All-terrain intelligent collecting vehicle based on machine vision and collecting method

Abstract

The application provides an all-terrain intelligent collection vehicle based on machine vision and a collection method, and relates to the field of computer vision; the vehicle comprises a six-degree-of-freedom mechanical arm, a machine vision module, a control module, a chassis, a collection box fixed on the upper surface of the chassis and a wheel module on the lower surface; the machine vision module is used for shooting and identifying target blocks to generate a target block terrain map and real-time acquisition of collection targets; the control module plans a vehicle driving path according to the terrain map and controls collection; the wheel module comprises four tire assemblies and two power assemblies; the control module adjusts the wheel type, the lateral and longitudinal distance between tires, the gravity center height and the number of wheels according to the road conditions of the selected vehicle driving path; the machine vision module is configured on the collection vehicle to realize surveying of terrain and searching for collection targets; the collection vehicle is designed to be a multifunctional vehicle with adjustable distance between tires, gravity center and number of wheels and replaceable tire type, and all-terrain collection is realized by one vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer vision, in particular to a full-terrain intelligent collection vehicle based on machine vision and a collection method. BACKGROUND

[0002] Machine vision is to use machines to simulate human visual functions to perform various measurement and judgment tasks, which can improve the flexibility and automation of production. It is a branch technology of artificial intelligence that has developed rapidly in recent years and is widely used in manufacturing, retail, healthcare, transportation and other fields.

[0003] At present, the agricultural collection process mostly needs manpower to conduct site survey in advance, and to plan collection according to the site type, including selecting the appropriate type of collection vehicle, configuring multiple types of collection vehicles, and manual surveying all consume costs. Therefore, if there is a full-terrain collection vehicle equipped with a machine vision system, it can theoretically automatically adjust the vehicle according to the detected terrain to adapt to the ground environment to complete the collection work, without the need for site survey in advance and the need to equip multiple different types of collection vehicles. SUMMARY

[0004] The present application aims to provide a full-terrain intelligent collection vehicle based on machine vision and a collection method. By configuring a machine vision module on the vehicle to survey the terrain of the collection area and adjust the tire position, center of gravity height, etc. of the vehicle, one collection vehicle can meet the full-terrain collection requirements, significantly improving work efficiency.

[0005] To achieve the above purpose, the present application proposes the following technical solutions:

[0006] In a first aspect, a full-terrain intelligent collection vehicle based on machine vision is proposed, comprising a machine vision module, a six-degree-of-freedom robot arm, a collection box, a chassis and a wheel module, and a control module.

[0007] The collection box is fixedly arranged on the upper surface of the chassis and is provided as a top opening structure that can be extended in the vertical direction. The six-degree-of-freedom robot arm is fixedly arranged in the collection box, and the free end of the hand of the robot arm extends from the top opening of the collection box.

[0008] The machine vision module is fixed at the free end of the hand of the six-degree-of-freedom robot arm, and the machine vision module and the six-degree-of-freedom robot arm are connected to the control module; the machine vision module is used for shooting and identifying a target block to generate a target block terrain map, so that the control module plans a vehicle driving path according to the target block terrain map; wherein the target block is a shooting range of the machine vision module, and the area of the target block does not exceed the area of the collection area; and the machine vision module is used for acquiring a collection target in the driving direction of the vehicle in real time during the driving process, so that the control module controls the six-degree-of-freedom robot arm to collect;

[0009] The wheel module is arranged below the chassis and includes four tire assemblies and two power assemblies;

[0010] The tire assembly includes at least a tire mechanism, an axle transmission mechanism, and a power steering mechanism for connecting the tire mechanism and the axle transmission mechanism, and the axle transmission mechanism has a degree of freedom of expansion and contraction along its axis in a plane;

[0011] The tire mechanism includes at least a pair of coaxially arranged first tires and first expansion sections;

[0012] The first tire center axis is provided with a first connecting shaft, the end of the first connecting shaft protruding from the first side is provided as a threaded shaft segment, the end of the first connecting shaft protruding from the second side is provided as a first sleeve shaft segment with an inner wall provided with threads, and the threaded shaft segment of the first tire coaxially fixed in the tire mechanism is adaptively and fixedly connected with the first sleeve shaft segment of the adjacent first tire;

[0013] The first expansion section is provided as a first telescopic drive shaft, the expansion direction of the first telescopic drive shaft is perpendicular to the expansion direction of the axle transmission mechanism, one end of the first expansion section close to the first tire is provided as a second sleeve shaft segment with internal threads adaptively connected with the first connecting shaft threaded segment of the first tire, and the second sleeve shaft segment is adaptively and fixedly connected with the first connecting shaft threaded segment of the first tire; one end of the first expansion section away from the first tire is fixed with a first transmission gear, and the first transmission gear is coaxial with the first expansion section;

[0014] The axle transmission mechanism includes a telescopic power transmission shaft, a rolling bearing seat, and a second driven bevel gear; the rolling bearing seat is sleeved on the telescopic power transmission shaft and is used for fixedly connecting the axle transmission mechanism to the chassis; one end of the telescopic power transmission shaft is fixed to one end of the power steering mechanism away from the first expansion section, and the other end is fixed to the shaft center of the second driven bevel gear;

[0015] The power steering mechanism is configured as a three-section power steering knuckle mechanism formed by sequentially connecting cross shafts, including an input knuckle, a transition knuckle, and an output knuckle. The input knuckle is fixedly connected to the retractable power transmission shaft, and the output knuckle is fixedly connected to the first retractable drive shaft. The power steering mechanism is used to turn the transmission direction of the retractable power transmission shaft by 90°.

[0016] The second driven bevel gear is powered by the power assembly. When the power assembly is started, it drives the second driven bevel gear, which in turn drives the retractable power transmission shaft, power steering mechanism, first telescopic part and first tire to rotate.

[0017] Two power units are symmetrically arranged below the chassis, respectively controlling the front and rear tires of the all-terrain intelligent data collection vehicle on the same side. Each power unit includes a motor, a motor mounting base, a drive bevel gear assembly, a gear drive shaft, and a second drive bevel gear connected to the control module. The drive bevel gear assembly includes a first drive bevel gear and a first driven bevel gear. The motor is fixed to the chassis via the motor mounting base, and the motor shaft is fixed vertically to the first drive bevel gear. The first driven bevel gear is axially fixed to one end of the gear drive shaft, and the other end of the gear drive shaft is fixed to the second drive bevel gear. The second drive bevel gears respectively drive and mesh with the second driven bevel gears in the axle transmission mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent data collection vehicle, such that the two second driven bevel gears have opposite transmission directions. The drive bevel gear assembly is used to convert the vertical transmission of the motor into horizontal transmission.

[0018] The power assembly is started under the control of the control module, which drives the active bevel gear combination and the second active bevel gear transmission to drive the second driven bevel gear of the central shaft transmission mechanism of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle to rotate in opposite directions. In turn, the first tire of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle is driven to rotate in the same direction through the retractable power transmission shaft, the power steering mechanism and the first retractable drive shaft.

[0019] Furthermore, the tire mechanism also includes several sets of gear combinations and tire combinations corresponding to the number of gear combinations. The gear combinations and the tire combinations cooperate to expand the number of tires of the all-terrain intelligent data collection vehicle.

[0020] The gear assembly includes a gear set frame fixed to the chassis, and two meshing second and third transmission gears fixed at the shaft center by the gear set frame; the second transmission gear meshes with the first transmission gear, and the first, second, and third transmission gears are located on the same plane;

[0021] The tire assembly includes a pair of coaxially arranged second tires and a second telescopic part, wherein the second tires are fixedly connected to the third transmission gear via the second telescopic part;

[0022] Define the direction of the second tire closer to the second telescopic part as the third side and the direction away from the second telescopic part as the fourth side. Then, a second connecting shaft is provided through the central axis of the second tire. The structure of the second connecting shaft is the same as that of the first connecting shaft. The two second tires that are coaxially fixed are connected to the first sleeve shaft section through the threaded shaft section of the second connecting shaft.

[0023] The second telescopic part is configured as a second telescopic drive shaft, and its telescopic direction is the same as and synchronized with the telescopic direction of the first telescopic drive shaft; the end of the second telescopic part near the second tire is configured as a third sleeve shaft segment with internal threads that is adapted to the threaded shaft segment of the second connecting shaft, and the third sleeve shaft segment is adapted to and fixedly connected to the threaded shaft segment of the second connecting shaft; the end of the second telescopic part away from the second tire is fixedly connected to the shaft of the third transmission gear.

[0024] Furthermore, a first fixing hole is provided symmetrically through the outer wall of the first sleeve shaft section of the first connecting shaft. After the threaded shaft section of the first connecting shaft is engaged with the first sleeve shaft section, a second fixing hole is provided on it at a position corresponding to the first fixing hole. The first fixing hole and the second fixing hole are used to fasten the threaded shaft section and the first sleeve shaft section with fixing bolts after they are engaged.

[0025] Furthermore, each of the first tires is provided with a plurality of braking mechanisms at uniform intervals along the circumference of its hub.

[0026] The braking mechanism includes a telescopic rod, a heat dissipation bracket, brake pads, a snap-fit ​​component, and a locking component;

[0027] The telescopic rod is a hydraulic rod connected to the control module, with one end fixed to the inner hub of the first tire and the other end fixed to the heat dissipation bracket.

[0028] The heat dissipation bracket has a hollow structure, including a heat dissipation pipe array and an arc-shaped baffle arranged around a portion of the side of the heat dissipation pipe array. The two ends of the unused side of the heat dissipation pipe array without the arc-shaped baffle are respectively provided with grooves, and the grooves and their corresponding outer walls on the unused side have irregular shapes. The heat dissipation pipe array includes a plurality of heat dissipation pipes arranged in an array, with both ends of each heat dissipation pipe passing through the corresponding position of the arc-shaped baffle. The side of the arc-shaped baffle near the outer hub protrudes from the heat dissipation pipe array, and a sliding groove is provided on the inner wall of one opposite side of the arc-shaped baffle. Each heat dissipation pipe is used for coolant flow.

[0029] The brake pads are pulled out along the groove and mounted on the heat dissipation bracket, with their bottom surface abutting against the heat dissipation pipe array;

[0030] The snap-fit ​​component includes a snap-fit ​​strip and snap fasteners at both ends of the snap-fit ​​strip; the snap-fit ​​strip is located on the unused side of the heat dissipation pipe array and abuts against the brake pad; the snap fasteners are snapped into the corresponding grooves.

[0031] The locking member is inserted into the groove along the irregular structure and includes a main body, an elastic element, a cue stick, a sleeve, and a button; wherein, the sleeve passes through the main body; the elastic element is sleeved on the cue stick; the cue stick passes through the sleeve, and its end protrudes from the main body; the button is sleeved on the end of the cue stick;

[0032] When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module introduces hydraulic oil into the telescopic rod to drive the telescopic rod inside the first tire to extend, and causes the corresponding brake pad inside to come into contact with the inner wheel hub to generate friction, thereby decelerating the first tire to stop rotating.

[0033] Furthermore, each of the first tires is also provided with a heat dissipation mechanism that cooperates with the braking mechanism;

[0034] The heat dissipation mechanism includes a temperature sensing tube, a reed tube, a transmission rod, and a regulating valve;

[0035] One end of the temperature sensing tube is fixed to the bottom of the heat dissipation bracket, and the other end is fixed to the inner end of the reed tube; the regulating valve includes a first liquid collecting chamber, a second liquid collecting chamber, an inlet, an outlet, and an opening plate; the upper and lower surfaces of the opening plate are respectively in contact with the openings of the first and second liquid collecting chambers to control the opening of the regulating valve to be positively correlated with the temperature of the brake pads; the inlet is located on the first liquid collecting chamber, and the outlet is located on the second liquid collecting chamber; one end of the transmission rod is fixed to the outer end of the reed tube, and the other end is fixed to the opening plate; wherein, the temperature sensing tube and the reed tube contain a temperature-sensitive substance, and the reed tube has thermal expansion and contraction properties;

[0036] When the brake pads rub against the inner wheel hub, the brake pads heat up, and their temperature is transferred sequentially to the heat dissipation bracket, the temperature sensing tube, and the reed tube through heat conduction, causing the reed tube to expand outward. The reed tube pushes the transmission rod to move, thereby controlling the sliding of the opening plate to adjust the flow rate of the coolant in the heat dissipation tube. After the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pads drops, and the reed tube gradually retracts inward and pushes the transmission rod to move, thereby controlling the opening of the regulating valve to zero.

[0037] Furthermore, the chassis includes a first base plate and a second base plate arranged parallel to each other from top to bottom and spaced apart. The first base plate and the second base plate are supported and fixedly connected by a plurality of evenly distributed shock-absorbing elastic elements. The acquisition box is set on the upper surface of the first base plate, and the rolling bearing seat and the motor mounting seat are fixedly connected to the lower surface of the second base plate.

[0038] Furthermore, the upper surface of the rolling bearing seat of any of the aforementioned shaft transmission mechanisms is provided with a third telescopic part that is controlled and connected to the control module, and the lower surface is provided with a support part. The third telescopic part has a degree of freedom to extend and retract in the vertical direction, and the support part is used to provide a mounting position for the jack.

[0039] The data acquisition box is also equipped with a tilt sensor. The tilt sensor signal is connected to the control module to sense the tilt angle and tilt direction of the bottom surface of the data acquisition box relative to the horizontal plane and send it to the control module so that the control module can control the third telescopic part to adjust the data acquisition box to a horizontal state according to the tilt angle and tilt direction.

[0040] Furthermore, each of the first telescopic part, the shaft transmission mechanism, and the third telescopic part is controlled to be connected to the control module, and the control module controls them to extend and retract in a set direction.

[0041] Furthermore, the shaft drive mechanism of any of the tire assemblies and the two power assemblies are all fitted with dustproof housings, which are fixedly connected to the chassis.

[0042] Secondly, the data collection method of the aforementioned machine vision-based all-terrain intelligent data collection vehicle includes the following steps:

[0043] 1) After the vehicle travels to the initial position, the machine vision module is activated to capture and identify the target area, and a topographic map of the target area is generated and sent to the control module; wherein, the target area is the set shooting range of the machine vision module, and the area of ​​the target area does not exceed the area of ​​the acquisition area;

[0044] 2) The control module plans several vehicle driving paths based on the topographic map of the target area and marks road condition parameters for any vehicle driving path; among which, road condition parameters include road width, road surface smoothness, curve radius, slope, and lateral gradient;

[0045] 3) Determine a target vehicle travel path. The control module generates vehicle configuration optimization data based on the road condition parameters of the path and adjusts the vehicle configuration based on the vehicle configuration optimization data. The vehicle configuration includes wheel type, lateral and longitudinal distance between tires, center of gravity height, and number of wheels.

[0046] 4) The vehicle travels along the target vehicle's travel path, and the machine vision module sends the target data of the vehicle's travel direction, which is acquired in real time, to the control module. The control module then controls the six-degree-of-freedom robotic arm to perform the data acquisition.

[0047] As can be seen from the above technical solutions, the technical solutions of the present invention have achieved the following beneficial effects:

[0048] This invention discloses an all-terrain intelligent data acquisition vehicle and method based on machine vision. The data acquisition vehicle includes a six-degree-of-freedom robotic arm and a machine vision module mounted on it, a chassis, a data acquisition box fixed to the upper surface of the chassis, a wheel module mounted on the lower surface of the chassis, and a control module. The six-degree-of-freedom robotic arm is fixed inside the data acquisition box, with its free-hand end extending out of the box. During operation, the machine vision module first captures and identifies target areas to generate a topographic map of those areas, which is then sent to the control module to plan the vehicle's driving path. The machine vision module also acquires data acquisition targets in real-time along the vehicle's driving direction during travel, enabling the control module to control the six-degree-of-freedom robotic arm for data acquisition. The wheel module includes four tire assemblies and two power assemblies. The control module adjusts the wheel type, lateral and longitudinal distances between tires, center of gravity height, and number of wheels based on the road condition parameters of the selected driving path. On the one hand, this invention equips the data collection vehicle with a machine vision module to achieve the technical effects of surveying terrain and locating data collection targets; on the other hand, by designing the tire assembly and two power components of the data collection vehicle, it is designed as a multi-functional vehicle with adjustable tire spacing, center of gravity and number of wheels, and interchangeable tire types, so that a single data collection vehicle can carry out data collection tasks in all terrains, which not only significantly improves data collection efficiency but also greatly reduces production costs.

[0049] This invention also improves braking reliability during heavy-load braking by incorporating a braking mechanism, and enhances the installation reliability of the pull-out brake pads by adding snap-fit ​​and locking components. Furthermore, a liquid-cooling-based heat dissipation mechanism, in conjunction with a heat dissipation bracket, ensures that the brake pad temperature rises slowly during braking, minimizing the impact on brake pad performance and extending their lifespan. Additionally, a tilt sensor helps maintain the stability of the collection box during vehicle movement, preventing spillage of the collected data.

[0050] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0051] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0052] The accompanying drawings are not drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0053] Figure 1 This is a schematic diagram of the structure of the all-terrain intelligent data collection vehicle of the present invention;

[0054] Figure 2 This is a schematic diagram of the chassis and wheel module of the all-terrain intelligent data acquisition vehicle of the present invention;

[0055] Figure 3 This is a schematic diagram of the tire mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0056] Figure 4 This is a schematic diagram of the first side of the first tire of the all-terrain intelligent data collection vehicle of the present invention;

[0057] Figure 5 This is a schematic diagram of the second side of the first tire of the all-terrain intelligent data collection vehicle of the present invention;

[0058] Figure 6 This is a schematic diagram of the single-side tire drive of the all-terrain intelligent data collection vehicle of the present invention;

[0059] Figure 7 This is a schematic diagram of the overall transmission of the tire module at the bottom of the all-terrain intelligent data acquisition vehicle of the present invention;

[0060] Figure 8 This is a schematic diagram of the interior of the first tire hub of the all-terrain intelligent data collection vehicle of the present invention;

[0061] Figure 9 This is a schematic diagram of the heat dissipation bracket for the braking mechanism of the all-terrain intelligent data collection vehicle of the present invention.

[0062] Figure 10 This is a schematic diagram of the brake pads of the braking mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0063] Figure 11 This is a schematic diagram of the brake mechanism connector of the all-terrain intelligent data acquisition vehicle of the present invention;

[0064] Figure 12 This is a schematic diagram of the locking component of the braking mechanism of the all-terrain intelligent data acquisition vehicle of the present invention;

[0065] Figure 13 This is a schematic diagram of the regulating valve of the braking mechanism of the all-terrain intelligent data acquisition vehicle of the present invention;

[0066] Figure 14This is a flowchart of the all-terrain intelligent data collection vehicle data collection method of the present invention.

[0067] The specific meanings of each mark in the diagram are as follows:

[0068] 1-Machine vision module; 2-Six-DOF robotic arm; 3-Data acquisition box; 4-Chassis; 4.1-First base plate; 4.2-Second base plate; 4.3-Third telescopic part; 5-Wheel module; 5.1-Tire mechanism; 5.1.1-First tire; 5.1.2-Threaded shaft section; 5.1.3-First sleeve shaft section; 5.1.4-First telescopic part; 5.1.5-First transmission gear; 5.2-Shaft transmission mechanism; 5.2.1 Telescopic power transmission shaft; 5. 2.2-Rolling bearing housing; 5.2.3-Second driven bevel gear; 5.3-Power steering mechanism; 5.3.1-Input section; 5.3.2-Transition section; 5.3.3-Output section; 5.4-Gear assembly; 5.4.1-Second transmission gear; 5.4.2-Third transmission gear; 5.5-Tire assembly; 5.6-Power assembly; 5.6.1-Motor; 5.6.2-Motor mounting base; 5.6.3-First driving bevel gear; 5.6.4-Second driven bevel gear. 5.6.5 Driven bevel gear; 5.6.6 Second driving bevel gear; 6 Control module; 7 Dustproof housing; 8 Shock-absorbing elastic element; 9 Braking mechanism; 9.1 Telescopic rod; 9.2 Heat dissipation bracket; 9.2.1 Heat dissipation pipe array; 9.2.2 Arc-shaped baffle; 9.2.3 Groove; 9.2.4 Slide groove; 9.3 Brake pad; 9.4 Snap-fit ​​component; 9.4.1 Snap-fit ​​strip; 9.4.2 Snap-fit ​​buckle; 9.5 Lock Stop, 9.5.1-Main body, 9.5.2-Elastic element, 9.5.3-Shot stick, 9.5.4-Sleeve, 9.5.5-Button; 10-Heat dissipation mechanism; 10.1-Temperature sensing tube, 10.2-Spring tube, 10.3-Transmission rod, 10.4-Regulating valve; 10.4.1-First liquid collection chamber, 10.4.2-Second liquid collection chamber, 10.4.3-Liquid inlet, 10.4.4-Liquid outlet, 10.4.5-Opening plate; 10.5-Mounting bracket. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art.

[0070] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" indicate that the element or object preceding "comprising" encompasses the features, wholes, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or sets thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0071] In current agricultural data collection scenarios, due to the varying terrain of the collection area, it is necessary to conduct advance surveys to select suitable data collection vehicles. Farmers not only have to configure multiple data collection vehicles, which incurs high costs and low collection efficiency, but also face challenges. Therefore, this invention aims to propose an all-terrain intelligent data collection vehicle and method based on machine vision. By equipping the vehicle with a machine vision module and designing the vehicle as a multi-functional vehicle with adjustable tire spacing, center of gravity, and number of wheels, and interchangeable tire types, a single data collection vehicle can perform data collection tasks across all terrains.

[0072] The following, in conjunction with the accompanying drawings, provides a further detailed description of the machine vision-based all-terrain intelligent data collection vehicle and method disclosed in this invention.

[0073] Combination Figure 1 and Figure 2 As shown, the machine vision-based all-terrain intelligent data acquisition vehicle includes a machine vision module 1, a six-degree-of-freedom robotic arm 2, a data acquisition box 3, a chassis 4, a wheel module 5, and a control module 6.

[0074] As shown in the figure, the data collection box 3 is fixed on the upper surface of the chassis 4 and is configured as a top opening structure that can extend and retract in the vertical direction. In this embodiment, the extension and retraction function is realized by the control module 6 controlling the hydraulic pump. The six-degree-of-freedom robotic arm 2 is fixed inside the data collection box 3, and its free end extends out from the top opening of the data collection box 3. The control module 6 completes the data collection by controlling the free rotation of the six-degree-of-freedom robotic arm 2.

[0075] The machine vision module 1 is fixed to the free end of the hand of the six-degree-of-freedom robotic arm 2, and the machine vision module 1 and the six-degree-of-freedom robotic arm 2 are controlled and connected to the control module 6. The machine vision module 1 is used to capture and identify target blocks to generate a target block topographic map, so that the control module 6 can plan the vehicle driving path according to the target block topographic map. The target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the collection area. The machine vision module 1 is also used to acquire the collection target in the direction of the vehicle's driving in real time during the vehicle's driving process, such as by rapidly capturing video frames of the vehicle's driving process at a set frequency, using a target recognition algorithm to identify the collection target in the video frame, acquiring and sending the location information of the collection target to the control module 6, and then the control module 6 controls the six-degree-of-freedom robotic arm 2 to collect data according to the location information.

[0076] The wheel module 5 is located below the chassis 4 and includes four tire assemblies and two power assemblies 5.6;

[0077] Combination Figure 3 As shown, the tire assembly includes at least a tire mechanism 5.1, a shaft drive mechanism 5.2, and a power steering mechanism 5.3 for connecting the tire mechanism 5.1 and the shaft drive mechanism 5.2, wherein the shaft drive mechanism 5.2 has a degree of freedom to extend and retract along its axial direction in a plane;

[0078] Combination Figures 4 to 6 As shown, the tire mechanism 5.1 includes at least a pair of coaxially arranged first tires 5.1.1 and first telescopic portions 5.1.4; the direction of the first tire 5.1.1 near the first telescopic portion 5.1.4 is defined as the first side, and the direction away from the first telescopic portion 5.1.4 is defined as the second side. A first connecting shaft is provided through the central axis of the first tire 5.1.1. The end of the first connecting shaft protruding from the first side is set as a threaded shaft section 5.1.2, and the end of the first connecting shaft protruding from the second side is set as a first sleeve shaft section 5.1.3 with threads on the inner wall. In the tire mechanism 5.1, the threaded shaft section 5.1.2 of the first tire 5.1.1, which is coaxially fixed, is adapted and fixedly connected to the first sleeve shaft section 5.1.3 of the adjacent first tire 5.1.1.

[0079] The first telescopic part 5.1.4 is configured as a first telescopic drive shaft, and its telescopic direction is perpendicular to the telescopic direction of the shaft transmission mechanism 5.2. The end of the first telescopic part 5.1.4 near the first tire 5.1.1 is configured as a second sleeve shaft segment with internal threads that is adapted to the threaded shaft segment 5.1.2 of the first connecting shaft of the first tire 5.1.1. The second sleeve shaft segment is adapted to and fixedly connected to the threaded shaft segment 5.1.2 of the first connecting shaft of the first tire 5.1.1. The end of the first telescopic part 5.1.4 away from the first tire 5.1.1 is fixedly connected to a first transmission gear 5.1.5 and then fixedly connected to the power steering mechanism 5.3. The first transmission gear 5.1.5 is coaxial with the first telescopic part 5.1.4. The way the threaded shaft segment 5.1.2 is engaged with the first sleeve shaft segment 5.1.3 and the second sleeve shaft segment not only enables installation but also facilitates the addition of tires. In addition, based on the presence of the first telescopic part 5.1.4, the spacing between the left and right pairs of first tires 5.1.1 at the front and rear of the vehicle can be quickly adjusted.

[0080] In this embodiment, to improve the installation strength of the threaded shaft segment 5.1.2 and the first sleeve shaft segment 5.1.3, a first fixing hole is symmetrically arranged through the outer wall of the first sleeve shaft segment 5.1.3 of the first connecting shaft. After the threaded shaft segment 5.1.2 of the first connecting shaft mates with the first sleeve shaft segment 5.1.3, a second fixing hole is provided on it at a position corresponding to the first fixing hole. The first fixing hole and the second fixing hole are used to fasten the threaded shaft segment 5.1.2 and the first sleeve shaft segment 5.1.3 with fixing bolts after they mate. To avoid losing the fixing screws, the fixing screws are fixed in the first fixing hole before the first tire 5.1.1 is installed.

[0081] The shaft transmission mechanism 5.2 is controlled and connected to the control module 6, and includes a retractable power transmission shaft 5.2.1, a rolling bearing seat 5.2.2, and a second driven bevel gear 5.2.3. The rolling bearing seat 5.2.2 is fitted onto the retractable power transmission shaft 5.2.1, and the retractable power transmission shaft 5.2.1 can move freely within the rolling bearing seat 5.2.2, for fixing the shaft transmission mechanism 5.2 to the chassis 4. One end of the retractable power transmission shaft 5.2.1 is fixedly connected to the end of the power steering mechanism 5.3 away from the first telescopic part 5.1.4, and the other end is fixedly connected to the axis of the second driven bevel gear 5.2.3.

[0082] To further enhance the adjustability of the tire mechanism 5.1, in this embodiment, a third telescopic part 4.3 connected to the control module 6 is provided on the upper surface of the rolling bearing seat 5.2.2 of any of the shaft transmission mechanisms 5.2, and a support part is provided on the lower surface; the end of the third telescopic part 4.3 away from the rolling bearing seat 5.2.2 is connected to the chassis 4, and it has the freedom to extend and retract in the vertical direction, thereby realizing the adjustment of the center of gravity height of the data acquisition vehicle; the support part is used to provide a mounting position for the jack, for the replacement of the first tire 5.1.1 or vehicle maintenance.

[0083] The power steering mechanism 5.3 is configured as a three-section power steering knuckle mechanism formed by sequentially connecting cross shafts, including an input section 5.3.1, a transition section 5.3.2, and an output section 5.3.3. The input section 5.3.1 is fixedly connected to the retractable power transmission shaft 5.2.1, and the output section 5.3.3 is fixedly connected to the first retractable drive shaft. The power steering mechanism 5.3 is used to turn the transmission direction of the retractable power transmission shaft 5.2.1 by 90°. The three-section power steering knuckle mechanism ensures that the rotation direction of the input shaft is consistent with the rotation direction of the output shaft, either simultaneously inward or simultaneously outward.

[0084] The second driven bevel gear 5.2.3 is powered to the power assembly 5.6. When the power assembly 5.6 is started, it drives the second driven bevel gear 5.2.3, which in turn drives the retractable power transmission shaft 5.2.1, the power steering mechanism 5.3, the first telescopic part 5.1.4 and the first tire 5.1.1 to rotate.

[0085] Further integration Figure 6 and Figure 7 As shown, the two power components 5.6 are symmetrically arranged below the chassis 4, respectively controlling the front and rear tires of the all-terrain intelligent data collection vehicle on the same side. Each power component 5.6 includes a motor 5.6.1, a motor mounting base 5.6.2, an active bevel gear assembly, a gear transmission shaft 5.6.5, and a second active bevel gear 5.6.6 connected to the control module 6. The active bevel gear assembly includes a first active bevel gear 5.6.3 and a first driven bevel gear 5.6.4. During installation, the motor 5.6.1 is fixed to the chassis 4 via the motor mounting base 5.6.2. The chassis 4 has its motor shaft vertically fixed to the first driving bevel gear 5.6.3, and the first driven bevel gear 5.6.4 axially fixed to one end of the gear drive shaft 5.6.5. The other end of the gear drive shaft 5.6.5 is fixed to the second driving bevel gear 5.6.6. The second driving bevel gear 5.6.6 respectively engages with the second driven bevel gear 5.2.3 of the axle drive mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent data collection vehicle, such that the two second driven bevel gears 5.2.3 have opposite transmission directions. Figure 5As shown; the active bevel gear assembly is used to convert the vertical transmission of the motor 5.6.1 into horizontal transmission;

[0086] When the wheel module 5 is working, the power component 5.6 is started under the control of the control module 6, driving the active bevel gear combination and the second active bevel gear 5.6.5 to drive the second driven bevel gear 5.2.3 of the shaft transmission mechanism 5.2 of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle to rotate in opposite directions. In turn, the first tire 5.1.1 of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle is driven to rotate in the same direction through the retractable power transmission shaft 5.2.1, the power steering mechanism 5.3, and the first retractable drive shaft.

[0087] Further integration Figure 3 and Figure 7 As shown, when the weight of the target to be collected is too large, it is necessary to increase the load-bearing capacity of the collection vehicle to improve the vehicle's efficiency. In this embodiment, the load-bearing capacity of the vehicle is increased by increasing the number of tires. Specifically, the tire mechanism 5.1 also includes several sets of gear combinations 5.4 and tire combinations 5.5 corresponding to the number of gear combinations 5.4. The gear combinations 5.4 and the tire combinations 5.5 cooperate to expand the number of tires of the all-terrain intelligent collection vehicle.

[0088] The gear assembly 5.4 includes a gear set frame fixed to the chassis 4, and two meshing second transmission gears 5.4.1 and third transmission gears 5.4.2 fixed at the shaft center of the gear set frame; the second transmission gear 5.4.1 meshes with the first transmission gear 5.1.5, and the first transmission gear 5.1.5, the second transmission gear 5.4.1, and the third transmission gear 5.4.2 are located on the same plane;

[0089] The tire assembly 5.5 includes a pair of coaxially arranged second tires and a second telescopic part. The second tires are fixedly connected to the third transmission gear 5.4.2 via the second telescopic part. The tire assembly 5.5 has the same mounting structure as the tire mechanism 5.1, that is, the direction of the second tire closer to the second telescopic part is defined as the third side, and the direction away from the second telescopic part is defined as the fourth side. A second connecting shaft is provided through the central axis of the second tire. The structure of the second connecting shaft is the same as that of the first connecting shaft, and the two coaxially fixed second tires are adapted and fixedly connected to the first sleeve shaft section via the threaded shaft section of the second connecting shaft. The second telescopic part is configured as a second retractable drive shaft, and its extension direction is the same as and synchronous with the extension direction of the first retractable drive shaft. The end of the second telescopic part closer to the second tire is configured as a third sleeve shaft section with internal threads adapted to the threaded shaft section of the second connecting shaft, and the third sleeve shaft section is adapted and fixedly connected to the threaded shaft section of the second connecting shaft. The end of the second telescopic part away from the second tire is fixedly connected to the axis of the third transmission gear 5.4.2. Similarly, more tires can be added by cooperating with the gear assembly 5.4 and the tire assembly 5.5.

[0090] In addition, to protect the wheel module 5 and reduce dust clogging of the drive shaft, which could affect the service life of the machine, a dustproof housing 7 is fitted around the shaft drive mechanism 5.2 of any of the tire components and the two power components 5.6. The dustproof housing 7 is fixedly connected to the chassis 4. In this embodiment, the dustproof housing 7 is made of a high-hardness alloy, which further secures it to the shaft drive mechanism 5.2 and the two power components 5.6. The connection points of the housing are reinforced with reinforcing ribs, protecting the wheel module 5 while improving the structural strength of the data collection vehicle.

[0091] Combination Figures 8 to 12 As shown in the figure, the tire mechanism 5.1 of the present invention employs a braking mechanism 9 and a heat dissipation mechanism 10 to ensure the stability and reliability of its braking performance.

[0092] Specifically, a plurality of braking mechanisms 9 are evenly spaced around the circumference of the hub of any of the first tires 5.1.1, with no fewer than three in this embodiment, including a telescopic rod 9.1, a heat dissipation bracket 9.2, a brake pad 9.3, a snap-fit ​​component 9.4, and a locking component 9.5; the telescopic rod 9.1 is a hydraulic rod controlled and connected to the control module 6, one end of which is fixed to the inner hub of the first tire 5.1.1, and the other end is fixed to the heat dissipation bracket 9.2. Figure 9As shown, the heat dissipation bracket 9.2 has a hollow structure, including a heat dissipation pipe array 9.2.1 and an arc-shaped baffle 9.2.2 arranged around a portion of the side of the heat dissipation pipe array 9.2.1. The two ends of the unused side of the heat dissipation pipe array 9.2.1 without the arc-shaped baffle 9.2.2 are respectively provided with grooves 9.2.3, and the grooves 9.2.3 and the corresponding outer walls of the unused side are irregularly shaped. Specifically, the heat dissipation pipe array 9.2.1 includes several heat dissipation pipes arranged in an array, with both ends of each heat dissipation pipe passing through the corresponding positions of the arc-shaped baffle. The side of the arc-shaped baffle 9.2.2 near the outer hub protrudes from the heat dissipation pipe array 9.2.1, and a sliding groove 9.2.4 is provided on the inner wall of an opposite side of the arc-shaped baffle 9.2.2. Each heat dissipation pipe is used for coolant flow, and the heat dissipation pipes between the various braking mechanisms 9 are interconnected. Ethylene glycol can be selected as the coolant. In addition, to ensure the heat dissipation of the heat sink 9.2, its material is set to aluminum alloy.

[0093] The brake pad 9.3 is pulled out along the groove 9.2.4 onto the heat dissipation bracket 9.2, and its bottom surface abuts against the heat dissipation pipe array 9.2.1. Figure 10 and Figure 11 As shown. The snap-fit ​​component 9.4 includes a snap-fit ​​strip 4.1 and snap fasteners 4.2 disposed at both ends of the snap-fit ​​strip 4.1; the snap-fit ​​strip 4.1 is disposed on the unused side of the heat dissipation pipe array 9.2.1 and abuts against the brake pad 9.3; the snap fasteners 4.2 are snapped into the corresponding grooves 9.2.3. The locking member 9.5 is inserted into the groove 9.2.3 along the irregular structure, and includes a main body 9.5.1, an elastic member 9.5.2, a ball cue 9.5.3, a sleeve 9.5.4, and a button 9.5.5. Specifically, the sleeve 9.5.4 passes through the main body 9.5.1; the elastic member 9.5.2 is sleeved on the ball cue 9.5.3; the ball cue 9.5.3 passes through the sleeve 9.5.4, and its rod end protrudes from the main body 9.5.1; the button 9.5.5 is sleeved on the rod end of the ball cue 9.5.3. In this embodiment, the elastic member 9.5.2 is specifically a spring.

[0094] When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module 6 introduces hydraulic oil into the telescopic rod 9.1 to drive the telescopic rod 9.1 inside the first tire 5.1.1 to extend, and causes the corresponding brake pad 9.3 inside to abut against the inner wheel hub to generate friction, thereby decelerating the first tire 5.1.1 to stop rotating.

[0095] Further integration Figure 8As shown, the number of heat dissipation mechanisms 10 on the first tire 5.1.1 corresponds to the number of brake mechanisms 9 and they cooperate with each other, including a temperature sensing tube 10.1, a reed tube 10.2, a transmission rod 10.3, and a regulating valve 10.4; one end of the temperature sensing tube 10.1 is fixed to the bottom of the heat dissipation bracket 9.2, and the other end is fixed to the inner end of the reed tube 10.2; after assembly, the temperature sensing tube 10.1 and the reed tube 10.2 are filled with a temperature-sensitive substance, such as hydrogen, helium, or alcohol; the reed tube 10.2 has thermal expansion and contraction properties. One end of the transmission rod 10.3 is fixed to the outer end of the reed tube 10.2, and the other end is fixed to the regulating valve 10.4; as Figure 13 As shown, the regulating valve 10.4 includes a first liquid collecting chamber 10.4.1, a second liquid collecting chamber 10.4.2, an inlet 10.4.3, an outlet 10.4.4, and an opening plate 10.4.5. The upper and lower surfaces of the opening plate 10.4.5 are respectively in contact with the openings of the first liquid collecting chamber 10.4.1 and the second liquid collecting chamber 10.4.2 to control the opening of the regulating valve 10.4 to be positively correlated with the temperature of the brake pad 9.3 under the synergistic action of the reed tube 10.2 and the transmission rod 10.3. The inlet 10.4.3 is located on the first liquid collecting chamber 10.4.1, and the outlet 10.4.4 is located on the second liquid collecting chamber 9.1. In this embodiment, in order to achieve the mutual transmission effect between the reed tube 10.2 and the regulating valve 10.4, a mounting bracket 10.5 fixed to the inner hub of the first tire 5.1.1 is used, with the reed tube 10.2 at one end and the regulating valve 10.4 at the other end.

[0096] When the brake pad 9.3 comes into contact with the inner hub and rubs against it, the brake pad 9.3 heats up, and its temperature is transferred sequentially to the heat dissipation bracket 9.2, the temperature sensing tube 10.1, and the reed tube 10.2 through heat conduction, causing the reed tube 10.2 to expand outward. The reed tube 10.2 pushes the transmission rod 10.3 to move, thereby controlling the sliding of the opening plate 10.4.5 to adjust the flow rate of the coolant in the heat dissipation tube. After the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pad 9.3 drops, and the reed tube 10.2 gradually retracts inward and pushes the transmission rod 10.3 to move, thereby controlling the opening of the regulating valve 10.4 to zero.

[0097] Further integration Figure 2As shown, the chassis 4 of the data collection vehicle in this case includes a first base plate 4.1 and a second base plate 4.2 arranged parallel to each other from top to bottom and spaced apart. The first base plate 4.1 and the second base plate 4.2 are supported and fixedly connected by a plurality of evenly distributed shock-absorbing elastic elements 8, such as commercially available shock absorbers. The data collection box 4 is disposed on the upper surface of the first base plate 4.1, and the rolling bearing seat 5.2.2 and the motor mounting seat 5.6.2 are fixedly connected to the lower surface of the second base plate 4.2. In order to improve the stability of the chassis 4, the middle part of the first base plate 4.1 and the second base plate 4.2 is fixed by a fixing column; optionally, the chassis 4 can be designed with different structures according to the size of the data collection vehicle.

[0098] The terrain and topography faced by data collection tasks vary significantly in different regions. For example, some areas are relatively flat, while others are uneven or require climbing. When the data collection box 3 contains a large number of data collection targets, the box may tilt when the vehicle passes over a slope, posing a risk of spillage. Therefore, this invention also includes a tilt sensor on the data collection box 3. The tilt sensor signal is connected to the control module 6 to sense the tilt angle and tilt direction of the bottom surface of the data collection box 3 relative to the horizontal plane and send it to the control module 6. The control module 6 then controls the third telescopic part 4.3 to adjust the data collection box 3 to a horizontal state based on the tilt angle and tilt direction, thereby reducing the spillage of data collection targets and improving data collection efficiency.

[0099] As an optional implementation, the first tire 5.1.1 of the tire mechanism 5.1 in this case can be replaced with a track; when the tire mechanism 5.1 selects a track, it is more convenient than... Figure 3 The two wheel combinations shown can be directly replaced by replacing the four first tires 5.1.1 with tracks with three tires. The first transmission gear 5.1.4 drives the drive wheel of the track, and the third transmission gear 5.4.2 connects to the driven wheel between the drive wheel and the drive wheel, thus completing the track installation.

[0100] As another optional implementation, the data collection vehicle in this case is equipped with two power sources: gasoline-powered or electric-powered. The electricity is converted from solar energy absorbed by solar panels mounted on the outer wall of the data collection box 3. In specific implementation, the electricity converted by the solar panels first powers the control module 6, and the excess electricity is stored in the battery for later use.

[0101] Combination Figure 14 As shown, another embodiment of the present invention discloses the above-mentioned data collection method for an all-terrain intelligent data collection vehicle based on machine vision, including the following steps:

[0102] Step S1: After the vehicle reaches its initial position, the machine vision module 1 is activated to capture and identify the target area, generating a topographic map of the target area and sending it to the control module 6. The target area is defined as the area captured by the machine vision module, and its area does not exceed the area of ​​the acquisition area. Step S2: Based on the topographic map of the target area, the control module 6 plans several vehicle travel paths and marks road condition parameters for each path. These parameters include road width, road surface smoothness, curve radius, slope, and lateral gradient. Step S3: A target vehicle travel path is determined. The control module 6 generates vehicle configuration optimization data based on the road condition parameters of the path and adjusts the vehicle configuration according to this data. The vehicle configuration includes wheel type, lateral and longitudinal distance between tires, center of gravity height, and number of wheels. Adjustments to the wheel type and number of wheels are made manually. Step S4: The vehicle travels along the target vehicle travel path. The machine vision module 1 acquires the acquisition target in the direction of the acquisition vehicle in real time and sends it to the control module 6. The control module 6 then controls the six-degree-of-freedom robotic arm to perform acquisition.

[0103] Optionally, the acquisition method further includes step 5) when the vehicle arrives at the preset parking point, the machine vision module 1 takes a new picture and identifies the target block, generates a topographic map of the target block and feeds it back to the control module 6 so that the control module 6 can re-plan the vehicle driving path and then adjust the vehicle configuration according to the re-selected target vehicle driving path.

[0104] This invention achieves the technical effect of using a single data collection vehicle to autonomously conduct terrain surveys, locate data collection targets, and collect data by equipping the data collection vehicle with a machine vision module and designing the vehicle's tire assembly and two power components as a multi-functional vehicle with adjustable tire spacing, adjustable center of gravity, adjustable number of wheels, and interchangeable tire types. Compared with existing technologies, this invention offers greater ease of use.

[0105] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A machine vision-based all-terrain intelligent data collection vehicle, characterized in that, It includes a machine vision module, a six-degree-of-freedom robotic arm, a data acquisition box, a chassis and wheel module, and a control module; The data acquisition box is fixed to the upper surface of the chassis and is configured with a top opening structure that can extend and retract in the vertical direction; the six-degree-of-freedom robotic arm is fixed inside the data acquisition box, and its free hand end extends out from the top opening of the data acquisition box. The machine vision module is fixed to the free end of the hand of the six-degree-of-freedom robotic arm, and the machine vision module and the six-degree-of-freedom robotic arm are controlled and connected to the control module. The machine vision module is used to capture and identify target blocks to generate a target block topographic map, so that the control module can plan the vehicle's driving path based on the target block topographic map. The target block is defined as the shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area. The machine vision module is also used to acquire the acquisition target in the direction of the acquisition vehicle's driving in real time during the vehicle's driving process, so that the control module can control the six-degree-of-freedom robotic arm to acquire the data. The wheel module is located below the chassis and includes four tire assemblies and two power assemblies. The tire assembly includes at least a tire mechanism, a shaft drive mechanism, and a power steering mechanism for connecting the tire mechanism and the shaft drive mechanism, the shaft drive mechanism having a degree of freedom to extend and retract along its axial direction in a plane. The tire mechanism includes at least a pair of coaxially arranged first tires and a first telescopic part; Define the direction of the first tire near the first telescopic part as the first side and the direction away from the first telescopic part as the second side. Then, a first connecting shaft is provided through the central axis of the first tire. The end of the first connecting shaft protruding from the first side is set as a threaded shaft section, and the end of the first connecting shaft protruding from the second side is set as a first sleeve shaft section with threads on the inner wall. In the tire mechanism, the threaded shaft section of the first tire that is coaxially fixed is adapted and fixedly connected to the first sleeve shaft section of the adjacent first tire. The first telescopic part is configured as a first telescopic drive shaft, the telescopic direction of which is perpendicular to the telescopic direction of the shaft transmission mechanism; the end of the first telescopic part near the first tire is configured as a second sleeve shaft section with internal threads that is adapted to the threaded shaft section of the first connecting shaft of the first tire, and the second sleeve shaft section is adapted to and fixedly connected to the threaded shaft section of the first connecting shaft of the first tire; the end of the first telescopic part away from the first tire is fixedly connected to a first transmission gear and then fixedly connected to the power steering mechanism, and the first transmission gear is coaxial with the first telescopic part; The shaft transmission mechanism includes a retractable power transmission shaft, a rolling bearing housing, and a second driven bevel gear; the rolling bearing housing is fitted onto the retractable power transmission shaft to fix the shaft transmission mechanism to the chassis; one end of the retractable power transmission shaft is fixedly connected to the end of the power steering mechanism away from the first telescopic part, and the other end is fixedly connected to the shaft center of the second driven bevel gear. The power steering mechanism is configured as a three-section power steering knuckle mechanism formed by sequentially connecting cross shafts, including an input knuckle, a transition knuckle, and an output knuckle. The input knuckle is fixedly connected to the retractable power transmission shaft, and the output knuckle is fixedly connected to the first retractable drive shaft. The power steering mechanism is used to turn the transmission direction of the retractable power transmission shaft by 90°. The second driven bevel gear is powered by the power assembly. When the power assembly is started, it drives the second driven bevel gear, which in turn drives the retractable power transmission shaft, power steering mechanism, first telescopic part and first tire to rotate. Two power units are symmetrically arranged below the chassis, respectively controlling the front and rear tires of the all-terrain intelligent data collection vehicle on the same side. Each power unit includes a motor, a motor mounting base, a drive bevel gear assembly, a gear drive shaft, and a second drive bevel gear connected to the control module. The drive bevel gear assembly includes a first drive bevel gear and a first driven bevel gear. The motor is fixed to the chassis via the motor mounting base, and the motor shaft is fixed vertically to the first drive bevel gear. The first driven bevel gear is axially fixed to one end of the gear drive shaft, and the other end of the gear drive shaft is fixed to the second drive bevel gear. The second drive bevel gears respectively drive and mesh with the second driven bevel gears in the axle transmission mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent data collection vehicle, such that the two second driven bevel gears have opposite transmission directions. The drive bevel gear assembly is used to convert the vertical transmission of the motor into horizontal transmission. The power assembly is started under the control of the control module, which drives the active bevel gear combination and the second active bevel gear transmission to drive the second driven bevel gear of the central shaft transmission mechanism of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle to rotate in opposite directions. In turn, the first tire of the two tire assemblies on the same side of the all-terrain intelligent data collection vehicle is driven to rotate in the same direction through the retractable power transmission shaft, the power steering mechanism and the first retractable drive shaft. The tire mechanism also includes several gear combinations and tire combinations corresponding to the number of gear combinations. The gear combinations and the tire combinations cooperate to expand the number of tires of the all-terrain intelligent data collection vehicle. The gear assembly includes a gear set frame fixed to the chassis, and two meshing second and third transmission gears fixed at the shaft center by the gear set frame; the second transmission gear meshes with the first transmission gear, and the first, second, and third transmission gears are located on the same plane; The tire assembly includes a pair of coaxially arranged second tires and a second telescopic part, wherein the second tires are fixedly connected to the third transmission gear via the second telescopic part; Define the direction of the second tire closer to the second telescopic part as the third side and the direction away from the second telescopic part as the fourth side. Then, a second connecting shaft is provided through the central axis of the second tire. The structure of the second connecting shaft is the same as that of the first connecting shaft. The two second tires that are coaxially fixed are connected to the first sleeve shaft section through the threaded shaft section of the second connecting shaft. The second telescopic part is configured as a second telescopic drive shaft, and its telescopic direction is the same as and synchronized with the telescopic direction of the first telescopic drive shaft; the end of the second telescopic part near the second tire is configured as a third sleeve shaft segment with internal threads that is adapted to the threaded shaft segment of the second connecting shaft, and the third sleeve shaft segment is adapted to and fixedly connected to the threaded shaft segment of the second connecting shaft; the end of the second telescopic part away from the second tire is fixedly connected to the shaft of the third transmission gear.

2. The machine vision-based all-terrain intelligent data collection vehicle according to claim 1, characterized in that, The outer wall of the first sleeve shaft section of the first connecting shaft is provided with a first fixing hole that is symmetrically arranged through it. After the threaded shaft section of the first connecting shaft is engaged with the first sleeve shaft section, a second fixing hole is provided on it at a position corresponding to the first fixing hole. The first fixing hole and the second fixing hole are used to fasten the threaded shaft section and the first sleeve shaft section with fixing bolts.

3. The machine vision-based all-terrain intelligent data collection vehicle according to claim 1, characterized in that, Each of the first tires has a plurality of braking mechanisms evenly spaced along the circumference of its hub. The braking mechanism includes a telescopic rod, a heat dissipation bracket, brake pads, a snap-fit ​​component, and a locking component; The telescopic rod is a hydraulic rod connected to the control module, with one end fixed to the inner hub of the first tire and the other end fixed to the heat dissipation bracket. The heat dissipation bracket has a hollow structure, including a heat dissipation pipe array and an arc-shaped baffle arranged around a portion of the side of the heat dissipation pipe array. The two ends of the unused side of the heat dissipation pipe array without the arc-shaped baffle are respectively provided with grooves, and the grooves and their corresponding outer walls on the unused side have irregular shapes. The heat dissipation pipe array includes a plurality of heat dissipation pipes arranged in an array, with both ends of each heat dissipation pipe passing through the corresponding position of the arc-shaped baffle. The side of the arc-shaped baffle near the outer hub protrudes from the heat dissipation pipe array, and a sliding groove is provided on the inner wall of one opposite side of the arc-shaped baffle. Each heat dissipation pipe is used for coolant flow. The brake pads are pulled out along the groove and mounted on the heat dissipation bracket, with their bottom surface abutting against the heat dissipation pipe array; The snap-fit ​​component includes a snap-fit ​​strip and snap fasteners at both ends of the snap-fit ​​strip; the snap-fit ​​strip is located on the unused side of the heat dissipation pipe array and abuts against the brake pad; the snap fasteners are snapped into the corresponding grooves. The locking member is inserted into the groove along the irregular structure and includes a main body, an elastic element, a cue stick, a sleeve, and a button; wherein, the sleeve passes through the main body; the elastic element is sleeved on the cue stick; the cue stick passes through the sleeve, and its end protrudes from the main body; the button is sleeved on the end of the cue stick; When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module introduces hydraulic oil into the telescopic rod to drive the telescopic rod inside the first tire to extend, and causes the corresponding brake pad inside to come into contact with the inner wheel hub to generate friction, thereby decelerating the first tire to stop rotating.

4. The machine vision-based all-terrain intelligent data collection vehicle according to claim 3, characterized in that, Each of the first tires is also provided with a heat dissipation mechanism that cooperates with the braking mechanism; The heat dissipation mechanism includes a temperature sensing tube, a reed tube, a transmission rod, and a regulating valve; One end of the temperature sensing tube is fixed to the bottom of the heat dissipation bracket, and the other end is fixed to the inner end of the reed tube; the regulating valve includes a first liquid collecting chamber, a second liquid collecting chamber, an inlet, an outlet, and an opening plate; the upper and lower surfaces of the opening plate are respectively in contact with the openings of the first and second liquid collecting chambers to control the opening of the regulating valve to be positively correlated with the temperature of the brake pads; the inlet is located on the first liquid collecting chamber, and the outlet is located on the second liquid collecting chamber; one end of the transmission rod is fixed to the outer end of the reed tube, and the other end is fixed to the opening plate; wherein, the temperature sensing tube and the reed tube contain a temperature-sensitive substance, and the reed tube has thermal expansion and contraction properties; When the brake pads rub against the inner wheel hub, the brake pads heat up, and their temperature is transferred sequentially to the heat dissipation bracket, the temperature sensing tube, and the reed tube through heat conduction, causing the reed tube to expand outward. The reed tube pushes the transmission rod to move, thereby controlling the sliding of the opening plate to adjust the flow rate of the coolant in the heat dissipation tube. After the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pads drops, and the reed tube gradually retracts inward and pushes the transmission rod to move, thereby controlling the opening of the regulating valve to zero.

5. The machine vision-based all-terrain intelligent data collection vehicle according to claim 1, characterized in that, The chassis includes a first base plate and a second base plate arranged parallel to each other from top to bottom and spaced apart. The first base plate and the second base plate are supported and fixedly connected by a number of evenly distributed shock-absorbing elastic elements. The acquisition box is set on the upper surface of the first base plate, and the rolling bearing seat and the motor mounting seat are fixedly connected to the lower surface of the second base plate.

6. The machine vision-based all-terrain intelligent data collection vehicle according to claim 1, characterized in that, The upper surface of the rolling bearing seat of any of the aforementioned shaft transmission mechanisms is provided with a third telescopic part that is controlled and connected to the control module, and the lower surface is provided with a support part. The third telescopic part has a degree of freedom to extend and retract in the vertical direction, and the support part is used to provide a mounting position for the jack. The data acquisition box is also equipped with a tilt sensor. The tilt sensor signal is connected to the control module to sense the tilt angle and tilt direction of the bottom surface of the data acquisition box relative to the horizontal plane and send it to the control module so that the control module can control the third telescopic part to adjust the data acquisition box to a horizontal state according to the tilt angle and tilt direction.

7. The machine vision-based all-terrain intelligent data collection vehicle according to claim 6, characterized in that, Each of the first telescopic part, the shaft transmission mechanism, and the third telescopic part is controlled and connected to the control module, and the control module controls them to extend and retract in a set direction.

8. The machine vision-based all-terrain intelligent data collection vehicle according to claim 1, characterized in that, The shaft drive mechanism of any of the tire components and the two power components are all fitted with dustproof housings, which are fixed to the chassis.

9. A data collection method for an all-terrain intelligent data collection vehicle based on machine vision according to any one of claims 1-8, characterized in that, Includes the following steps: 1) After the vehicle travels to the initial position, the machine vision module is activated to capture and identify the target area, and a topographic map of the target area is generated and sent to the control module; wherein, the target area is the set shooting range of the machine vision module, and the area of ​​the target area does not exceed the area of ​​the acquisition area; 2) The control module plans several vehicle driving paths based on the topographic map of the target area and marks road condition parameters for any vehicle driving path; among which, road condition parameters include road width, road surface smoothness, curve radius, slope, and lateral gradient; 3) Determine a target vehicle travel path. The control module generates vehicle configuration optimization data based on the road condition parameters of the path and adjusts the vehicle configuration based on the vehicle configuration optimization data. The vehicle configuration includes wheel type, lateral and longitudinal distance between tires, center of gravity height, and number of wheels. 4) The vehicle travels along the target vehicle's travel path, and the machine vision module sends the target data of the vehicle's travel direction, which is acquired in real time, to the control module. The control module then controls the six-degree-of-freedom robotic arm to perform the data acquisition.

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