All-terrain wheel and bird repelling vehicle

Abstract

The invention belongs to the technical field of wheel design, and discloses an all-terrain wheel and a bird repelling vehicle. The all-terrain wheel comprises a hub, a chain wheel, a traction supporting piece and an elastic supporting ring. Wherein the hub comprises movable spokes, the spokes can move to a first position and a second position, the annular chain wheel is arranged on the outer side of the hub in a surrounding mode, the chain wheel comprises a plurality of chain block pieces which are rotationally connected end to end and connected in a sliding mode, the spokes are connected with the chain block pieces through traction supporting pieces, and the elastic supporting ring is arranged on the inner side of the chain wheel in a sleeving mode. And the inner circumferential surface of the chain wheel is pressed against. By means of the arrangement, when the all-terrain wheel moves on the flat ground, the all-terrain wheel can be transformed into a circular rigid wheel, the moving speed of the all-terrain wheel on the flat ground is increased, when the all-terrain wheel moves on the uneven ground, the contact area between the all-terrain wheel and the road surface can be increased, and therefore the trafficability of the all-terrain wheel is improved. The bird repelling vehicle provided by the invention adopts the all-terrain wheel as a walking mechanism, so that the all-terrain wheel can operate efficiently and stably in complex and changeable terrains.

Description

Technical Field

[0001] The invention relates to the technical field of wheel design, in particular to an all-terrain wheel and a bird-repelling vehicle. Background Art

[0002] With the improvement of the ecological environment and the enhancement of people's awareness of animal protection, the increase in the number of birds has brought new challenges to the fields of aviation and power grid. In particular, facing the problem of bird repelling in narrow and rugged scenes such as field substations and rural farmland, traditional unmanned bird repelling machines, such as laser emission rods and odor bird repelling boxes, are inconvenient to move and can only be fixed in certain positions to expel birds in fixed areas, and their bird repelling effect is poor. Due to their large size and inconvenient steering, existing bird repelling vehicles are usually only suitable for open scenes such as airports, but are not convenient for driving on narrow and rugged roads in the wild, rural areas, and farmlands. In complex terrain environments, the wheels of existing bird repelling vehicles are difficult to overcome obstacles, and their bird repelling effect is very limited. Although the crawler-type walking mechanism has good off-road performance and large climbing ability, the production cost of this crawler-type walking mechanism is high, and the running speed on flat terrain is low, and its bird repelling effect is also not ideal.

[0003] Therefore, it is urgent to design a wheel and a bird-repelling vehicle that can move quickly on flat terrain and have strong obstacle-crossing ability when facing complex terrain to solve the problems existing in the prior art. Summary of the invention

[0004] The object of the present invention is to provide an all-terrain wheel which can move quickly on flat terrain and has strong obstacle-crossing capability when facing complex terrain.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An all-terrain wheel, comprising:

[0007] a wheel hub, the wheel hub comprising a movable spoke, the spoke being movable to a first position and a second position;

[0008] A sprocket, the annular sprocket is arranged around the outside of the wheel hub, and the sprocket includes a plurality of chain blocks connected end to end in rotation and sliding connection;

[0009] A traction support member, through which the wheel spokes and each of the chain blocks are connected;

[0010] An elastic support ring, which is sleeved on the inner side of the sprocket and abuts against the inner circumference of the sprocket;

[0011] Among them, the spokes in the first position tighten the chain block through the traction support member, so that the angle between two adjacent chain blocks is maintained at a first angle, and the sprocket is switched to a circular rigid wheel; the spokes in the second position make the traction support member in a relaxed state, and the sprocket is supported by the elastic support ring. The sprocket can be deformed under the action of external force so that the angle between two adjacent chain blocks is switched to a second angle.

[0012] Optionally, the chain block member includes a chain block and an assembly pin, and two adjacent chain blocks are rotationally and slidingly connected via the assembly pin.

[0013] Optionally, the chain block includes a first connecting portion and a second connecting portion, the first connecting portion is provided with a first assembly hole, and the second connecting portion is provided with a first assembly groove and a second assembly hole;

[0014] Among the two adjacently connected chain blocks, the first connecting portion of one of the chain blocks can be placed in the first assembly groove of the other chain block, and the first assembly hole is connected to the second assembly hole, and the assembly pin is penetrated into the first assembly hole and the second assembly hole and can move in the first assembly hole and the second assembly hole.

[0015] Optionally, a first limiting portion is further provided on the first connecting portion, and in two adjacently connected chain blocks, the first limiting portion on one of the chain blocks cooperates with the first assembly groove on the other chain block to limit the maximum angle of rotation of the two adjacent chain blocks in the first direction, and keep the angle between the two adjacent chain blocks at the first angle;

[0016] And / or, a second limiting portion and a second assembly groove are also provided on the second connecting portion. Among the two adjacently connected chain blocks, the second limiting portion on one of the chain blocks cooperates with the second assembly groove on the other chain block to limit the maximum rotation angle of the two adjacent chain blocks in the second direction, so that the angle between the two adjacent chain blocks can be switched to the second angle.

[0017] Optionally, a plurality of first fixing holes are spaced apart in the circumferential direction of the spokes, a second fixing hole is formed on each of the chain blocks, and two ends of each of the traction support members are respectively fixed in the first fixing hole and the second fixing hole.

[0018] Optionally, there are two wheel spokes, and the two wheel spokes are spaced apart in the axial direction of the wheel hub;

[0019] And / or, the wheel hub further includes a screw motor, a screw end of the screw motor is fixedly connected to the spoke and is used to drive the spoke to move.

[0020] Optionally, the wheel hub further includes a guide rod, the spoke is provided with a guide hole, and the guide rod is inserted into the guide hole.

[0021] Another object of the present invention is to provide a bird-repelling vehicle, using the all-terrain wheels as described above, and the bird-repelling vehicle further comprises:

[0022] A vehicle body, wherein two of the all-terrain wheels are mounted on the lower side of the vehicle body;

[0023] A bird-repelling device, the bird-repelling device being installed on the vehicle body;

[0024] A driving mechanism is installed on the vehicle body and is used to drive the all-terrain wheels to rotate.

[0025] Optionally, the bird-repelling device includes a pan-tilt platform, a camera device and a laser emitting device, the laser emitting device is arranged on the camera device, the camera device is arranged on the pan-tilt platform, and the pan-tilt platform can drive the camera device to rotate in the horizontal direction and / or vertical direction.

[0026] Optionally, two driving mechanisms are provided, and the two driving mechanisms are transmission-connected to the two all-terrain wheels in a one-to-one correspondence.

[0027] Beneficial effects of the present invention:

[0028] The present invention provides an all-terrain wheel, which can dynamically adjust the shape of the wheel to adapt to the outline of the obstacle when encountering an obstacle. Through this deformation, the contact area between the wheel and the obstacle is significantly increased, thereby providing greater friction and grip, and the wheel can more easily climb over the obstacle; and when moving on flat terrain, the all-terrain wheel can be transformed into a round rigid wheel, so that it can move quickly on flat terrain. Compared with traditional fixed-shape wheels, the all-terrain wheel in the present invention significantly improves the wheel's passability, allowing it to maintain efficient and stable movement in complex and changeable terrain; compared with traditional crawler-type walking mechanisms, the all-terrain wheel in the present invention can move quickly on flat terrain and has lower production costs.

[0029] The bird-repelling vehicle provided by the present invention adopts all-terrain wheels as a walking mechanism, thereby improving its passability in complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the structure of an all-terrain wheel provided by an embodiment of the present invention;

[0031] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0032] Figure 3 is a schematic structural diagram of a wheel hub provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of a chain block provided by an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of the angle between two chain blocks when the all-terrain wheel provided by an embodiment of the present invention rolls on a flat terrain;

[0035] Figure 6 Schematic diagram of the angle between two chain blocks when the all-terrain wheel provided by the embodiment of the present invention rolls on complex terrain

[0036] Figure 7 This is a schematic diagram of the structure of the bird-repelling vehicle provided by an embodiment of the present invention.

[0037] Figure 8 It is a structural schematic diagram of a bird-repelling device provided in an embodiment of the present invention.

[0038] In the figure:

[0039] 1. All-terrain wheels;

[0040] 11. wheel hub; 12. sprocket; 13. traction support; 14. elastic support ring;

[0041] 111, spokes; 112, guide rods; 113, axles;

[0042] 1111, first fixing hole;

[0043] 121. Chain block; 122. Assembly pin;

[0044] 1211. first connecting portion; 12111. first limiting portion; 12112. first assembly hole;

[0045] 1212, second connecting portion; 12121, first assembly groove; 12122, second limiting portion; 12123, second assembly groove; 12124, second assembly hole; 12125, second fixing hole;

[0046] 2. Vehicle body; 3. Bird repellent device;

[0047] 31. PTZ; 32. Camera device; 33. Laser emitting device; 34. Connector;

[0048] 4. Driving mechanism; 5. Obstacle avoidance device; 6. Charging structure. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0052] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0053] like Figures 1 to 6 As shown, this embodiment provides an all-terrain wheel 1, which includes a wheel hub 11, a sprocket 12, a traction support 13 and an elastic support ring 14. The wheel hub 11 includes a movable spoke 111, which can be moved to a first position and a second position. The annular sprocket 12 is arranged around the outside of the wheel hub 11. The sprocket 12 includes a plurality of chain blocks connected in a head-to-tail rotational and sliding manner. The spoke 111 is connected to each chain block through a traction support 13. The elastic support ring 14 is sleeved on the inner side of the sprocket 12 and abuts against the inner circumference of the sprocket 12. It should be noted that the first position and the second position do not refer to specific position coordinates.

[0054] Specifically, the spokes 111 in the first position tighten the chain blocks through the traction support 13, so that the angle between the two adjacent chain blocks can be maintained at the first angle. At this time, the sprocket 12 is switched to a circular rigid wheel, so that the all-terrain wheel can move quickly on flat terrain; the spokes 111 in the second position can make the traction support 13 in a relaxed state, and the sprocket 12 is supported by the elastic support ring 14. The sprocket 12 can be deformed under the action of external force so that the angle between the two adjacent chain blocks is switched to the second angle, thereby increasing the contact area between the all-terrain wheel 1 and the obstacle, so that the all-terrain wheel 1 can pass the obstacle smoothly.

[0055] Alternatively, if Figure 3 As shown, in this embodiment, two spokes 111 are provided. Each spoke 111 has its corresponding first position and second position. The first positions of the two spokes 111 are not the same coordinate position, and the second positions of the two spokes 111 are not the same coordinate position. In some embodiments, when the two spokes 111 are moved from their second positions to their first positions, it means that the two spokes 111 move away from each other, thereby tightening the traction support 13; when the two spokes 111 are moved from their first positions to their second positions, it means that the two spokes 111 move toward each other, thereby making the traction support 13 in a relaxed state.

[0056] It is understandable that the number of movable spokes 111 can be set according to actual needs, and can be set to one, two, or other numbers, as long as the effect of tightening and relaxing the tensioning traction support 13 can be achieved, and there is no limitation here.

[0057] Optionally, in order to realize the movement of the two wheel spokes 111 along the axis direction of the wheel hub 11, in this embodiment, two screw motors are arranged between the two wheel spokes 111. Optionally, the motor parts of the two screw motors are fixed together in opposite directions, and the screw ends of the two screw motors are respectively fixedly connected to the two wheel spokes 111. In this arrangement, when the screw ends of the two screw motors extend outward, the two wheel spokes 111 can be driven away from each other along the axis direction of the wheel hub 11; when the screw ends of the two screw motors are retracted inward, the two wheel spokes 111 can be driven to move closer to each other along the axis direction of the wheel hub 11.

[0058] It is understandable that in some other embodiments, the movement between the two spokes 111 can also be achieved through other push-pull structures, which is not limited here.

[0059] Furthermore, if Figure 3As shown, in this embodiment, the hub 11 is further provided with a guide rod 112, and the spoke 111 is provided with a guide hole, and the guide rod 112 is inserted into the guide hole. Therefore, when the spoke 111 moves, the spoke 111 can move more stably. It can be understood that the number of guide rods 112 can be set according to actual needs, and is not limited here.

[0060] like Figure 4 As shown, in this embodiment, the chain block member includes a chain block 121 and an assembly pin 122 , and two adjacent chain blocks 121 are rotationally and slidably connected via the assembly pin 122 .

[0061] Further, in order to facilitate the rotational connection between the chain blocks 121 in the sprocket 12, as Figure 4 As shown, in this embodiment, the chain block 121 includes a first connecting portion 1211 and a second connecting portion 1212. The first connecting portion 1211 is provided with a first assembly hole 12112, and the second connecting portion 1212 is provided with a first assembly groove 12121 and a second assembly hole 12124. When two adjacent chain blocks 121 are connected, the first connecting portion 1211 of one chain block 121 is placed in the first assembly groove 12121 of the other chain block 121, and the first assembly hole 12112 is communicated with the second assembly hole 12124, and the assembly pin 122 is penetrated in the first assembly hole 12112 and the second assembly hole 12124 and can move in the first assembly hole 12112 and the second assembly hole 12124. Optionally, the chain block 121 is an integrally formed part.

[0062] Further, such as Figure 4 and Figure 5 As shown, a first limiting portion 12111 is also provided on the first connecting portion 1211. Among two adjacently connected chain blocks 121, the first limiting portion 12111 on one chain block 121 cooperates with the first assembly groove 12121 on the other chain block 121, which can limit the maximum angle of rotation of the two adjacent chain blocks 121 in the first direction, and keep the angle between the two adjacent chain blocks at the first angle. It should be noted that, in this embodiment, the first direction is the direction of rotation toward the wheel hub 11. Optionally, in other embodiments, the maximum angle of rotation of the two adjacent chain blocks 121 in the first direction can also be limited by other limiting structures.

[0063] In one embodiment, the sprocket 12 includes 120 chain blocks 121, wherein the angle of rotation between two adjacent chain blocks 121 along the first direction is 0-3°. When the all-terrain wheel 1 moves on a flat terrain, the 120 chain blocks 121 rotate toward the wheel hub 11 under the pulling force of the traction support 13. When all the chain blocks 121 rotate to 3° in the first direction, the sprocket 12 forms a circular rigid wheel, thereby enabling the all-terrain wheel 1 to move quickly on a flat terrain.

[0064] Further, such as Figure 4 and Figure 6 As shown, the second connection portion 1212 is also provided with a second limiting portion 12122 and a second assembly groove 12123. Among the two adjacently connected chain blocks 121, the second limiting portion 12122 on one chain block 121 cooperates with the second assembly groove 12123 on the other chain block 121, which can limit the maximum angle of rotation of the two adjacent chain blocks 121 in the second direction, so that the angle between the two adjacent chain blocks can be switched to the second angle. It should be noted that, in this embodiment, the second direction is the direction of rotation away from the wheel hub 11, which is exactly opposite to the first direction. Optionally, in other embodiments, the maximum angle of rotation of the two adjacent chain blocks 121 in the second direction can also be limited by other limiting structures.

[0065] In one embodiment, the angle between any two adjacent chain blocks 121 that can rotate along the first direction is 0-90°. When the all-terrain wheel 1 moves on a complex terrain, the chain block 121 is in a rotatable state because it is not affected by the tension of the traction support 13. At this time, the elastic support ring 14 inside the sprocket 12 is required to support the chain block 121. When the all-terrain wheel 1 encounters an obstacle, the sprocket 12 can be deformed when affected by external force. At this time, the chain block 121 rotates in the second direction to wrap around the obstacle, thereby increasing the contact area between the all-terrain wheel 1 and the obstacle, so that the all-terrain wheel 1 can pass the obstacle smoothly; after the all-terrain wheel 1 passes the obstacle smoothly, the elastic support ring 14 will return to its original state, and then will generate an elastic restoring force on the chain block 121, so that the sprocket 12 can return to its original state, so that the all-terrain wheel 1 can continue to move. The above-mentioned second angle can be any angle from 0 to 90°.

[0066] It is understandable that in some other embodiments, the number of chain blocks 121 used to form the sprocket 12 can also be adaptively set according to actual needs, and on this basis, the angle of rotation between adjacent chain blocks 121 along the first direction or the second direction can be adaptively adjusted, without limitation here.

[0067] like Figure 2 As shown, in order to facilitate the fixed connection of the traction support 13 to the hub 11 and the sprocket 12, a plurality of first fixing holes 1111 are spaced apart in the circumferential direction of the spoke 111, and a second fixing hole 12125 is opened on each chain block 121, and the two ends of each traction support 13 are respectively fixed in the first fixing hole 1111 and the second fixing hole 12125.

[0068] Optionally, first fixing holes 1111 are formed on the circumference of the two spokes 111, and second fixing holes 12125 are formed at both ends of the second connecting portion 1212 of each chain block 121. The number of second fixing holes 12125 on one side of the sprocket 12 is the same as the number of first fixing holes 1111 on the spoke 111 on the same side, and both ends of the traction support 13 are respectively fixed in the first fixing hole 1111 and the second fixing hole 12125. Optionally, the traction support 13 is a steel wire rope.

[0069] The all-terrain wheel 1 provided by the present invention can dynamically adjust the shape of the wheel to adapt to the outline of the obstacle when encountering an obstacle. Through this deformation, the contact area between the wheel and the obstacle is significantly increased, thereby providing greater friction and grip, allowing the wheel to more easily climb over the obstacle; and when moving on flat terrain, it can be transformed into a round rigid wheel, allowing it to move quickly on flat terrain. Compared with traditional fixed-shape wheels, the all-terrain wheel 1 in the present invention significantly improves the wheel's passability, allowing it to maintain efficient and stable movement in complex and changeable terrains; compared with traditional crawler-type walking mechanisms, the all-terrain wheel 1 in the present invention can move quickly on flat terrain and has lower production costs.

[0070] like Figures 7 and 8 As shown, this embodiment also provides a bird-repelling vehicle, which includes the all-terrain wheel 1 as described above, and also includes a vehicle body 2, a bird-repelling device 3 and a driving mechanism 4. Among them, two all-terrain wheels 1 are installed on the lower side of the vehicle body 2, the bird-repelling device 3 is installed on the upper side of the vehicle body 2, and the driving mechanism 4 is installed on the lower side of the vehicle body 2 and can drive the all-terrain wheels 1 to rotate.

[0071] Through the above arrangement, the bird-repelling vehicle has higher passability when driving on narrow and rugged roads in the wild, rural areas, farmlands, etc., so that it can maintain efficient and stable operation in complex and changeable terrains, thereby improving the bird-repelling effect of the bird-repelling vehicle.

[0072] like Figure 3 and Figure 7 As shown, two side panels are provided on the lower side of the vehicle body 2, and an all-terrain wheel 1 is provided on the outer side of each of the two side panels. The all-terrain wheel 1 is also provided with a wheel axle 113, and the wheel axle 113 can pass through the side panels, so that the all-terrain wheel 1 is rotatably connected to the side panels. A driving mechanism 4 is also provided on the inner side of each of the two side panels, and the two driving mechanisms 4 are connected to the two all-terrain wheels 1 in a one-to-one transmission manner. Specifically, the output end of the driving mechanism 4 is connected to the wheel axle 113, and the all-terrain wheel 1 is driven to rotate by driving the wheel axle 113. By independently controlling each all-terrain wheel 1, the handling flexibility of the vehicle is further improved, and the bird-repelling vehicle is given the ability to turn on the spot, so that it performs well in narrow or complex sections and has higher flexibility. Optionally, the driving mechanism 4 is a motor.

[0073] like Figure 8 As shown, the bird-repelling device 3 includes a pan-tilt platform 31, a camera device 32, and a laser emitting device 33. The laser emitting device 33 is arranged on the camera device 32, and the camera device 32 is arranged on the pan-tilt platform 31. The pan-tilt platform 31 can drive the camera device 32 to rotate in the horizontal direction and / or the vertical direction.

[0074] Alternatively, if Figure 8 As shown, the bird-repelling device 3 in this embodiment further includes a connecting member 34 , and the camera device 32 is rotatably connected to the pan-tilt platform 31 via the connecting member 34 .

[0075] In one implementation, the camera device 32 is a binocular camera, and the stereoscopic vision technology of the binocular camera improves the accuracy of bird identification. Optionally, the laser emitting device 33 is installed between the two cameras of the binocular camera, and can realize horizontal and vertical laser programming emission.

[0076] Optionally, the laser emitted by the laser emitting device 33 is a 532nm green laser, which can effectively drive away birds without causing harm to birds or other creatures, thereby achieving non-contact driving.

[0077] In some embodiments, the pan / tilt 31 can drive the binocular camera and the laser emitting device 33 to rotate 360° in the horizontal plane and 180° in the vertical plane, so that the binocular camera and the laser emitting device 33 can shoot and expel without blind spots. It is understandable that in other embodiments, the camera device 32 and the laser emitting device 33 can also be of other types, which are not limited here.

[0078] Furthermore, in this embodiment, a battery, an electric regulator, a control unit, and an image recognition unit device are also placed in the vehicle body 2. Under the control of the control unit, the image information obtained by the image recognition unit device automatically activates the laser emitting device 33 to emit a laser beam, thereby improving the efficiency of bird repelling and reducing the cost and risk of manual inspection. The control unit can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a distributed multi-chip microcontroller. The control program can be run in the microcontroller to control the above-mentioned electronic control components to realize their functions respectively.

[0079] Alternatively, if Figure 7 As shown, the bird-repelling vehicle is also provided with an obstacle avoidance device 5 for detecting roadblocks. Specifically, in this embodiment, the obstacle avoidance device 5 is a laser radar, wherein the laser radar is a prior art and will not be described in detail here. It is understandable that in some other embodiments, the obstacle avoidance device 5 may also adopt other methods such as infrared light obstacle avoidance and ultrasonic obstacle avoidance, which are not limited here.

[0080] Alternatively, if Figure 7As shown, in this embodiment, the bird-repelling vehicle is also provided with a charging structure 6 for charging the bird-repelling vehicle after the patrol is completed, wherein the charging structure is prior art and will not be described in detail here. It is understandable that in some other embodiments, the bird-repelling vehicle may also adopt a battery replacement method, which is not limited here.

[0081] The bird-repelling vehicle provided by the present invention has the following working process:

[0082] When the bird-repelling vehicle patrols according to the set track, the pan-tilt 31 drives the camera device 32 to take panoramic photos during the driving process, and transmits the photos to the image recognition unit for processing. When the presence of birds is recognized, the pan-tilt 31 drives the laser emitting device 33 to aim at the birds, and through programming or random emission of different types of 532nm green lasers such as horizontal or vertical, it creates an illusion of a stick waving in the bird's visual senses, thereby driving the birds away. When the bird-repelling vehicle is driving on a flat road, the wheel hub 11 changes the distance between the two spokes 111 to the maximum, the tension of the traction support 13 increases, and a pulling force is applied to the chain block 121, so that the first assembly groove 12121 of one of the adjacent chain blocks 121 presses against the first limit portion 12111 of the other, so that the two adjacent chain blocks 121 will rotate in the first direction to form a positive angle of 3°, and the 120 chain blocks 121 just form a rigid wheel; when the obstacle avoidance device 5 detects an obstacle during driving, or because there is a blind spot that cannot be photographed If it is necessary to deviate from the set route and pass through a rough road section, the wheel hub 11 will shorten the distance between the two spokes 111, thereby reducing the tension of the traction support 13. When the chain block 121 on the all-terrain wheel 1 contacts an obstacle, due to being squeezed, the adjacent chain blocks 121 will rotate in the second direction to form an angle of a certain angle, and then fit on the obstacle, increase the contact area, and climb over the obstacle; when encountering a narrow intersection, the motor 4 drives the two all-terrain wheels 1 to rotate in the opposite direction, thereby achieving a 180° turn on the spot to reduce the turning radius. When the patrol is completed, the bird-repelling vehicle returns to the charging station according to the set route, automatically aligns the charging device 6 with the charging pile, and charges.

[0083] The bird-repelling vehicle provided by the present invention improves its passability in complex terrain by adopting all-terrain wheels 1 as the walking mechanism, and at the same time independently controls each all-terrain wheel 1, further improving the vehicle's control flexibility, and also gives the bird-repelling vehicle the ability to turn on the spot, so that it performs well in narrow or complex sections of road and has higher flexibility; it also integrates binocular cameras and laser bird-repelling technology, and can automatically detect and accurately expel birds, thereby enhancing the safety of key facilities such as power grids.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An all-terrain wheel, characterized in that: include: A wheel hub (11), the wheel hub (11) comprising a movable spoke (111), the spoke (111) being movable to a first position and a second position; A sprocket (12), the sprocket (12) being annular and arranged around the outside of the wheel hub (11), the sprocket (12) comprising a plurality of chain blocks which are rotatably connected end to end and slidably connected; A traction support member (13), wherein the wheel spoke (111) and each of the chain blocks are connected via the traction support member (13); An elastic support ring (14), wherein the elastic support ring (14) is sleeved on the inner side of the sprocket (12) and abuts against the inner circumferential surface of the sprocket (12); The spokes (111) in the first position tighten the chain block through the traction support (13), so that the angle between two adjacent chain blocks is maintained at a first angle, and the sprocket (12) is switched to a circular rigid wheel; the spokes (111) in the second position make the traction support (13) in a relaxed state, and the sprocket (12) is supported by the elastic support ring (14), and the sprocket (12) can be deformed under the action of an external force so that the angle between two adjacent chain blocks is switched to a second angle.

2. The all-terrain wheel according to claim 1, characterized in that: The chain block component comprises a chain block (121) and an assembly pin (122), and two adjacent chain blocks (121) are connected in a rotational and sliding manner via the assembly pin (122).

3. The all-terrain wheel according to claim 2, characterized in that: The chain block (121) comprises a first connecting portion (1211) and a second connecting portion (1212); the first connecting portion (1211) is provided with a first assembly hole (12112); the second connecting portion (1212) is provided with a first assembly groove (12121) and a second assembly hole (12124); In the two adjacently connected chain blocks (121), the first connecting portion (1211) of one of the chain blocks (121) can be placed in the first assembly groove (12121) of the other chain block (121), and the first assembly hole (12112) is connected to the second assembly hole (12124), and the assembly pin (122) is inserted into the first assembly hole (12112) and the second assembly hole (12124) and can move in the first assembly hole (12112) and the second assembly hole (12124).

4. The all-terrain wheel according to claim 3, characterized in that: A first limiting portion (12111) is also provided on the first connecting portion (1211); in two adjacently connected chain blocks (121), the first limiting portion (12111) on one of the chain blocks (121) cooperates with the first assembly groove (12121) on the other chain block (121), so as to limit the maximum rotation angle of the two adjacent chain blocks (121) in the first direction, and keep the angle between the two adjacent chain blocks at the first angle; And / or, the second connecting portion (1212) is further provided with a second limiting portion (12122) and a second assembly groove (12123); in two adjacently connected chain blocks (121), the second limiting portion (12122) on one of the chain blocks (121) cooperates with the second assembly groove (12123) on the other chain block (121), so as to limit the maximum angle of rotation of the two adjacent chain blocks (121) in the second direction, so that the angle between the two adjacent chain blocks can be switched to the second angle.

5. The all-terrain wheel according to claim 2, characterized in that: A plurality of first fixing holes (1111) are spaced apart in the circumferential direction of the spokes (111), a second fixing hole (12125) is provided on each of the chain blocks (121), and two ends of each of the traction support members (13) are respectively fixed in the first fixing hole (1111) and the second fixing hole (12125).

6. The all-terrain wheel according to claim 1, characterized in that: There are two wheel spokes (111), and the two wheel spokes (111) are spaced apart in the axial direction of the wheel hub (11); And / or, the wheel hub (11) further comprises a screw motor, the screw end of the screw motor is fixedly connected to the wheel spoke (111) and is used to drive the wheel spoke (111) to move.

7. The all-terrain wheel according to claim 1, characterized in that: The wheel hub (11) further comprises a guide rod (112), the wheel spoke (111) is provided with a guide hole, and the guide rod (112) is inserted into the guide hole.

8. A bird-repelling vehicle, characterized in that: The all-terrain wheel (1) according to any one of claims 1 to 7, the bird-repelling vehicle further comprises: A vehicle body (2), wherein two of the all-terrain wheels (1) are mounted on the lower side of the vehicle body (2); A bird-repelling device (3), wherein the bird-repelling device (3) is installed on the vehicle body (2); A driving mechanism (4), wherein the driving mechanism (4) is mounted on the vehicle body (2) and is used to drive the all-terrain wheel (1) to rotate.

9. The bird-repelling vehicle according to claim 8, characterized in that: The bird-repelling device (3) comprises a pan-tilt platform (31), a camera device (32) and a laser emitting device (33); the laser emitting device (33) is arranged on the camera device (32); the camera device (32) is arranged on the pan-tilt platform (31); and the pan-tilt platform (31) can drive the camera device (32) to rotate in a horizontal direction and / or a vertical direction.

10. The bird-repelling vehicle according to claim 8, characterized in that: Two driving mechanisms (4) are provided, and the two driving mechanisms (4) are transmission-connected to the two all-terrain wheels (1) in a one-to-one correspondence.

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