A balancing vehicle for agricultural work

Abstract

The application discloses a balance car for agricultural operation and relates to the technical field of agricultural machinery, which comprises a car body, casters, an anti-skid assembly, three lifting assemblies, a camera, a control assembly and a driving assembly. The control assembly can control the driving assembly to drive each caster to be close to or away from the bottom of the car body according to an image. One caster serves as a front wheel, and the other two casters serve as rear wheels. The lifting part corresponding to the front wheel is a front lifting part, and the lifting parts corresponding to the two rear wheels are rear lifting parts. The anti-skid assembly comprises two guide rods and two anti-skid struts. One end of each anti-skid strut is slidably connected to a guide rod. When the balance car goes uphill, the end of each anti-skid strut, which is away from the guide rod, can be in contact with the ground. The balance car for agricultural operation can automatically keep horizontal on a rugged road section, is convenient for agricultural operation, can prevent the balance car from sliding down the slope when temporarily stopping during uphill operation, and is safer.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a self-balancing vehicle for agricultural operations. Background Technology

[0002] Currently, accelerating the research and development and promotion of advanced agricultural machinery is a crucial aspect of agricultural development, with a focus on developing large-scale intelligent agricultural machinery and equipment, as well as small-scale machinery and horticultural machinery suitable for hilly and mountainous areas. However, due to the complex terrain in some regions, vehicles struggle to maintain a level position, making them unsuitable for mechanized agronomy (cultivation, management, and harvesting). This severely restricts agricultural productivity on sloping terrain. For example, when transporting ripe fruit, if the transport vehicle cannot maintain a level position and is constantly jolted, the fruit may be damaged during the repeated changes in vehicle angle. Chinese patent CN113400352A discloses a leveling mechanism for an agricultural mobile platform. The vehicle chassis uses a dual-axis tilt sensor installed in the middle of the harvesting platform to sense the tilt angle of the platform relative to a fixed center point, transmitting the tilt information to a microcontroller to control the raising and lowering of a push rod and keep the mobile platform level. However, this leveling mechanism can only keep the mobile platform level. When the vehicle needs to stop temporarily on a slope, it is very likely to slide down due to insufficient friction between the wheels and the ground, posing a danger. Therefore, there is an urgent need for a self-balancing vehicle for agricultural operations that can automatically maintain a level position on rough roads to facilitate agricultural work, and also prevent the vehicle from sliding down the slope when stopped on an incline, thus enhancing safety. Summary of the Invention

[0003] The purpose of this invention is to provide a self-balancing vehicle for agricultural operations to solve the problems existing in the prior art. It can automatically maintain a level position on rough roads, thus facilitating agricultural operations, and can also prevent the vehicle from sliding down the slope when it stops on the slope during the uphill process, thus enhancing safety.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A self-balancing scooter for agricultural operations includes a frame, casters, anti-slip components, three lifting components, cameras, a control component, and a drive component. Each lifting component has a lifting part located below the frame. A caster is fixedly connected to the bottom of each lifting part. Cameras are sequentially arranged around the circumference of the frame, with their lenses facing the ground. Each camera is signal-connected to the control component, which is also signal-connected to the drive component. The actuator of the drive component is connected to the lifting components. Each camera can capture images of the terrain surrounding the frame and transmit them to the control component. The control component receives the images and outputs control signals to the drive component. The drive system receives the control signals from the control component and drives each lifting component to move the casters closer to or further away from the frame. The bottom of the vehicle body is close to or far from the ground; one of the casters serves as the front wheel, and the other two casters serve as the rear wheels. The lifting part corresponding to the front wheel is the front lifting part, and the lifting parts corresponding to the two rear wheels are the rear lifting parts. The anti-slip assembly includes two guide rods and two anti-slip support rods. Both guide rods are telescopic rods. One end of each guide rod is hinged to the front lifting part. The end of one guide rod away from the front lifting part is hinged to one of the rear lifting parts, and the end of the other guide rod away from the front lifting part is hinged to the other rear lifting part. The distance from the hinged positions of the two guide rods to the casters is equal. One end of each of the two anti-slip support rods is slidably connected to the two guide rods. The two anti-slip support rods can slide along the length direction of the two guide rods respectively. When the balance vehicle goes uphill, the ends of the two anti-slip support rods away from the guide rods can contact the ground.

[0006] Preferably, all three lifting components are hydraulic cylinders, and one end of each of the three hydraulic cylinders is fixedly connected to the bottom of the vehicle body. The driving component is a hydraulic system, which is connected to each oil port of each of the hydraulic cylinders. The hydraulic rod of each hydraulic cylinder is the lifting part.

[0007] Preferably, the ends of the three hydraulic cylinders connected to the bottom of the vehicle body are respectively a first fixed end, a second fixed end, and a third fixed end. The bottom surface of the vehicle body is rectangular, and the two axes of symmetry of the bottom surface of the vehicle body are a first axis of symmetry and a second axis of symmetry. The first axis of symmetry divides the vehicle body into a first part and a second part. The first fixed end is located on the first part and on the second axis of symmetry. The second fixed end and the third fixed end are both located on the second part. The second axis of symmetry divides the second part into a third part and a fourth part. The second fixed end and the third fixed end are located on the third part and the fourth part, respectively.

[0008] Preferably, the anti-slip assembly further includes a positioning rod and two movable parts. Each of the two movable parts includes a sliding part, a rotating part, and a turntable. The two sliding parts are respectively sleeved on the two guide rods. The two sliding parts can slide along the length direction of the two guide rods and can rotate relative to an axis parallel to the length direction of the two guide rods. The two rotating parts are respectively disposed on the side of the two sliding parts near the vehicle body and are rotatably connected to the two sliding parts. The two rotating parts can rotate relative to an axis perpendicular to the guide rod corresponding to each of the two rotating parts. The two rotating parts are respectively provided with through holes facing each other. The positioning rod extends into and is movably connected to the two through holes. The two turntables are respectively rotatably connected to the side of the two sliding parts away from the vehicle body. The two turntables can rotate relative to an axis perpendicular to the guide rod corresponding to each of the two turntables. One end of each of the two anti-slip support rods is hinged to the circumferential edge of the two turntables.

[0009] Preferably, the movable component further includes a torsion spring, the turntable and the anti-slip support rod are hinged around a positioning axis, the axis of the torsion spring is parallel to the positioning axis, one leg of the torsion spring is fixedly connected to the side of the turntable away from the sliding part, and the other leg is fixedly connected to the side of the anti-slip support rod near the sliding part, and the torsion spring can prevent each of the anti-slip support rods from rotating in a direction away from the location of each of the rear wheels.

[0010] Preferably, a connector is fixedly connected to the end of the anti-slip support rod away from the movable part, and the side of the connector away from the anti-slip support rod is an arc surface, on which multiple legs are fixedly connected.

[0011] Preferably, the vehicle body further includes multiple cantilever arms, each of which is arranged sequentially in the circumferential direction of the vehicle body. One end of each cantilever arm is fixedly connected to the side of the vehicle body, and the other end extends from the vehicle body in a direction away from the vehicle body and is fixedly connected to a camera.

[0012] Preferably, all of the casters are swivel casters.

[0013] The present invention achieves the following technical effects compared to the prior art:

[0014] The self-balancing scooter for agricultural operations provided by this invention acquires image data of the ground via a camera when traveling on rough terrain and controls the drive assembly to raise and lower the casters, thus automatically keeping the scooter level during forward movement. When the scooter needs to temporarily stop while going uphill, the rear lifting unit moves the rear wheel away from the scooter while the front lifting unit moves the front wheel closer to the scooter, keeping the scooter level. At this time, the ends of the guide rods connected to the front lifting unit are higher than the ends connected to the rear lifting unit, allowing the anti-slip support rods to slide to their lowest point and support the ground, thereby preventing the scooter from sliding down. Therefore, the self-balancing scooter for agricultural operations provided by this invention allows the control assembly to control the drive assembly to move the casters closer to or away from the bottom of the scooter based on images, automatically keeping the scooter level and facilitating agricultural operations. When the scooter needs to temporarily stop while going uphill, the anti-slip support rods support the ground to prevent the scooter from sliding down, enhancing safety. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A three-dimensional structural diagram of a self-balancing vehicle for agricultural operations provided by the present invention;

[0017] Figure 2 for Figure 1 3D structural diagram of the anti-slip support rod and moving parts;

[0018] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0019] Figure 4 A top view of the self-balancing vehicle for agricultural operations provided by the present invention;

[0020] Figure 5 The control flowchart for the operation of the self-balancing vehicle used in agricultural operations provided by the present invention;

[0021] Figure 6 The control flowchart provided by the present invention for a self-balancing vehicle used in agricultural operations when it pauses movement during uphill operation;

[0022] Figure 7 This is a schematic diagram showing the installation positions of each fixed end of the self-balancing vehicle used for agricultural operations provided by the present invention.

[0023] In the diagram: 1-Body body, 11-First axis of symmetry, 12-Second axis of symmetry, 13-First part, 14-Second part, 15-Third part, 16-Fourth part, 2-Castwheel, 21-Front wheel, 22-Rear wheel, 3-Anti-slip component, 31-Guide rod, 32-Anti-slip support rod, 321-Connector, 322-Outrigger, 33-Positioning rod, 34-Moving part, 341-Sliding part, 342-Rotating part, 343-Turntable, 344-Torsion spring, 4-Lifting component, 41-Lifting part, 42-First fixed end, 43-Second fixed end, 44-Third fixed end, 5-Cantilever, 51-Camera, 6-Control component, 7-Drive component. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The purpose of this invention is to provide a self-balancing vehicle for agricultural operations to solve the problems existing in the prior art. It can automatically maintain a level position on rough roads, thus facilitating agricultural operations, and can also prevent the vehicle from sliding down the slope when it stops on the slope during the uphill process, thus enhancing safety.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] This invention provides a self-balancing vehicle for agricultural operations, such as... Figure 1-7As shown, the system includes a vehicle body 1, casters 2, anti-slip components 3, three lifting components 4, cameras 51, a control component 6, and a drive component 7. Each lifting component 4 has a lifting part 41, which is located below the vehicle body 1. A caster 2 is fixedly connected to the bottom of each lifting part 41. Cameras 51 are arranged sequentially around the circumference of the vehicle body 1, with their lenses facing the ground. Each camera 51 is connected to the control component 6, which in turn is connected to the drive component 7. The actuator of the drive component 7 is connected to the lifting components 4. Each camera 51 can capture images of the terrain around the vehicle body 1 and transmit them to the control component 6. The control component 6 can receive the images and output control signals to the drive component 7. The drive system can receive the control signals output by the control component 6 and drive each lifting component 4 to move the casters 2 closer to or away from the vehicle body 1 so that the bottom of the vehicle body 1 is close to the ground. Near or far from the ground; wherein, one caster 2 serves as the front wheel 21, and the other two casters 2 serve as the rear wheels 22. The lifting part 41 corresponding to the front wheel 21 is the front lifting part, and the lifting parts 41 corresponding to the two rear wheels 22 are the rear lifting parts; the anti-slip component 3 includes two guide rods 31 and two anti-slip support rods 32. Both guide rods 31 are telescopic rods. One end of each guide rod 31 is hinged to the front lifting part. The end of one guide rod 31 away from the front lifting part is hinged to one rear lifting part, and the end of the other guide rod 31 away from the front lifting part is hinged to another rear lifting part. The distance from the hinged positions of the two guide rods 31 to each lifting part 41 to the caster 2 is equal. One end of each of the two anti-slip support rods 32 is slidably connected to the two guide rods 31. The two anti-slip support rods 32 can slide along the length direction of the two guide rods 31 respectively. When the balance bike goes uphill, the ends of the two anti-slip support rods 32 away from the guide rods 31 can contact the ground.

[0028] The self-balancing scooter for agricultural operations provided by this invention can be equipped with a storage device on the top of the scooter body 1 for transporting crops or pesticides. When the scooter travels on rough terrain, the camera 51 acquires image data of the ground and transmits it to the control component 6. The control component 6 can analyze the image and output control commands. The drive component 7 receives the control commands and drives each caster wheel 2 to rise and fall, so the entire scooter body 1 can automatically maintain a horizontal position during forward movement. The control is precise and efficient, and the scooter has a high degree of intelligence. When the scooter needs to stop temporarily while going uphill, the rear lifting part moves the rear wheel 22 away from the scooter body 1, increasing the height of the rear half of the scooter body 1. The front lifting part moves the front wheel 21 closer to the scooter body 1, decreasing the height of the front half of the scooter body 1. The scooter body remains horizontal. At this time, the ends of each guide rod 31 connected to the front lifting part are higher than the ends connected to the rear lifting part. The anti-slip support rod 32 can slide to the lowest point of the guide rod 31 and support the ground, generating a supporting force on the scooter body 1 in the uphill direction, thereby preventing the vehicle from sliding downhill. The drive assembly 7 is preferably located inside the vehicle body 1, and the control assembly 6 is preferably located at the bottom of the vehicle body 1.

[0029] In the preferred embodiment of this first example, all three lifting components 4 are hydraulic cylinders, with one end of each cylinder fixedly connected to the bottom of the vehicle body 1. The drive component 7 is a hydraulic drive component, connected to each oil port of each hydraulic cylinder. The hydraulic rod of each hydraulic cylinder is a lifting part 41. The hydraulic rods on the hydraulic cylinders can lift and lower stably, improving the overall stability of the balance vehicle. The hydraulic drive component includes an oil pump, which is driven by a motor, and the motor is signal-connected to the control component 6.

[0030] In the preferred embodiment of this first embodiment, as follows Figure 7 As shown, the ends of the three hydraulic cylinders connected to the bottom of the vehicle body 1 are respectively the first fixed end 42, the second fixed end 43, and the third fixed end 44. The bottom surface of the vehicle body 1 is rectangular, and the two axes of symmetry of the bottom surface of the vehicle body 1 are the first axis of symmetry 11 and the second axis of symmetry 12. The first axis of symmetry divides the vehicle body 1 into a first part 13 and a second part 14. The first fixed end 42 is located on the first part 13 and on the second axis of symmetry 12. The second fixed end 43 and the third fixed end 44 are both located on the second part 14. The second axis of symmetry 12 divides the second part into a third part 15 and a fourth part 16. The second fixed end 43 and the third fixed end 44 are located on the third part 15 and the fourth part 16, respectively. The first fixed end 42, located on the first part 13 and on the second axis of symmetry 12, can support the front half of the vehicle body 1. The second fixed end 43 and the third fixed end 44, located on the third part 15 and the fourth part 16, respectively, can support the rear half of the vehicle body 1 and the left and right parts of the vehicle body 1, thereby improving the overall stability of the self-balancing vehicle.

[0031] In a preferred embodiment of this first embodiment, the anti-slip component 3 further includes a positioning rod 33 and two movable parts 34. Each movable part 34 includes a sliding portion 341, a rotating portion 342, and a turntable 343. The two sliding portions 341 are respectively sleeved on the two guide rods 31. The two sliding portions 341 can slide along the length direction of the two guide rods 31 and can rotate relative to axes parallel to the length direction of the two guide rods 31. The two rotating portions 342 are respectively disposed on the sides of the two sliding portions 341 near the vehicle body 1 and are rotatably connected to the two sliding portions 341. The rotating part 342 can rotate relative to the axis of the guide rod 31 corresponding to each of the two rotating parts 342. The two rotating parts 342 are respectively provided with through holes facing each other. The positioning rod 33 extends into and is movably connected to the two through holes. One side of each of the two turntables 343 is rotatably connected to the side of the two sliding parts 341 away from the vehicle body 1. The two turntables 343 can rotate relative to the axis of the guide rod 31 corresponding to each of the two turntables 343. One end of each of the two anti-slip support rods 32 is hinged to the circumferential edge of the two turntables 343. When the self-balancing scooter is temporarily stopped on a slope, the following situation occurs: one rear wheel 22 corresponds to a lower ground height, while the other rear wheel 22 corresponds to a higher position relative to the front wheel 21. The self-balancing scooter may slide towards the lower rear wheel 22. At this time, the two sliding parts 341 can slide along the guide rod 31 to a certain position under the force provided by gravity and the positioning rod 33. Taking the two center points of the two sliding parts 341 and the hinge point of the two guide rods 31 with the front wheel 21 as the first plane, and the three points where the three casters 2 respectively contact the ground as the second plane, the first plane and the second plane are nearly parallel (i.e., the first plane fits the second plane). The position of the sliding part 341 can then correspond to the caster 2 with the lowest height of the self-balancing scooter. As a result, the turntable 343 can automatically rotate under the action of gravity of the anti-slip support rod 32, and the anti-slip support rod 32 can also rotate accordingly, so that the end of the anti-slip support rod 32 used for support is oriented towards the direction in which the self-balancing scooter tends to slide down, thereby supporting the vehicle and further improving the anti-slip ability of the self-balancing scooter. When the self-balancing scooter is going downhill, the anti-slip support rod 32 needs to be manually rotated relative to the hinge between the protective support rod and the turntable 343, so that the end of the anti-slip support rod 32 away from the guide rod 31 leaves the ground. The anti-slip support rod 32 is then fixed to the guide rod 31 by a rope or other detachable device to prevent it from affecting the scooter's descent. The rotating part 342 and the sliding part 341 are rotatably connected by a bearing. The turntable 343 is a rolling bearing. A rotating shaft is located on the side of the sliding part 341 away from the rotating part 342. The inner ring of the rolling bearing is fixedly connected to the rotating shaft, and the anti-slip support rod 32 is hinged to the circumferential edge of the outer ring.

[0032] In a preferred embodiment of this first embodiment, the movable component 34 further includes a torsion spring 344. The turntable 343 and the anti-slip support rod 32 are hinged around a positioning axis. The axis of the torsion spring 344 is parallel to the positioning axis. One leg of the torsion spring 344 is fixedly connected to the side of the turntable 343 away from the sliding part 341, and the other leg is fixedly connected to the side of the anti-slip support rod 32 near the sliding part 341. The torsion spring 344 can prevent each anti-slip support rod 32 from rotating in a direction away from the rear wheels 22. When the self-balancing scooter temporarily stops while going uphill and has a tendency to slide downhill, the anti-slip support rod 32 supports the ground. The anti-slip support rod 32 tends to rotate away from the rear wheel 22, but the torsion spring 344 can prevent the anti-slip support rod 32 from rotating away from the rear wheel 22. At the same time, the torsion spring 344 does not prevent the anti-slip support rod 32 from rotating closer to the rear wheel 22. When the self-balancing scooter stops for a period of time and needs to move forward a short distance, there is no need to retract the anti-slip support rod 32, and the self-balancing scooter can move forward normally, which greatly improves the flexibility of the self-balancing scooter during operation.

[0033] In a preferred embodiment of this first example, a connector 321 is fixedly connected to the lower end of the anti-slip support rod 32. The side of the connector 321 away from the anti-slip support rod 32 is an arc surface, and multiple support legs 322 are fixedly connected to the arc surface. The multiple support legs 322 connected to the arc surface can increase the contact area between the anti-slip rod and the ground, thereby increasing the friction and further improving the anti-slip ability of the balance scooter.

[0034] In a preferred embodiment of this first example, the vehicle body 1 further includes multiple cantilever arms 5, which are sequentially arranged circumferentially on the vehicle body 1. One end of each cantilever arm 5 is fixedly connected to the side of the vehicle body 1, and the other end extends from the vehicle body 1 away from it and is fixedly connected to a camera 51. The cantilever arms 5 allow the camera 51 to be at a distance from the vehicle body 1, thereby enabling the acquisition of image information in advance and its transmission to the control component 6. This allows the control component 6 to prepare in advance for the control signals to be output in the next step, further improving the vehicle body 1's ability to maintain a horizontal position and facilitating agricultural operations. Specifically, the vehicle body 1 is preferably a cuboid, and cantilever arms 5 are provided on all four sides of the vehicle body 1 perpendicular to the horizontal direction.

[0035] In the preferred embodiment of this first example, each caster 2 is a swivel wheel. Swivel wheels facilitate the movement of the balance scooter in multiple directions, improving the balance scooter's flexibility.

[0036] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-balancing scooter for agricultural operations, characterized in that: The system includes a vehicle body, casters, anti-slip components, three lifting components, cameras, a control component, and a drive component. Each lifting component has a lifting part located below the vehicle body. A caster is fixedly connected to the bottom of each lifting part. Cameras are sequentially arranged around the circumference of the vehicle body, with their lenses facing the ground. Each camera is signal-connected to the control component, which in turn is signal-connected to the drive component. The actuator of the drive component is connected to the lifting components. Each camera can capture images of the terrain surrounding the vehicle body and transmit them to the control component. The control component receives the images and outputs control signals to the drive component. The drive system receives the control signals from the control component and drives each lifting component to move the casters closer to or further away from the vehicle body, thus bringing the bottom of the vehicle body closer to the ground. Or away from the ground; wherein, one of the casters is the front wheel, and the other two casters are the rear wheels, the lifting part corresponding to the front wheel is the front lifting part, and the lifting parts corresponding to the two rear wheels are the rear lifting parts; the anti-slip component includes two guide rods and two anti-slip support rods, both of the guide rods are telescopic rods, one end of each guide rod is hinged to the front lifting part, one end of one guide rod away from the front lifting part is hinged to one of the rear lifting parts, and the other end of the guide rod away from the front lifting part is hinged to another rear lifting part. The distance from the position where the two guide rods are hinged to each of the lifting parts to the caster is equal. One end of each of the two anti-slip support rods is slidably connected to the two guide rods respectively. The two anti-slip support rods can slide along the length direction of the two guide rods respectively. When the balance vehicle goes uphill, the ends of the two anti-slip support rods away from the guide rods can contact the ground.

2. The self-balancing vehicle for agricultural operations according to claim 1, characterized in that: All three lifting components are hydraulic cylinders, and one end of each of the three hydraulic cylinders is fixedly connected to the bottom of the vehicle body. The driving component is a hydraulic system, which is connected to each oil port of each of the hydraulic cylinders. The hydraulic rod of each hydraulic cylinder is the lifting part.

3. The self-balancing vehicle for agricultural operations according to claim 2, characterized in that: The ends of the three hydraulic cylinders connected to the bottom of the vehicle body are respectively a first fixed end, a second fixed end, and a third fixed end. The bottom surface of the vehicle body is rectangular, and the two axes of symmetry of the bottom surface of the vehicle body are a first axis of symmetry and a second axis of symmetry. The first axis of symmetry divides the vehicle body into a first part and a second part. The first fixed end is located on the first part and on the second axis of symmetry. The second fixed end and the third fixed end are both located on the second part. The second axis of symmetry divides the second part into a third part and a fourth part. The second fixed end and the third fixed end are located on the third part and the fourth part, respectively.

4. The self-balancing vehicle for agricultural operations according to claim 1, characterized in that: The anti-slip assembly further includes a positioning rod and two movable parts. Each of the two movable parts includes a sliding part, a rotating part, and a turntable. The two sliding parts are respectively sleeved on the two guide rods. The two sliding parts can slide along the length direction of the two guide rods and can rotate relative to an axis parallel to the length direction of the two guide rods. The two rotating parts are respectively disposed on the side of the two sliding parts near the vehicle body and are rotatably connected to the two sliding parts. The two rotating parts can rotate relative to an axis perpendicular to the guide rod corresponding to each of the two rotating parts. The two rotating parts are respectively provided with through holes facing each other. The positioning rod extends into and is movably connected to the two through holes. The two turntables are respectively rotatably connected to the side of the two sliding parts away from the vehicle body. The two turntables can rotate relative to an axis perpendicular to the guide rod corresponding to each of the two turntables. One end of each of the two anti-slip support rods is hinged to the circumferential edge of the two turntables.

5. The self-balancing vehicle for agricultural operations according to claim 4, characterized in that: The movable component also includes a torsion spring. The turntable and the anti-slip support rod are hinged around a positioning axis. The axis of the torsion spring is parallel to the positioning axis. One leg of the torsion spring is fixedly connected to the side of the turntable away from the sliding part, and the other leg is fixedly connected to the side of the anti-slip support rod near the sliding part. The torsion spring can prevent each of the anti-slip support rods from rotating in a direction away from the location of each of the rear wheels.

6. The self-balancing vehicle for agricultural operations according to claim 4, characterized in that: A connector is fixedly connected to the end of the anti-slip support rod away from the movable part. The side of the connector away from the anti-slip support rod is an arc surface, and multiple legs are fixedly connected to the arc surface.

7. The self-balancing vehicle for agricultural operations according to claim 1, characterized in that: The vehicle body also includes multiple cantilever arms, which are arranged sequentially in the circumferential direction of the vehicle body. One end of each cantilever arm is fixedly connected to the side of the vehicle body, and the other end extends from the vehicle body away from the vehicle body and is fixedly connected to a camera.

8. The self-balancing vehicle for agricultural operations according to claim 1, characterized in that: All casters mentioned are swivel casters.

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