All-terrain wheel and bird repeller

Abstract

The present application 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 wheel hub, a chain wheel, a traction support and an elastic support ring. The wheel hub comprises movable spokes, the spokes can be moved to a first position and a second position, the chain wheel in the shape of a ring is arranged outside the wheel hub, the chain wheel comprises a plurality of chain block members which are rotationally connected and slidingly connected at the head and tail, the spokes are connected with each chain block member through the traction support, and the elastic support ring is sleeved inside the chain wheel and abuts against the inner circumferential surface of the chain wheel. Through the above arrangement, when the all-terrain wheel moves on flat ground, it can be deformed into a circular rigid wheel, thereby improving the moving speed on flat ground, and when it moves on uneven ground, the contact area with the road surface can be increased, thereby improving the passability. The bird repelling vehicle adopts the above all-terrain wheel as a walking mechanism, so that it can maintain efficient and stable operation in complex and changeable terrain.

Description

TECHNICAL FIELD

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

[0002] With the improvement of 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. Especially in the face of the problem of repelling birds in narrow and rugged road scenes such as wild substation and rural farmland, the traditional unmanned bird repelling machines such as laser emitting rod and odor bird repelling box can only be fixedly installed in certain positions to repel birds in the fixed area due to their inconvenience of movement, and their bird repelling effect is poor. The existing bird repelling vehicles are usually only suitable for open scenes such as airports due to their large size and inconvenience of turning, and are not convenient for driving on narrow and rugged roads in the wild, rural areas and farmland. The wheels of the existing bird repelling vehicles are difficult to overcome obstacles in complex terrain environments, and their bird repelling effect is very limited. Although the track type walking mechanism has good off-road performance and large climbing ability, the manufacturing cost of the track type walking mechanism is high, and the running speed on flat terrain is low, so its bird repelling effect is also not ideal.

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

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

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] An all-terrain wheel comprises:

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

[0008] A sprocket, the sprocket being annular and surrounding the hub on the outside, the sprocket comprising a plurality of chain block pieces rotationally connected end to end and slidingly connected;

[0009] A traction support, the spoke and each of the chain block pieces being connected by the traction support;

[0010] An elastic support ring, the elastic support ring being sleeved on the inside of the sprocket and abutting the inner circumferential surface of the sprocket;

[0011] The spoke in the first position pulls the chain block member tight through the traction support, so that the included angle between two adjacent chain block members is kept at a first angle, and the sprocket is switched to a circular rigid wheel; the spoke in the second position makes the traction support in a relaxed state, and the sprocket is supported by the elastic support ring, and the sprocket can be deformed under external force so that the included angle between two adjacent chain block members is switched to a second angle.

[0012] Optionally, the chain block member comprises a chain block and an assembly pin, and two adjacent chain blocks are rotationally and slidably connected through the assembly pin.

[0013] Optionally, the chain block comprises 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 slot and a second assembly hole.

[0014] In two adjacent chain blocks, the first connecting portion of one chain block can be placed in the first assembly slot of the other chain block, and the first assembly hole and the second assembly hole are in communication, and the assembly pin is arranged in and movable in the first assembly hole and the second assembly hole.

[0015] Optionally, the first connecting portion is further provided with a first limiting portion, and the first limiting portion of one chain block in two adjacent chain blocks cooperates with the first assembly slot of the other chain block to limit the maximum angle of rotation of the two chain blocks in a first direction, so that the included angle between the two chain block members is kept at the first angle.

[0016] And / or, the second connecting portion is further provided with a second limiting portion and a second assembly slot, and the second limiting portion of one chain block in two adjacent chain blocks cooperates with the second assembly slot of the other chain block to limit the maximum angle of rotation of the two chain blocks in a second direction, so that the included angle between the two chain block members can be switched to a second angle.

[0017] Optionally, a plurality of first fixing holes are arranged at intervals in the circumferential direction of the spoke, a second fixing hole is arranged on each chain block, and the two ends of each traction support are fixed in the first fixing hole and the second fixing hole, respectively.

[0018] Optionally, the spoke is provided with two, and the two spokes are arranged at intervals in the axial direction of the hub.

[0019] And / or, the hub further comprises a lead screw motor, the lead screw end of the lead screw motor is fixedly connected with the spoke, and is used for driving the spoke to move.

[0020] Optionally, a guide rod is further arranged on the hub, and a guide hole is arranged on the spoke, and the guide rod is arranged in the guide hole.

[0021] Another object of the present application is to provide a bird repelling vehicle, which adopts the all-terrain wheel as described above, and further comprises:

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

[0023] a bird repelling device, which is arranged on the vehicle body;

[0024] a driving mechanism, which is arranged on the vehicle body and is used to drive the all-terrain wheels to rotate.

[0025] Optionally, the bird repelling device comprises a gimbal, 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 gimbal, and the gimbal can drive the camera device to rotate in the horizontal direction and / or the vertical direction.

[0026] Optionally, two driving mechanisms are arranged, and the two driving mechanisms are in one-to-one transmission connection with the two all-terrain wheels.

[0027] The present application has the following beneficial effects:

[0028] The all-terrain wheel provided by the present application can dynamically adjust the shape of the wheel to adapt to the profile of the obstacle when encountering the obstacle, and the contact area between the wheel and the obstacle is significantly increased through the deformation, so that greater friction and grip are provided, and the wheel can more easily cross the obstacle; and when moving on a flat terrain, the all-terrain wheel can be deformed into a circular rigid wheel, so that it can move quickly on the flat terrain. Compared with the conventional fixed shape wheel, the all-terrain wheel of the present application significantly improves the passability of the wheel, so that it can maintain efficient and stable movement in complex and variable terrain; compared with the conventional track type walking mechanism, the all-terrain wheel of the present application can move quickly on the flat terrain, and the production cost is lower.

[0029] The bird repelling vehicle provided by the present application improves the passability in complex terrain by adopting the all-terrain wheel as the walking mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic view of the structure of the all-terrain wheel provided by the present application;

[0031] Figure 2 is Figure 1 is an enlarged view of A in FIG. 4;

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

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

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

[0035] Figure 6 is an angle schematic diagram between two chain blocks of an all-terrain wheel when the all-terrain wheel rolls on a complex terrain provided by an embodiment of the present application

[0036] Figure 7 is a structural schematic diagram of a bird repelling vehicle provided by an embodiment of the present application

[0037] Figure 8 is a structural schematic diagram of a bird repelling device provided by an embodiment of the present application.

[0038] in the figure:

[0039] 1, all-terrain wheel;

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

[0041] 111, spoke; 112, guide rod; 113, wheel shaft;

[0042] 1111, first fixing hole;

[0043] 121, chain block; 122, assembly pin;

[0044] 1211, first connecting part; 12111, first limiting part; 12112, first assembly hole;

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

[0046] 2, vehicle body; 3, bird repelling device;

[0047] 31, pan-tilt; 32, camera device; 33, laser emitting device; 34, connecting piece;

[0048] 4, driving mechanism; 5, obstacle avoidance device; 6, charging structure. DETAILED DESCRIPTION

[0049] The application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely exemplary of the application and that the application is not limited to such exemplary embodiments. It should also be noted that, for the purpose of clarity, not every component is shown in each figure.

[0050] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0051] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0052] In the description of the present embodiment, the terms "upper", "lower", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0053] As shown in the Figures 1 to 6 The present embodiment provides an all-terrain wheel 1, which comprises a hub 11, a sprocket 12, a traction support 13 and an elastic support ring 14. The hub 11 comprises a movable spoke 111, the spoke 111 can be moved to a first position and a second position, the annular sprocket 12 is arranged outside the hub 11, the sprocket 12 comprises a plurality of chain block members rotatably connected and slidingly connected, the spoke 111 and each chain block member are connected through the traction support 13, and the elastic support ring 14 is sleeved on the inside of the sprocket 12 and abuts against the inner circumferential surface 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, as Figure 3 As shown, in this embodiment, two spokes 111 are provided. Each spoke 111 has a corresponding first position and a 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 both spokes 111 move from their second position to their first position, the two spokes 111 move away from each other, thereby tightening the traction support 13. When both spokes 111 move from their first position to their second position, the two spokes 111 move toward each other, thereby relaxing the traction support 13.

[0056] It is understandable that the number of movable spokes 111 can be set according to actual needs. It 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, there is no limitation here.

[0057] Optionally, to enable the two spokes 111 to move along the axis of the hub 11, in this embodiment, two screw motors are provided between the two 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 spokes 111. In this arrangement, when the screw ends of the two screw motors extend outward, they can drive the two spokes 111 away from each other along the axis of the hub 11; when the screw ends of the two screw motors retract inward, they can drive the two spokes 111 toward each other along the axis of the 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] Further, if Figure 3As shown, in this embodiment, the hub 11 is further provided with guide rods 112, and the spokes 111 are provided with guide holes, into which the guide rods 112 are inserted. This allows the spokes 111 to move more stably. It is 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, the chain block member in this embodiment includes 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 .

[0061] Furthermore, in order to facilitate the rotation connection between the chain blocks 121 in the sprocket 12, as shown in FIG. 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 within 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. The assembly pin 122 is inserted into the first assembly hole 12112 and the second assembly hole 12124 and can move within 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, the first connecting portion 1211 is further provided with a first limiting portion 12111. In two adjacent 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 to limit the maximum rotation angle of the two adjacent chain blocks 121 in the first direction, thereby maintaining 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. Alternatively, in other embodiments, other limiting structures may be used to limit the maximum rotation angle of the two adjacent chain blocks 121 in the first direction.

[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 flat terrain, the 120 chain blocks 121 are pulled toward the wheel hub 11 by the traction support 13. When all the chain blocks 121 are rotated 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 flat terrain.

[0064] Further, as shown in Figure 4 and Figure 6 The second limiting portion 12122 on one of the two adjacent chain blocks 121 cooperates with the second assembly groove 12123 on the other chain block 121 to limit the maximum angle of rotation of the two adjacent chain blocks 121 in the second direction, so that the included angle between the two adjacent chain block pieces can be switched to the second angle. It should be noted that in the embodiment, the second direction is the direction away from the hub 11 rotation, which is exactly opposite to the first direction. Alternatively, in other embodiments, other limiting structures can also be used to limit the maximum angle of rotation of the two adjacent chain blocks 121 in the second direction.

[0065] In one embodiment, the angle between any two adjacent chain blocks 121 in the first direction is 0-90°. When the all-terrain wheel 1 moves on complex terrain, the chain block 121 is in a rotatable state due to the influence of the pulling support 13, and at this time the elastic support ring 14 inside the sprocket 12 needs to support the chain block 121. When the all-terrain wheel 1 encounters an obstacle, the sprocket 12 can be deformed under the influence of external force, and at this time the chain block 121 rotates towards 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 smoothly pass through the obstacle; After the all-terrain wheel 1 smoothly passes through the obstacle, the elastic support ring 14 will return to its original state, thereby generating an elastic restoring force on the chain block 121, so that the sprocket 12 can return to its original state to facilitate the all-terrain wheel 1 to continue moving. The above-mentioned second angle can be any angle in the range of 0-90°.

[0066] It can be understood that in some other embodiments, the number of chain blocks 121 constituting the sprocket 12 can also be adaptively set according to actual needs, and the angle between adjacent chain blocks 121 in the first direction or the second direction can be adaptively adjusted based thereon, which is not limited herein.

[0067] As shown in Figure 2 To facilitate the fixing connection of the pulling support 13 on the hub 11 and the sprocket 12, a plurality of first fixing holes 1111 are arranged at intervals in the circumferential direction of the spoke 111, and a second fixing hole 12125 is formed on each chain block 121. Both ends of each pulling support 13 are fixed in the first fixing hole 1111 and the second fixing hole 12125, respectively.

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

[0069] The all-terrain wheel 1 provided by the application can dynamically adjust the shape of the wheel to adapt to the profile of the obstacle when encountering the obstacle, and the contact area between the wheel and the obstacle is significantly increased through the deformation, so that greater friction and grip are provided, and the wheel can more easily cross the obstacle; and when moving on a flat terrain, the all-terrain wheel 1 can be deformed into a circular rigid wheel, so that the all-terrain wheel 1 can move quickly on the flat terrain. Compared with the conventional fixed-shape wheel, the all-terrain wheel 1 provided by the application significantly improves the passability of the wheel, so that the all-terrain wheel 1 can maintain efficient and stable movement in complex and variable terrains; compared with the conventional track-type walking mechanism, the all-terrain wheel 1 provided by the application can also move quickly on the flat terrain, and the production cost is lower.

[0070] As shown in Figures 7 to 8 , the embodiment also provides a bird repelling vehicle, which comprises the all-terrain wheel 1 described above, and further comprises a vehicle body 2, a bird repelling device 3 and a driving mechanism 4. The vehicle body 2 is provided with two all-terrain wheels 1 on the lower side, the bird repelling device 3 is arranged on the upper side of the vehicle body 2, and the driving mechanism 4 is arranged on the lower side of the vehicle body 2 and can drive the all-terrain wheel 1 to rotate.

[0071] Through the above arrangement, the bird repelling vehicle has high passability when driving on narrow and rugged roads in the wild, countryside and farmland, so that the bird repelling vehicle can maintain efficient and stable operation in complex and variable terrains, thereby improving the bird repelling effect of the bird repelling vehicle.

[0072] As shown in Figure 3 and Figure 7 , the vehicle body 2 is provided with two side plates on the lower side, one all-terrain wheel 1 is arranged on the outer side of each side plate, and a wheel shaft 113 is further arranged on the all-terrain wheel 1, the wheel shaft 113 can pass through the side plate, and the all-terrain wheel 1 is further connected to the side plate through rotation. One driving mechanism 4 is further arranged on the inner side of each side plate, and the two driving mechanisms 4 are in one-to-one transmission connection with the two all-terrain wheels 1, specifically, the output end of the driving mechanism 4 is connected with the wheel shaft 113, and the all-terrain wheel 1 is driven to rotate by driving the wheel shaft 113 to rotate. Through independent control of each all-terrain wheel 1, the control flexibility of the vehicle is further improved, and the bird repelling vehicle is also given the ability of turning in place, so that the bird repelling vehicle performs well in narrow or complex road sections and has higher flexibility. Optionally, the driving mechanism 4 is an electric motor.

[0073] As shown in Figure 8 , the bird repelling device 3 comprises a holder 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 holder 31. The holder 31 can drive the camera device 32 to rotate in the horizontal direction and / or the vertical direction.

[0074] Optionally, as shown in Figure 8 , the bird repelling device 3 further comprises a connecting piece 34. The camera device 32 is rotationally connected to the holder 31 through the connecting piece 34.

[0075] In one embodiment, the camera device 32 is a binocular camera. The stereo 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, which can realize horizontal and vertical laser programming emission.

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

[0077] In some embodiments, the holder 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 dead angle. It can be understood that in other embodiments, the camera device 32 and the laser emitting device 33 can also be other types, which are not limited here.

[0078] Further, in the embodiment, the vehicle body 2 also contains a battery, an electronic speed controller, a control unit, and an image recognition unit device. 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 laser beams, which improves the bird repelling efficiency and reduces 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 can be composed of multiple distributed microcontrollers. The microcontroller can run a control program to control the above-mentioned electrically controlled components to realize their functions respectively.

[0079] Optionally, as shown in Figure 7 , the bird repelling vehicle is also provided with an obstacle avoidance device 5 for detecting obstacles. Specifically, in the embodiment, the obstacle avoidance device 5 is a laser radar. The laser radar is a prior art and will not be described here. It can be understood that in some other embodiments, the obstacle avoidance device 5 can also use infrared light obstacle avoidance, ultrasonic obstacle avoidance, or other ways, which are not limited here.

[0080] Optionally, as shown in Figure 7As shown, the bird repelling vehicle in the embodiment further comprises a charging structure 6 for charging the bird repelling vehicle after the patrol is completed, wherein the charging structure is a prior art and will not be described here.

[0081] The working process of the bird repelling vehicle is as follows:

[0082] When the bird repelling vehicle patrols according to the set trajectory, the holder 31 drives the camera 32 to take panoramic photos during the travel process, and the photos are transmitted to the image recognition unit for processing, when the existence of birds is identified, the holder 31 drives the laser emitting device 33 to aim at the birds, and through programming or random emission of different types of 532nm green laser, the illusion of a stick swinging is formed in the visual sense of the birds, so as to drive the birds away. When the bird repelling vehicle travels on a flat road, the hub 11 changes the distance between the two spokes 111 to the maximum, the tension of the traction support 13 is increased, the pulling force is applied to the chain block 121, so that the first assembly groove 12121 of one of the adjacent chain blocks 121 abuts against the first limiting portion 12111 of the other, so that the adjacent two chain blocks 121 are rotated in the first direction to form a positive 3° angle, and the 120 chain blocks 121 form a rigid wheel; when the obstacle detection device 5 detects an obstacle during travel, or needs to deviate from the set route because there is a blind spot that cannot be shot, or when passing through a rugged road, the hub 11 shortens 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 the obstacle, because of the extrusion, the adjacent chain block 121 will rotate in the second direction to form an angle, and then fit on the obstacle to increase the contact area and climb over the obstacle; when a narrow intersection is encountered, the motor 4 drives the two all-terrain wheels 1 to rotate in opposite directions, thereby realizing 180° turning in place to reduce the turning radius. After the patrol is completed, the bird repelling vehicle returns to the charging station according to the set route, and the charging device 6 is automatically aligned with the charging pile for charging.

[0083] The bird repelling vehicle provided by the application improves the passability in complex terrain by using the all-terrain wheel 1 as the walking mechanism, and further improves the control flexibility of the vehicle by independently controlling each all-terrain wheel 1, and also gives the bird repelling vehicle the ability to turn in place, so that it performs well in narrow or complex road sections and has higher flexibility; and by integrating binocular cameras and laser bird repelling technology, the bird repelling vehicle 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 application are merely exemplary but not intended to limit the embodiments of the present application. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the scope of the present application. It is not necessary or possible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An all-terrain wheel, characterized in that, The chain block (121) comprises a first connecting portion (1211) and a second connecting portion (1212), a first assembly hole (12112) is arranged on the first connecting portion (1211), and a first assembly groove (12121) and a second assembly hole (12124) are arranged on the second connecting portion (1212). The chain block (121) comprises a first connecting portion (1211) and a second connecting portion (1212), a first assembly hole (12112) is arranged on the first connecting portion (1211), and a first assembly groove (12121) and a second assembly hole (12124) are arranged on the second connecting portion (1212). The first connecting portion (1211) of one of the two adjacently connected chain blocks (121) can be placed in the first assembly groove (12121) of the other chain block (121), and the first assembly hole (12112) and the second assembly hole (12124) are in communication, and the assembly pin (122) is arranged in and movable in the first assembly hole (12112) and the second assembly hole (12124). The first connecting portion (1211) is further provided with a first limiting portion (12111), the first limiting portion (12111) on one of the two adjacently connected chain blocks (121) cooperates with the first assembly groove (12121) on the other chain block (121), so that the maximum angle of rotation of the two chain blocks (121) in the first direction can be limited, and the included angle between the two chain blocks (121) is kept at the first angle. The first connecting portion (1211) of one of the two adjacently connected chain blocks (121) can be placed in the first assembly groove (12121) of the other chain block (121), and the first assembly hole (12112) and the second assembly hole (12124) are in communication, and the assembly pin (122) is arranged in and movable in the first assembly hole (12112) and the second assembly hole (12124). The first connecting portion (1211) is further provided with a first limiting portion (12111), the first limiting portion (12111) on one of the two adjacently connected chain blocks (121) cooperates with the first assembly groove (12121) on the other chain block (121), so that the maximum angle of rotation of the two chain blocks (121) in the first direction can be limited, and the included angle between the two chain blocks (121) is kept at the first angle. ​ ​ ​ ​ And / or, the second connecting part (1212) is further provided with a second limiting part (12122) and a second assembly groove (12123), the second limiting part (12122) on one of the two adjacent chain blocks (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 included angle between the two adjacent chain block pieces can be switched to the second angle.

2. An all terrain wheel as claimed in claim 1, wherein, A plurality of first fixing holes (1111) are arranged at intervals in the circumferential direction of the spoke (111), and a second fixing hole (12125) is arranged on each chain block (121). Both ends of each traction support (13) are fixed in the first fixing hole (1111) and the second fixing hole (12125).

3. The all terrain wheel of claim 1, wherein, The spoke (111) is provided with two, and the two spokes (111) are arranged at intervals in the axial direction of the hub (11). And / or, the hub (11) further comprises a lead screw motor, the lead screw end of the lead screw motor is fixedly connected with the spoke (111), and is used for driving the spoke (111) to move.

4. The all terrain wheel of claim 1, wherein, The hub (11) further comprises a guide rod (112), and the spoke (111) is provided with a guide hole, and the guide rod (112) is arranged in the guide hole.

5. A bird car, characterized in that The bird repelling vehicle comprises: A vehicle body (2) is provided with two all-terrain wheels (1) on the lower side; A bird repelling device (3) is installed on the vehicle body (2); A driving mechanism (4) is installed on the vehicle body (2) and used for driving the all-terrain wheels (1) to rotate.

6. The bird car of claim 5, wherein, The bird repelling device (3) comprises a holder (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 holder (31), and the holder (31) can drive the camera device (32) to rotate in the horizontal direction and / or the vertical direction.

7. The bird car of claim 5, wherein, The driving mechanism (4) is provided with two, and the two driving mechanisms (4) are in one-to-one transmission connection with the two all-terrain wheels (1).

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