second mounting portion.

[0015] In one embodiment of this application, the functional module includes a communication module, and the connecting part includes a connecting cavity and a first opening communicating with the connecting cavity. The communication module is disposed in the connecting cavity and corresponds to the first opening to facilitate the assembly and disassembly of the communication module.

[0016] In one embodiment of this application, the connecting portion includes a second opening, the support arm end arm includes a third opening, the first antenna module is disposed in the second opening, and the second antenna module is disposed in the third opening. The first antenna module and the second antenna module are electrically connected to the communication module and are routed through the connecting cavity so that the communication module can communicate with the terminal device and / or satellite through the first antenna module and the second antenna module.

[0017] In one embodiment of this application, the functional module includes a circuit switch module, the main support arm includes a cover, the circuit switch module is disposed in the support cavity, the cover includes an operation opening corresponding to the circuit switch, the operation opening is covered by a sub-cover, and the circuit switch module is used to control the circuit switch of the unmanned vehicle.

[0018] In one embodiment of this application, the support arm end arm includes a receiving cavity for accommodating a speaker.

[0019] In one embodiment of this application, the main arm of the support arm also includes an emergency stop button, which is used to stop the unmanned vehicle in an emergency.

[0020] In one embodiment of this application, the support arm is perpendicular to the chassis.

[0021] In one embodiment of this application, the support arm includes an inverted L-shape, T-shape, Y-shape, I-shape, H-shape, or inverted U-shape.

[0022] In one embodiment of this application, the functional modules include at least one of a control module, a radar module, a vision sensor module, an illumination module, a circuit switch module, a communication module, a first antenna module, and a second antenna module.

[0023] This application provides an unmanned vehicle, including a chassis and a control component connected to the chassis. The control component includes a support arm and functional modules disposed on the support arm. By using the support arm to position the functional modules at a preset height relative to the chassis, the vehicle's usable space is saved, further expanding the space available for mounting loads and resulting in a simple and rational overall vehicle layout with high space utilization. Furthermore, the control component is easy to install and operate, further expanding the applicability of the unmanned vehicle. Attached Figure Description

[0024] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same structures or steps.

[0025] Figure 1 The diagram shown is a structural schematic of an unmanned vehicle provided in an embodiment of this application.

[0026] Figure 2 The diagram shown is a schematic diagram of the structure of a control component provided in an embodiment of this application.

[0027] Figure 3 The diagram shown is a structural schematic of the main arm of the support arm provided in an embodiment of this application.

[0028] Figure 4 The diagram shown is a structural schematic of a control component provided in another embodiment of this application.

[0029] Figure 5 The diagram shown is a structural schematic of the radar housing provided in an embodiment of this application.

[0030] Figure 6 The diagram shown is a structural schematic of the radar housing in another embodiment of this application.

[0031] Figure 7 The diagram shown is a structural schematic of the end arm of the support arm provided in an embodiment of this application.

[0032] Figure 8 The diagram shown is a structural schematic of a radar provided in an embodiment of this application.

[0033] Figure 9The diagram shown is an exploded view of the structure of a vision sensor module provided in an embodiment of this application.

[0034] Figure 10 The diagram shown is a structural schematic of the support arm end arm provided in another embodiment of this application.

[0035] Figure 11 The diagram shown is a structural schematic of a control component provided in another embodiment of this application. Detailed Implementation

[0036] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0037] Figure 1 The diagram shown is a structural schematic of an unmanned vehicle provided in an embodiment of this application. Figure 1 As shown, the unmanned vehicle 100 includes a body, which includes a chassis 14 and a control component 1 connected to the chassis 14. The control component 1 includes a support arm 2 and a functional module 3 disposed on the support arm 2. The support arm 2 is used to position the functional module 3 at a preset height relative to the chassis 14 so as to form a load-bearing area at the chassis 14.

[0038] For example, functional module 3 includes at least one of a control module, a radar module, a vision sensor module, an illumination module, a circuit switch module, a communication module, a first antenna module, and a second antenna module.

[0039] Specifically, the unmanned vehicle 100 includes a vehicle body, multiple wheeled outriggers 20 mounted on the vehicle body, and a control assembly 1. The vehicle body includes a chassis 14 and a load mounted on the chassis 14. The load may include, but is not limited to, work equipment 112 and a power unit 13, or it may be a generator, cargo, etc.

[0040] In one embodiment of this application, the power unit 13 of the unmanned vehicle 100 can provide power to the unmanned vehicle 100. The control component 1 is electrically connected to the power unit 13 and the working equipment 112 to control the working equipment 112 of the unmanned vehicle 100 to perform various farmland operations.

[0041] Specifically, the chassis 14 includes two main beams 111 and several crossbeams welded and fixed between the two main beams 111. The main beams 111 are C-shaped channel steel, and the crossbeams are plate steel or C-shaped channel steel. The main beams 111 and the crossbeams can be connected by bolts.

[0042] It should be understood that functional module 3 includes, but is not limited to, control module, radar module, sensor module, antenna assembly, circuit switch module, horn module, searchlight and communication module, etc.

[0043] It should be noted that the support arm 2 can be inverted L-shaped, T-shaped, Y-shaped, I-shaped, H-shaped, or inverted U-shaped. This application does not specifically limit the shape of the support arm 2, as long as the support arm can set the functional module 3 at a preset height position on the chassis 14.

[0044] The unmanned vehicle 100 provided in this application embodiment uses a support arm 2 to position the functional module 3 at a preset height on the chassis 14, thereby saving space on the vehicle body and further expanding the space for mounting loads. This results in a simple and reasonable overall layout with high space utilization. Furthermore, the support arm 2 is easy to install and operate, further expanding the applicability of the unmanned vehicle 100.

[0045] Figure 2 The diagram shown is a structural schematic of a control component provided in an embodiment of this application. (In conjunction with...) Figure 1 and Figure 2 As shown, the support arm 2 includes a main support arm 21 and a support arm end arm 22 connected to the main support arm 21. The main support arm 21 includes a support portion 211 connected to the chassis 14 and a connecting portion 212 connected to the support portion 211. The support arm 2 is perpendicular to the chassis 14.

[0046] Figure 3 The diagram shown is a structural schematic of the main arm of a support arm according to an embodiment of this application. (Reference) Figure 1 , Figure 2 as well as Figure 3 As shown, specifically, the main arm 21 of the support arm includes a vertically connected support portion 211 and a connecting portion 212. The support portion 211 includes a fixed section 2111 and a support section 2112 from bottom to top. The fixed section 2111 is fixed to the side wall of the main beam 111 at the front of the vehicle body.

[0047] In one embodiment of this application, the functional module 3 includes a control module, which is mounted on the main arm 21 of the support arm and is used to control the operation of the unmanned vehicle 100.

[0048] In one embodiment of this application, combined with Figure 2 and Figure 3 As shown, the support part 211 includes a support cavity 2114, and the control module is disposed in the support cavity 2114. The control module is used to control the operation of the unmanned vehicle 100.

[0049] Furthermore, the fixed section 2111, the supporting section 2112, and the connecting part 212 each form an interconnected fixed cavity 2113, a supporting cavity 2114, and a connecting cavity 2121. The control module and the circuit switch module are both located within the supporting cavity 2114. The fixed section 2111 has a wiring opening 261 on the side near the main beam 111, which communicates with the cavity within the main beam 111. The connecting wires (i.e., control lines) between the vehicle's power unit 13, the working equipment 112, and the control component 1 can enter the fixed cavity 2113 through the wiring opening 261, facilitating the orderly organization and fixing of the wires, meeting wiring requirements, preventing damage or friction to the connecting wires, and promoting efficient use of the space in the supporting arm 2.

[0050] Figure 4 The diagram shown is a structural schematic of a control component provided in another embodiment of this application. (In conjunction with...) Figure 2 and Figure 4 As shown, functional module 3 includes radar module 30 and a first antenna module 11 and a second antenna module 12 located on both sides of radar module 30.

[0051] Figure 5 The diagram shown is a structural schematic of the radar housing provided in an embodiment of this application. (In conjunction with...) Figure 4 and Figure 5 As shown, the radar module 30 includes a radar housing 31, a radar plate 32 rotatable within the radar housing 31, and a drive assembly for driving the radar plate 32 to rotate. The first end of the radar housing 31 is connected to the connecting portion 212 via a connecting seat 40. The second end of the radar housing 31 is connected to the support arm end arm 22 via a fixing seat 50, wherein the first end and the second end are opposite each other. The radar plate 32 is connected to the fixing seat 50 via the drive assembly and, driven by the drive assembly, rotates around the central axis of the radar housing 31 within the mounting cavity 310 formed by the radar housing 31. By setting the radar module 30 at a preset height position on the chassis 14, compared to the prior art where the radar module 30 is directly set at the front end of the unmanned vehicle chassis 14, the radar module 30 can be located at a higher height, thereby increasing the detection range of the radar module 30 and effectively improving its detection performance.

[0052] The radar module provided in this application embodiment can detect obstacles encountered by the unmanned vehicle in its working environment. After the radar module 30 emits electromagnetic wave signals through the radar board 32, if an obstacle in the unmanned vehicle 100's travel path hits the radar signal, it will reflect an echo. The radar receiver will receive the echo signal, thereby obtaining information such as the distance, direction, and speed of the obstacle based on the echo signal.

[0053] In one embodiment of this application, the central axis of the radar housing 31 coincides with the central axis of the portion of the support arm 2 connected to the radar module 30. The coincidence of the central axis of the radar housing 31 with the central axis of the radar mounting area of ​​the support arm 2 allows the radar housing 31 to be mounted in the radar mounting area of ​​the support arm 2, thus achieving a coaxial connection between the radar housing 31 and the housing of the support arm 2.

[0054] In one embodiment of this application, the radar board 32 is a circuit board integrally formed with an antenna, a signal transmission circuit, and a signal processing circuit. The radar board 32 includes a transmitting antenna, a receiving antenna, a signal processing circuit electrically connected to the receiving antenna, and a signal transmission circuit electrically connected to the signal processing circuit. The transmitting antenna is used to transmit electromagnetic wave signals, the receiving antenna is used to receive echo signals, the signal processing circuit is used to process the echo signals, and the signal transmission circuit is used to send the processed echo signals to an external terminal. After the transmitting antenna transmits electromagnetic wave signals, if an obstacle in the autonomous vehicle 100's travel path encounters the electromagnetic wave signal, it will reflect an echo. The receiving antenna receives the echo signal, and the signal processing circuit obtains information such as the distance, direction, and speed of the obstacle based on the echo signal. The signal transmission circuit then sends this information to the communication module 39, thereby transmitting it to the external terminal.

[0055] For example, the drive assembly includes a drive motor and a drive control circuit. The drive motor includes a stator, a rotor, and a shaft. The drive motor is fixed to the mounting base 50 via the stator. The radar plate 32 is fixed to the rotor and connected to the shaft. The drive control circuit controls the drive motor to rotate. The rotation of the drive electrode drives the rotor to rotate, thereby causing the radar plate 32 to rotate.

[0056] Figure 6 The diagram shown is a structural schematic of the radar housing in another embodiment of this application. Figure 7 The diagram shown is a structural schematic of the end arm of a support arm according to an embodiment of this application. (Reference) Figures 5 to 7 As shown, the radar housing 31 includes a cylindrical peripheral wall 311 and a side end wall 312 connected to the inner side of the peripheral wall 311. The peripheral wall 311 forms a mounting cavity 310. The plane of the side end wall 312 is perpendicular to the central axis of the radar housing 31. The side end wall 312 divides the mounting cavity 310 into a first cavity 3102 and a second cavity 3101. The radar plate 32 and the drive assembly are disposed in the first cavity 3102, and the second cavity 3101 is used to accommodate the connecting part 212. Through reasonable division and layout, the area occupied by the support arm 20 of the radar module 30 is minimized.

[0057] Specifically, the peripheral wall 311 is the main structure of the radar housing 31, i.e., a cylindrical structure. The side end wall 312 is a cross-section perpendicular to the axis inside the cylindrical structure shown. The cross-sectional shape of the side end wall 312 in a plane can be as follows: Figure 5The cross structure shown can also be other structures.

[0058] In one embodiment, combined Figures 4 to 6 As shown, a first positioning part 3121 is provided on the side wall 312 near the connecting part 212. The first positioning part 3121 is connected to a second positioning part 41 provided on the connecting seat 40 that matches the first positioning part 3121, so as to realize the connection between the first end of the radar housing 31 and the connecting part 212. A third positioning part 3111 is provided on the peripheral wall of the first cavity 3102 near the support arm end arm 22. The third positioning part 3111 is connected to a fourth positioning part 51 provided on the fixing seat 50 that matches the third positioning part 3111, so as to realize the connection between the second end of the radar housing 31 and the support arm end arm 22.

[0059] It should be noted that the first positioning part 3121 on the side wall 312 and the second positioning part 41 on the connecting seat 40 can be a snap-fit ​​mechanism or a magnetic attraction structure, as long as they can be adapted and the first end of the radar housing 31 can be connected to the connecting part 212 through matching. The adaptation of the third positioning part 3111 on the peripheral wall 311 and the fourth positioning part 51 on the fixed seat 50 is similar to that of the first positioning part 3121 and the second positioning part 41, and will not be described in detail here.

[0060] In one embodiment of this application, as Figure 5 As shown, the radar module 30 also includes a wiring groove 80 disposed on the outside of the radar housing 31, for accommodating the circuit wiring of other components on the connecting part 212 and / or the support arm end arm 22. Specifically, other components, such as real-time kinematic (RTK) antennas, 4G antennas, or wireless Fidelity (WIFI) antennas, are disposed on the connecting part 212 and the support arm end arm 22. The circuit wiring of these components needs to pass through the internal mounting cavity of the radar module 30 and connect to each other. Since the radar board 32 needs to rotate continuously when the radar module 30 is working, in order to avoid friction on the wiring, a wiring groove 80 is provided on the outside of the radar housing 31, which can reduce friction and fix the wiring, making it both aesthetically pleasing and neat.

[0061] It should be understood that the wiring trough 80 can be as follows: Figure 5 The rectangular groove shown can also be a groove of other shapes. This application embodiment does not limit the specific shape of the wiring groove 80.

[0062] Figure 8 The diagram shown is a structural schematic of a radar provided in one embodiment of this application. Figure 8As shown, functional module 3 includes a visual sensor module 332, which is mounted on the outside of radar housing 31 via a first mounting part 331. The visual sensor module 332 is used to detect the shape of obstacles.

[0063] Specifically, a first mounting portion 331 extends from the outer periphery of the radar housing 31 for mounting a vision sensor module 332. A back plate 333 is detachably connected to the first mounting portion 331. The back plate 333 and the vision sensor module 332 are located on opposite sides of the first mounting portion 331, with the back plate 333 serving for heat dissipation and decoration. The vision sensor module 332 is used to capture video and / or images. The radar module 30 can locate obstacles using radio signals. By analyzing and calculating the video and / or images captured by the vision sensor module 332, the size and shape of the obstacles are obtained. Radio signal detection and video detection work together to obtain obstacle information, enabling timely and accurate obstacle detection and thus achieving rapid and effective obstacle avoidance.

[0064] It should be noted that the first mounting part 331 and the radar housing 31 can be manufactured as a single unit. That is, a portion extends outward from the radar housing 31, and this extended portion is the first mounting part 331.

[0065] In one embodiment of this application, combined with Figure 4 and Figure 8 As shown, the vision sensor module 332 includes a binocular camera, with the two cameras positioned at a preset distance and angle. By acquiring images and / or videos through the binocular cameras, and then analyzing and calculating these images and / or videos, the size, shape, and orientation of obstacles can be determined. This obstacle information is then sent to the communication module 39 in the support arm 2. The communication module 39 communicates with an external terminal, thereby guiding the unmanned vehicle 100 to perform obstacle avoidance maneuvers.

[0066] Figure 9 The image shown is an exploded view of the structure of a vision sensor module provided in one embodiment of this application. Figure 9 As shown, the backplate 333 includes multiple grille windows 3331, which are used to dissipate the heat generated during the operation of the vision sensor module 332.

[0067] In one embodiment of this application, combined with Figure 4 and Figure 5 As shown, functional module 3 includes lighting module 38, which is mounted on the outside of radar housing 31 via second mounting part 70.

[0068] Specifically, a second mounting portion 70 extends from the outer periphery of the radar housing 31 for mounting the lighting module 38. The lighting module 38 can be a searchlight. The second mounting portion 70 can be a mounting column or a mounting protrusion, etc. By providing the second mounting portion 70 on the outer side of the radar housing 31 to mount the lighting module 38, illumination is provided for the unmanned vehicle 100 to operate at night.

[0069] In one embodiment of this application, combined with Figure 3 and Figure 4 As shown, functional module 3 includes communication module 39. Connecting part 212 includes connecting cavity 2121 and a first opening 2122 communicating with connecting cavity 2121. Communication module 39 is disposed within connecting cavity 2121 and corresponds to the first opening 2122 to facilitate assembly and disassembly of communication module 39.

[0070] In one embodiment of this application, reference is made to Figures 2 to 4 As shown, functional module 3 includes a first antenna module 11 and a second antenna module 12. The connecting part 212 includes a second opening 223, and the support arm end arm 22 includes a third opening 222. The first antenna module 11 is disposed in the second opening 223, and the second antenna module 12 is disposed in the third opening 222. The first antenna module 11 and the second antenna module 12 are electrically connected to the communication module 39 and are routed through the connecting cavity 2121, resulting in neat and aesthetically pleasing internal wiring. This facilitates communication between the communication module 39 and terminal devices and / or satellites via the first antenna module 11 and the second antenna module 12. The terminal device can be a mobile phone, desktop computer, or laptop computer, etc. By placing the first antenna module 11 and the second antenna module 12 at a preset height position on the chassis 14, the mounting height of the first antenna module 11 and the second antenna module 12 is effectively increased, thereby ensuring stable data signal transmission. Furthermore, this effectively reduces the risk of crops scratching the first antenna module 11 and the second antenna module 12.

[0071] In one embodiment of this application, reference continues to be made to... Figures 2 to 4As shown, the first antenna module 11 includes a first antenna housing 101, which is connected to the connecting part 212 via a first connecting seat 102. The first antenna housing 101 and the first connecting seat 102 form a first receiving cavity for housing the antenna. The second antenna module 12 includes a second antenna housing 121, which is connected to the support arm end arm 22 via a second connecting seat 122. The second antenna housing 121 and the second connecting seat 122 form a second receiving cavity for housing the antenna. By housing and fixing the antenna through the antenna housing and setting the first antenna module 11 and the second antenna module 12 at a certain distance, the actual communication performance of the first antenna module 11 and the second antenna module 12 is greatly enhanced. This ensures that the performance of the first antenna module 11 and the second antenna module 12 is normal and unaffected by each other. Moreover, it is simple and convenient to manufacture, low in cost, and solves the problem of poor signal transmission effect in existing unmanned vehicles.

[0072] Specifically, the connecting part 212 and the first connecting seat 102 can be connected by welding, screwing, snap-fitting, plugging, or other methods. The second connecting seat 122 and the support arm end arm 22 can be connected by welding, screwing, snap-fitting, plugging, or other methods. The first antenna housing 101 and the second antenna housing 121 can be made of non-metallic material, specifically plastic. The first antenna housing 101 and the second antenna housing 121 can be single-layer housings or double-layer housings.

[0073] This application illustrates a double-layer shell design in one embodiment, but the scope of protection of this application includes, but is not limited to, the shape and design of the shell described in this embodiment. Both the first antenna shell 101 and the second antenna shell 121 are double-layer shell designs. The double-layer shell design includes an inner shell and an outer shell. The outer shell is the external packaging structure of the antenna. The inner shell is used to cover the antenna. The inner shell is provided with connectors for supporting the antenna, and the support method can be hanging.

[0074] Figure 10 The diagram shown is a structural schematic of the support arm end arm provided in another embodiment of this application. (In conjunction with...) Figure 3 and Figure 10 As shown, the connecting portion 212 includes a second opening 223 that mates with the first connecting seat 102, so as to fix the first antenna module 11 through the second opening 223. The support arm end arm 22 includes a third opening 222 that mates with the second connecting seat 122, so as to fix the second antenna module 12 through the third opening 222.

[0075] like Figure 10As shown, the second connecting seat 122 has multiple mounting holes 1221, and the second opening 222 has multiple connecting holes 2221. The shape and size of the mounting holes 1221 match the connecting holes 2221. The second connecting seat 122 is screwed into the multiple connecting holes 2221 of the second opening 222 through the multiple mounting holes 1221, thereby achieving the fixed installation of the second connecting seat 122 and the end arm 22 of the support arm. It should be noted that the first connecting seat 102 and the connecting part 212 can also be connected in this way. This connection method facilitates the assembly and disassembly of the antenna assembly 1 and the support arm 2.

[0076] In one embodiment of this application, combined with Figure 2 and Figure 4 As shown, both the first antenna module 11 and the second antenna module 12 can be configured as RTK antennas. Specifically, the first RTK antenna is mounted in the second opening 223 through the first antenna housing 101. The second RTK antenna is mounted in the third opening 222 through the second antenna housing 121. The first RTK antenna is used to acquire the first positioning information of the unmanned vehicle, and the second RTK antenna is used to receive the second positioning information of the unmanned vehicle. Based on the first and second positioning information, the unmanned vehicle is positioned. By setting one RTK antenna on each side of the support arm 2, the two RTK antennas can correct each other's deviations, achieving accurate positioning of the unmanned vehicle.

[0077] In addition, in the application scenario of the unmanned vehicle 100, the RTK antenna and the communication module 39 are electrically connected. The RTK antenna is used to communicate with satellites to facilitate the planning and detection of the driving path of the unmanned vehicle 100, so that the unmanned vehicle 100 can travel along the preset path.

[0078] In one embodiment of this application, combined with Figure 2 and Figure 4 As shown, the first antenna module 11 and the second antenna module 12 can also be configured as a combination of an RTK antenna and a WIFI antenna. Specifically, the first RTK antenna and the first WIFI antenna are jointly installed in the first antenna housing 101 and fixedly installed in the second opening 223 through the first antenna housing 101. The second RTK antenna and the second WIFI antenna are jointly installed in the second antenna housing 121 and fixedly installed in the third opening 222 through the second antenna housing 121. The first and second RTK antennas are used to acquire the positioning information of the unmanned vehicle, achieving accurate positioning of the unmanned vehicle. The first and second WIFI antennas are used to achieve large-scale data transmission within a short range, such as image data transmission.

[0079] In one embodiment of this application, combined with Figure 2 and Figure 4As shown, the control component 1 includes two 4G patch antennas and two RTK antennas. The first RTK antenna is installed in the first antenna housing 101 and fixedly installed in the second opening 223 via the first antenna housing 101. The second RTK antenna is installed in the second antenna housing 121 and fixedly installed in the third opening 222 via the second antenna housing 121. The two 4G patch antennas are disposed on the end arm 22 of the support arm and are located close to the second RTK antenna. The two 4G patch antennas are sheet-shaped, with one 4G patch antenna attached to the upper surface of the end arm 22 and facing upwards. The other 4G patch antenna is located on the outer surface of the end arm 22 and facing forwards. By setting two 4G patch antennas in different directions on the surface of the support arm 2, data transmission between the 4G patch antennas and the terminal device is facilitated and is not limited by the transmission distance.

[0080] In addition, in other embodiments of this application, the first antenna module 11 and the second antenna module 12 may also be a GPS antenna, a Bluetooth antenna, or a 5G antenna.

[0081] Figure 11 The diagram shown is a structural schematic of a control component provided in another embodiment of this application. (In conjunction with...) Figure 3 and Figure 11 As shown, functional module 3 includes a circuit switch module. The main support arm 21 includes a housing 314 and a cover 315. The circuit switch module is disposed within the support cavity 2114. The cover 315 includes an operation opening corresponding to the circuit switch, which is covered by a sub-cover 3151. The circuit switch module is used to control the circuit switch of the unmanned vehicle 100. Specifically, the fixed section 2111 and the support section 2112 have openings on the side away from the main beam 111 that communicate with the fixed cavity 2113 and the support cavity 2114. The cover 315 is fixed to the openings of the fixed cavity 2113 and the support cavity 2114 to seal them.

[0082] In one embodiment of this application, the support arm end arm 22 includes a receiving cavity for accommodating the horn 37. The support arm end arm 22 is formed in the shape of a cylindrical shell, and the receiving cavity is formed on the inner side of the support arm end arm 22, into which the horn 37 can be accommodated.

[0083] In one embodiment of this application, the main support arm 21 further includes an emergency stop button 23, which is used to stop the unmanned vehicle 100 in an emergency.

[0084] It should be understood that the unmanned vehicle 100 can be used for agricultural operations, such as harvesting crops, fertilizing, spraying pesticides, watering, sowing seeds, and pest control or sterilization. In addition, the unmanned vehicle 100 can also be used in the express delivery industry to deliver goods, thereby saving delivery costs and improving delivery efficiency.

[0085] In one embodiment of this application, as Figure 1 As shown, the unmanned vehicle 100 includes multiple wheeled outriggers 20 mounted on its body. These outriggers 20 are positioned below the chassis 14 to provide power for movement and motion of the entire chassis 14. It should be noted that the number of wheeled outriggers 20 can be four, arranged in pairs opposite each other on both sides of the main beam 111 of the chassis 14 in a rectangular array, stably supporting the entire chassis 14 to facilitate agricultural operations by the unmanned vehicle 100. Of course, in other embodiments of this application, the number of wheeled outriggers 20 can be increased or decreased according to the operational needs of the unmanned vehicle 100. Specifically, each wheeled outrigger 20 includes a walking wheel, a drive unit, and a wheel arm.

[0086] In one embodiment of this application, an anti-collision device 113 is provided at the end of the chassis 14 of the unmanned vehicle 100. The anti-collision device 113 includes an anti-collision beam and a buffer assembly connecting the anti-collision beam to the end of the main beam 111. By providing the anti-collision device 113, damage to the unmanned vehicle 100 can be reduced during its movement, thereby improving the service life of the unmanned vehicle 100.

[0087] In one embodiment of this application, the operating equipment 112 on the chassis 14 of the unmanned vehicle 100 is used to assist in agricultural operations, enabling the unmanned vehicle 100 to complete the set agricultural tasks. The operating equipment 112 can be selected as a spraying system for watering, pest control, and sterilization of agricultural and forestry crops. Specifically, the spraying system can be used in agricultural industries for pesticide spraying or irrigation. It can also be used in other fields such as spraying fire extinguishing liquids in forest fires, transporting supplies, and disaster relief patrols. The operating equipment 112 can be selected and adjusted according to the type of agricultural operation. For example, when the operation type is sowing, the operating equipment 112 can be a seeder; when the operation type is harvesting, the operating equipment 112 can be a harvester. Operators can select the required operating equipment 112 according to different operation types, thereby meeting the operational needs of various agricultural operations and ensuring operational effectiveness and quality.

[0088] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0091] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

[0094] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0096] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0097] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0099] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An unmanned vehicle, the unmanned vehicle comprising a body, characterized in that, The vehicle body includes a chassis and a control component connected to the chassis. The control component includes a support arm and a functional module disposed on the support arm. The support arm is used to position the functional module at a preset height relative to the chassis so as to form a load-bearing area at the chassis. The support arm includes a main support arm and a support arm end arm connected to the main support arm. The main support arm is connected to the chassis. The support arm end arm is located at the end of the main support arm away from the chassis. The functional module includes a control module, which is mounted on the main support arm and is used to control the operation of the unmanned vehicle. The functional module also includes a radar module, which is located between the main arm of the support arm and the end arm of the support arm; The functional modules include a communication module and a circuit switch module; The main arm of the support arm includes a support portion connected to the chassis and a connecting portion connected to the support portion. The support portion includes a fixed section and a support section from bottom to top. The fixed section is fixed to the side wall of the front main beam of the vehicle body. The fixed section, the support section, and the connecting portion respectively form a fixed cavity, a support cavity, and a connecting cavity that communicate with each other. The control module and the circuit switch module are both disposed in the support cavity. The fixed section has a wiring opening on the side near the main beam. The wiring opening communicates with the cavity in the main beam. The connecting wires between the power unit of the vehicle body, the working equipment, and the control components enter the fixed cavity through the wiring opening. The connecting portion includes a first opening that communicates with the connecting cavity. The communication module is disposed in the connecting cavity and corresponds to the first opening to facilitate the installation and removal of the communication module.

2. The unmanned vehicle according to claim 1, characterized in that, The functional module includes a first antenna module and a second antenna module located on both sides of the radar module.

3. The unmanned vehicle according to claim 2, characterized in that, The radar module includes a radar housing, a radar plate that can rotate within the radar housing, and a drive module that drives the radar plate to rotate. The first end of the radar housing is connected to the connecting part via a connecting seat, the second end of the radar housing is connected to the end arm of the support arm via a fixed seat, and the radar plate is connected to the fixed seat via the drive module.

4. The unmanned vehicle according to claim 3, characterized in that, The central axis of the radar housing coincides with the central axis of the portion of the support arm that connects to the radar module.

5. The unmanned vehicle according to claim 4, characterized in that, The functional module includes a visual sensor module, which is mounted on the outside of the radar housing via a first mounting part. The visual sensor module is used to detect the shape of obstacles.

6. The unmanned vehicle according to any one of claims 3 to 5, characterized in that, The functional module includes a lighting module, which is mounted on the outside of the radar housing via a second mounting part.

7. The unmanned vehicle according to claim 2, characterized in that, The connecting portion includes a second opening, and the support arm end arm includes a third opening. The first antenna module is disposed in the second opening, and the second antenna module is disposed in the third opening. The first antenna module and the second antenna module are electrically connected to the communication module and are routed through the connecting cavity so that the communication module can communicate with the terminal device and / or satellite through the first antenna module and the second antenna module.

8. The unmanned vehicle according to claim 1, characterized in that, The main support arm includes a cover, which includes an operating opening corresponding to the circuit switch. The operating opening is covered by a sub-cover. The circuit switch module is used to control the circuit switch of the unmanned vehicle.

9. The unmanned vehicle according to any one of claims 1 to 5, characterized in that, The end arm of the support arm includes a receiving cavity for accommodating the speaker.

10. The unmanned vehicle according to any one of claims 1 to 5, characterized in that, The main arm of the support arm also includes an emergency stop button, which is used to stop the unmanned vehicle in an emergency.

11. The unmanned vehicle according to any one of claims 1 to 5, characterized in that, The support arm is perpendicular to the chassis.

12. The unmanned vehicle according to any one of claims 1 to 5, characterized in that, The support arm includes inverted L-shaped, T-shaped, Y-shaped, I-shaped, H-shaped, or inverted U-shaped.

13. The unmanned vehicle according to any one of claims 1 to 4, characterized in that, The functional module also includes at least one of a vision sensor module and a lighting module.

Images