Unmanned vehicle for walking on wet land and use method of unmanned vehicle

Abstract

The invention discloses an unmanned vehicle for walking on a wetland and a use method of the unmanned vehicle, and relates to the technical field of wetland unmanned vehicles. Comprising an unmanned vehicle body, rotating shafts are arranged at the front end and the rear end of the unmanned vehicle body in the moving direction, unmanned vehicle wheels are fixed to the two ends of the rotating shafts respectively, auxiliary assemblies are arranged in the middles of the rotating shafts, auxiliary moving assemblies are arranged at the two ends of the rotating shafts respectively, and the auxiliary assemblies are located between the auxiliary moving assemblies on the two sides; a frame is arranged in the middle of the unmanned vehicle body, a shifting assembly and an inflation assembly are arranged on the frame, the shifting assembly is in transmission connection with the auxiliary assembly of one rotating shaft, and in the process that the rotating shafts drive the auxiliary assembly to rotate, torque is transmitted to the shifting assembly, and periodic swing of the shifting assembly is achieved. It is ensured that the unmanned vehicle can smoothly walk in the wetland, the stability of the unmanned vehicle in the walking process of the wetland is ensured, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wetland unmanned vehicles, and in particular to an unmanned vehicle for traveling in wetlands and a method for using the same. Background Art

[0002] Wetland monitoring refers to the activities of monitoring, managing and protecting wetlands and their surrounding environment. As an important component of the ecosystem, wetlands have important ecological, economic and social value, and play an irreplaceable role in maintaining the ecological balance of the earth and providing ecological services. Therefore, wetland monitoring is of vital importance.

[0003] When the existing technology uses unmanned vehicles to explore or monitor wetland environments, some vegetation in the wetlands is relatively high, which may cause friction or even collision with the bottom of the unmanned vehicle, hindering the progress of the unmanned vehicle. At the same time, long-term collision with vegetation may cause the electronic components inside the unmanned vehicle to loosen, thereby affecting the unmanned vehicle's monitoring of the wetland environment.

[0004] In addition, due to the particularity of the wetland environment, the soil in the wetland is softer than in other areas, and there will be water accumulation in some areas. When the unmanned vehicle is monitoring the wetland, in order to ensure its own functionality, a large number of equipment will be placed on the unmanned vehicle to monitor the wetland environment. In addition, in order to ensure the long-term use of the unmanned vehicle, the unmanned vehicle will also be equipped with a large battery pack and motors and other driving equipment. Therefore, the unmanned vehicle itself is heavier. Therefore, when encountering relatively soft soil or needing to wade through water, the unmanned vehicle will be tilted due to its own weight and soft soil, causing the body of the unmanned vehicle to tilt. The tilt of the body will cause the installation foundation of the equipment in the unmanned vehicle to no longer be level. For those devices that have strict requirements on the installation angle, such as sensors, antennas, etc., there will be installation angle deviations, which will not only affect the detection accuracy of the equipment, but also cause the equipment to fail to work properly.

[0005] To solve the above problems, we propose an unmanned vehicle for wetland travel and a method of using the same. Summary of the invention

[0006] In view of this, and in view of the deficiencies in the prior art, the present invention provides an unmanned vehicle for traveling in wetlands and a method of using the same, so as to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned vehicle for traveling in wetlands, comprising an unmanned vehicle body, wherein the front end and the rear end of the unmanned vehicle body along the moving direction are both provided with a rotating shaft, and the two ends of the rotating shaft are respectively fixed with wheels of the unmanned vehicle, wherein an auxiliary component is provided in the middle of the rotating shaft, and the two ends of the rotating shaft are respectively provided with auxiliary moving components, and the auxiliary component is located between the auxiliary moving components on both sides;

[0008] A frame is provided in the middle of the unmanned vehicle body, on which a toggle assembly and an inflatable assembly are provided. The toggle assembly is transmission-connected to an auxiliary assembly of one of the rotating shafts. When the rotating shaft drives the auxiliary assembly to rotate, the torque is transmitted to the toggle assembly to realize periodic swing of the toggle assembly.

[0009] In the present invention, the auxiliary component comprises a plurality of metal rotating blades fixed at the middle of the rotating shaft and arranged at intervals along the annular outer surface of the rotating shaft, and the metal rotating blades are extended along the axial direction of the rotating shaft.

[0010] A first transmission wheel is fixed to both side end surfaces of the metal rotating blade in the middle of one of the rotating shafts along the axial direction of the rotating shaft, and two second transmission wheels are correspondingly provided on the auxiliary moving component. The first transmission wheel and the corresponding second transmission wheels are respectively connected to each other through a first transmission belt, and the first rotating wheel is fixedly connected between the two second transmission wheels;

[0011] Two third transmission wheels corresponding to the second transmission wheel are also rotatably provided on the auxiliary moving component. The second transmission wheel and the corresponding third transmission wheels are respectively connected through a second transmission belt, and a second rotating wheel is fixedly connected between the two third transmission wheels.

[0012] The auxiliary moving assembly includes a positioning ring fixed to the end of the rotating shaft, and the positioning ring is located between the wheel of the unmanned vehicle and the auxiliary assembly;

[0013] A plurality of electrically controlled telescopic rods are arranged at intervals along the annular outer surface of the positioning ring, one end of the electrically controlled telescopic rod is fixedly connected to the positioning ring, and the other end of the electrically controlled telescopic rod is a telescopic end, which is fixedly connected to the support plate.

[0014] The toggle assembly comprises:

[0015] A positioning bracket is fixedly connected to the vehicle frame, and the second transmission wheel, the first rotating wheel, the third transmission wheel and the second rotating wheel are all rotatably arranged on the positioning bracket;

[0016] The meshing gear is located below the first rotating wheel and the second rotating wheel. The annular outer surfaces of the first rotating wheel and the second rotating wheel are toothed surfaces. The first rotating wheel and the meshing gear thereunder, as well as the second rotating wheel and the meshing gear thereunder, are all in meshing transmission connection.

[0017] A shift block is provided on the outer side of the second transmission wheel and the third transmission wheel. The upper ends of several shift blocks located on the same side are fixedly connected by a round rod. The round rod is rotatably connected to the positioning bracket. The shift block is in the shape of a folded plate. The corner point of the shift block is connected to the meshing gear. During the rotation of the meshing gear, the shift block is driven to swing periodically along the fixed connection between the shift block and the round rod.

[0018] The positioning bracket includes two side brackets arranged along the moving direction, and two transverse brackets connecting the two side brackets;

[0019] The side bracket is fixedly connected to the vehicle frame;

[0020] The two second transmission wheels and the first rotating wheel are arranged on one of the transverse brackets, and the two third transmission wheels and the second rotating wheel are arranged on the other transverse bracket.

[0021] One end surface of the meshing gear is connected to the positioning bracket through a positioning piece, the positioning piece is L-shaped, one end of the positioning piece is fixedly connected to the positioning bracket, and the other end of the positioning piece is rotatably connected to the meshing gear;

[0022] The other end surface of the meshing gear is fixedly connected to one end of the first swing rod, the other end of the first swing rod is rotatably connected to one end of the second swing rod, the other end of the second swing rod is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to a connecting shaft fixed at a corner point of one of the shifting blocks;

[0023] During the rotation of the meshing gears, the first swing rod, the second swing rod and the connecting rod drive the shift block to swing periodically along the fixed connection between the shift block and the round rod. The shift block drives other shift blocks fixed on the round rod to swing synchronously through the round rod fixedly connected to it.

[0024] Inflatable components include:

[0025] A fixed frame is arranged below the positioning bracket and is fixedly connected to the positioning bracket;

[0026] An inflatable airbag is slidably arranged on a fixed frame;

[0027] The air pump is fixedly arranged on the positioning bracket and is connected with the fixed inflatable airbag through a gas delivery pipeline.

[0028] An exploration component is provided on the top of the unmanned vehicle body.

[0029] The present invention also discloses a method for using the unmanned vehicle for wetland travel, comprising the following steps:

[0030] Step 1: The shaft rotates, causing the wheels of the unmanned vehicle to rotate, and the unmanned vehicle starts to walk on the wetland;

[0031] Step 2: Exploring wetland data through the exploration component installed on the unmanned vehicle. The exploration component includes a sensor system, which includes a distance perception sensor, an image acquisition sensor, and an environmental monitoring sensor. When the unmanned vehicle is moving, the distance perception sensor measures the distance between the unmanned vehicle and surrounding objects by transmitting and receiving reflected signals through a laser radar. The laser radar emits a laser beam, and when the laser beam encounters an obstacle, it is reflected back, and the distance is calculated based on the reflection time.

[0032] Image acquisition sensors include cameras, which are used to obtain image information of wetlands. The cameras take high-resolution photos and videos, and use image recognition technology to extract information such as terrain, vegetation, and animals from the images to help unmanned vehicles perceive the environment and identify targets.

[0033] Environmental monitoring sensors include temperature and humidity sensors and water quality sensors. The temperature and humidity sensors detect the temperature and humidity in the air and provide environmental data for the electronic components of the unmanned vehicle. The water quality sensors detect the quality of wetland water and monitor the environmental parameters of the wetland.

[0034] Step 3: When the unmanned vehicle is moving in the wetland, the rotation of the shaft causes the metal rotating blades to rotate, assisting the unmanned vehicle to move forward. When the unmanned vehicle is stuck in soft soil or in water that is half the height of the wheels of the unmanned vehicle, the metal rotating blades move the soft soil and water to help the unmanned vehicle move forward;

[0035] When the unmanned vehicle encounters a single-sided pothole during its movement, the unmanned vehicle will deviate, causing the electrically-controlled telescopic rod on the deviated side to extend, and the electrically-controlled telescopic rod and the support plate will help stabilize the body of the unmanned vehicle.

[0036] (1) Through the setting of the metal rotating blades, when the unmanned vehicle is moving, the rapid rotation of the metal rotating blades can remove some vegetation that can contact the bottom of the unmanned vehicle body, so as to prevent excessively high vegetation from affecting the movement of the unmanned vehicle. The rapid rotation of the metal rotating blades can remove these vegetation in time, greatly reducing the driving resistance of the unmanned vehicle, ensuring that the unmanned vehicle can more easily shuttle through the wetland and improve energy utilization efficiency;

[0037] (2) By setting up the electric telescopic rod and the support plate, when the unmanned vehicle is unbalanced, the unbalanced end of the unmanned vehicle can be supported to help the unmanned vehicle maintain balance. The electric telescopic rod and the support plate can adjust the vehicle in the early stage of imbalance to avoid accidents such as rollover and collision due to further imbalance. When the vehicle is unbalanced, the electric telescopic rod and the support plate can quickly adjust the body posture to keep the sensor in a stable working state, thereby ensuring the integrity and accuracy of data collection.

[0038] (3) The periodic swing of the paddle block can prevent the vegetation that is paddled away by the metal rotating blade from rebounding due to its own toughness and colliding with the bottom surface of the unmanned vehicle, thereby avoiding damage to precision parts such as electronic components inside the unmanned vehicle and maintaining the long-term use of the unmanned vehicle in the wetland exploration process;

[0039] At the same time, the backward thrust generated by the periodic swing of the shift block provides additional forward momentum for the unmanned vehicle, ensuring that the vehicle can continue to move forward smoothly. In addition, in deep water areas, the swing of the shift block can help adjust the direction and strength of the water flow on the vehicle body, so that the vehicle body remains stable.

[0040] (4) The buoyancy generated by the inflatable airbag can lift the unmanned vehicle, allowing it to maintain a sufficient height even in deeper water, preventing the vehicle body from being obstructed by being immersed too much in water. The buoyancy provided by the inflatable airbag can reduce the pressure of the unmanned vehicle body on the mud and reduce the risk of deformation or damage to the unmanned vehicle body. At the same time, the inflatable airbag helps to adjust the center of gravity of the unmanned vehicle by providing stable buoyancy, so that the unmanned vehicle body remains in a more horizontal and stable state. When the unmanned vehicle is driving on a sloping water surface or shore, the buoyancy can offset part of the lateral force generated by the inclined terrain and prevent the unmanned vehicle from rolling over. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 For the present invention Figure 1 Another perspective structural diagram of;

[0043] Figure 3 This is a schematic diagram of the connection relationship of the metal rotating blades of the present invention;

[0044] Figure 4 It is a schematic diagram of the position relationship of the positioning ring of the present invention;

[0045] Figure 5 This is a schematic diagram of the position relationship of a rotating wheel of the present invention;

[0046] Figure 6 It is a schematic diagram of the connection relationship of the positioning member of the present invention;

[0047] Figure 7 For the present invention Figure 6 A schematic diagram of the structure enlargement in the middle;

[0048] Figure 8 This is a schematic diagram of the connection relationship of the round rod of the present invention;

[0049] Fig. 9 It is a schematic diagram of the position relationship of the fixed frame of the present invention;

[0050] Fig.10 For the present invention Fig. 9 Another perspective structural diagram of .

[0051] In the figure: 11, unmanned vehicle body; 12, exploration component; 13, vehicle frame; 14, rotating shaft; 15, unmanned vehicle wheel;

[0052] 21. Metal rotating blade; 22. First transmission wheel; 23. First transmission belt; 24. Second transmission wheel; 25. First rotating wheel; 26. Second transmission belt; 27. Third transmission wheel; 28. Second rotating wheel;

[0053] 31. Positioning bracket; 32. Positioning member; 33. Meshing gear; 34. First swing rod; 35. Second swing rod; 36. Connecting rod; 37. Shifting block; 38. Round rod;

[0054] 41. Fixed frame; 42. Air pump; 43. Gas delivery pipeline; 44. Inflatable airbag; 45. Sliding block;

[0055] 51. Positioning ring; 52. Electric-controlled telescopic rod; 53. Support plate. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Embodiment 1

[0058] like Figure 1 As shown, an unmanned vehicle for traveling in wetlands according to the present invention comprises an unmanned vehicle body 11, an exploration assembly 12 is fixedly installed on the top of the unmanned vehicle body 11, a frame 13 is fixedly installed inside the unmanned vehicle body 11, and four wheels 15 are symmetrically arranged at the bottom of the unmanned vehicle body 11. The two wheels 15 at the front end of the unmanned vehicle body 11 and the two wheels 15 at the rear end of the unmanned vehicle body 11 are respectively connected by a rotating shaft 14, and the two ends of the rotating shaft 14 are respectively fixedly connected to the two symmetrically arranged wheels 15.

[0059] The exploration component 12 includes a sensor system, through which wetland data is explored. The sensor system includes a distance sensing sensor, an image acquisition sensor, and an environmental monitoring sensor. During the movement of the unmanned vehicle, the distance sensing sensor measures the distance between the unmanned vehicle and surrounding objects by transmitting and receiving reflected signals through a laser radar. The laser radar transmits a laser beam, and when the laser beam encounters an obstacle, it is reflected back, and the distance is calculated based on the reflection time. The image acquisition sensor includes a camera for obtaining image information of the wetland. The camera takes high-resolution photos and videos, and extracts information such as terrain, vegetation, and animals from the image through image recognition technology to help the unmanned vehicle perceive the environment and identify targets. The environmental monitoring sensor includes a temperature and humidity sensor and a water quality sensor. The temperature and humidity sensor detects the temperature and humidity in the air and provides environmental data for the electronic components of the unmanned vehicle. The water quality sensor detects the quality of the wetland water body and monitors the environmental parameters of the wetland.

[0060] The unmanned vehicle body 11 is also provided with a control system and a navigation system. The navigation system includes a Beidou Satellite Navigation System (BDS) satellite positioning device, which is used to receive satellite signals and transmit the satellite signals to the sensor system to control the movement trajectory of the unmanned vehicle.

[0061] Auxiliary components are respectively arranged on the two rotating shafts 14. Auxiliary moving components are respectively arranged at both ends of the rotating shaft 14, that is, the auxiliary component is located between the auxiliary moving components on both sides. A toggle component and an inflatable component are arranged on the frame 13.

[0062] The rotating shaft 14 is connected to the power system. The power system in the present application includes a solar cell group and a motor. The solar cell group provides electrical energy to drive the motor to operate and convert the electrical energy into mechanical energy. The output shaft of the motor is connected to the rotating shaft 14 in a transmission manner. When the motor drives the rotating shaft 14 to rotate, it drives the wheels 15 of the unmanned vehicle to rotate, thereby realizing the driving of the vehicle.

[0063] like Figure 2 and Figure 3 As shown, the auxiliary component includes a plurality of metal rotating blades 21 fixedly connected to the annular outer surface of the rotating shaft 14. The metal rotating blades 21 are fixedly arranged in the middle of the rotating shaft 14 and are evenly spaced along the annular outer circumference of the rotating shaft 14. The metal rotating blades 21 are extended along the axial direction of the rotating shaft 14.

[0064] During the movement of the unmanned vehicle, the rapid rotation of the metal rotating blades 21 can remove some of the vegetation that can contact the bottom of the unmanned vehicle body 11, preventing excessively high vegetation from affecting the movement of the unmanned vehicle. The vegetation in the wetland, such as reeds and calamus, grows densely and disorderly. During the movement of the unmanned vehicle, these vegetation will entangle the wheels or the bottom of the vehicle body, adding huge resistance and making it difficult for the vehicle to move forward. The rapid rotation of the metal rotating blades 21 can remove these vegetation in time, just like clearing a "green channel" for the vehicle, greatly reducing the driving resistance, ensuring that the unmanned vehicle can more easily shuttle through the wetland and improve energy efficiency.

[0065] In addition, when the unmanned vehicle is traveling in a wetland, the soil in some parts of the wetland is relatively soft or the land is sunken, and a large amount of water is stored inside the sunken area, which affects the movement of the unmanned vehicle in the wetland. At this time, the wheels 15 of the unmanned vehicle will sink into the soil. As the wheels 15 of the unmanned vehicle rotate under the action of the rotating shaft 14, the unmanned vehicle moves forward, and at the same time, the metal rotating blades 21 fixedly connected to the outer surface of the rotating shaft 14 will rotate accordingly.

[0066] During the rotation of the metal rotating blade 21, the metal rotating blade 21 will stir the water flow and the soft soil, avoiding the metal rotating blade 21 from applying a reverse force to the soil or water flow during the rotation, thereby assisting the unmanned vehicle to move in the above-mentioned wetland environment and avoiding the unmanned vehicle's wheels 15 from sinking into the soil or water flow due to insufficient power.

[0067] A first transmission wheel is fixed on one of the rotating shafts. In this embodiment, the first transmission wheel 22 is fixed on both side end surfaces of the metal rotating blade 21 on the rotating shaft at the front end of the unmanned vehicle body 11 along the axial direction of the rotating shaft. Figure 5 As shown, two second transmission wheels 24 are provided on one side of the positioning bracket 31 in the middle of the frame 13 toward the front end rotating shaft, and the two second transmission wheels 24 are respectively arranged correspondingly to the two first transmission wheels 22, and the first transmission wheels 22 are connected to the corresponding second transmission wheels 24 through the first transmission belt 23. A first rotating wheel 25 is provided between the two second transmission wheels 24, and the first rotating wheel 25 is fixedly connected to the second transmission wheels 24 on both sides.

[0068] Two third transmission wheels 27 are provided on one side of the positioning bracket 31 in the middle of the frame 13 toward the rear end rotating shaft, and the two third transmission wheels 27 are respectively arranged correspondingly to the two second transmission wheels 24, and the second transmission wheels 24 are connected to the corresponding third transmission wheels 27 through the second transmission belt 26. A second rotating wheel 28 is provided between the two third transmission wheels 27, and the second rotating wheel 28 is fixedly connected to the third transmission wheels 27 on both sides.

[0069] like Figures 2 to 4The auxiliary moving assembly includes a positioning ring 51 fixedly connected to the outer surface of both ends of the rotating shaft 14, and a plurality of electric control telescopic rods 52 are arranged at intervals along the circumference of the annular outer surface of the positioning ring 51. One end of the electric control telescopic rod 52 is fixedly connected to the positioning ring 51, and the other end of the electric control telescopic rod 52 is a telescopic end, and the telescopic end is fixedly connected to the support plate 53.

[0070] The unmanned vehicle may encounter dents and other situations during its movement, causing the wheels 15 of the unmanned vehicle to sink, causing the unmanned vehicle body 11 to lose balance as a whole. The imbalance of the unmanned vehicle body 11 will cause the positional relationship between the sensor and the sampling point to change, and it will be impossible to accurately collect samples at the required depth or position; in addition, for terrain mapping tasks, the unbalanced body will affect the scanning accuracy of equipment such as lidar for terrain height and contour.

[0071] When the unmanned vehicle body 11 is unbalanced, the vehicle balance sensor arranged inside the unmanned vehicle body 11 will send a signal, and then the signal receiver inside the unmanned vehicle body 11 will receive the signal, and then the built-in control system of the unmanned vehicle will electrically control the electric telescopic rod 52 to extend, and the electric telescopic rod 52 at the unbalanced end of the unmanned vehicle body 11 will be in an extended state. At this time, the length of the electric telescopic rod 52 is greater than the diameter of the unmanned vehicle wheel 15. The electric telescopic rod 52 extends to the outside of the unmanned vehicle wheel 15, and the corresponding support plate 53 contacts the ground at the depression. The depressed unmanned vehicle is propped up by the support plate 53 and the extended electric telescopic rod 52, so that the unmanned vehicle body 11 remains balanced.

[0072] In the present application, an electric telescopic rod 52 and a support plate 53 are provided on one side of each wheel 15 of the unmanned vehicle. Under the action of the vehicle balance sensor, signal receiver and control system provided inside the unmanned vehicle body 11, the unmanned vehicle can maintain its balance during the wetland travel. Meanwhile, the vehicle balance sensor, signal receiver and control system are all prior art, and their operating principles are all common knowledge, so no further description is given here. Figures 5 to 10 As shown, the toggle assembly includes a positioning bracket 31 fixedly connected to the center of the frame 13, and the positioning bracket 31 includes four brackets, namely a front bracket facing the front end of the vehicle body, a rear bracket facing the rear end of the vehicle body, and two side brackets arranged along the movement direction of the unmanned vehicle. The front bracket and the rear bracket are located between the two side brackets, and the two ends of the front bracket and the rear bracket are respectively fixedly connected to the two side brackets, and the two side brackets are respectively fixedly connected to the frame 13.

[0073] In this embodiment, the second transmission wheel 24 and the first rotating wheel 25 are rotatably disposed on the front bracket, and the third transmission wheel 27 and the second rotating wheel 28 are rotatably disposed on the rear bracket.

[0074] Meshing gears 33 are respectively provided below the first rotating wheel 25 and the second rotating wheel 28. The outer surfaces of the first rotating wheel 25 and the second rotating wheel 28 are both tooth surfaces, and the tooth surfaces of the first rotating wheel 25 and the meshing gears 33 below it, and the tooth surfaces of the second rotating wheel 28 and the meshing gears 33 below it mesh with each other. Therefore, during the rotation of the metal rotating blade 21, the first transmission belt 23 drives the first transmission wheel 24 and the first rotating wheel 25 to rotate, and the meshing gear 33 is driven to rotate through the meshing transmission between the first rotating wheel 25 and the meshing gear 33; at the same time, during the rotation of the first transmission wheel 24, the torque is transmitted to the second rotating wheel 28 through the second transmission belt 26, and the meshing gear 33 meshed with the second rotating wheel 28 is driven to rotate.

[0075] Two shifting blocks 37 are provided at the rear of the first rotating wheel 25 along the direction of movement of the unmanned vehicle. The two shifting blocks 37 are fixedly connected by a round rod 38, and the two ends of the round rod 38 are rotatably connected to the positioning bracket 31. Correspondingly, two shifting blocks 37 are also provided at the rear of the second rotating wheel 28 along the direction of movement of the unmanned vehicle. The upper ends of the two shifting blocks 37 are fixedly connected by a round rod 38, and the two ends of the round rod 38 are rotatably connected to the positioning bracket 31. The shifting blocks 37 are symmetrically folded plate-shaped, that is, the middle part of the folding blocks 37 is folded at an angle.

[0076] One end surface of the meshing gear 33 is connected to the positioning bracket 31 through the positioning member 32, and the other end surface of the meshing gear 33 is connected to the corner point of the shifting block 37. The positioning member 32 supports the meshing gear 33. During the rotation of the meshing gear 33, the shifting block 37 can be driven to swing back and forth around the connection point between the shifting block 37 and the round rod 38.

[0077] In this embodiment, the positioning block 32 is L-shaped, with its upper end fixedly connected to the positioning bracket 31 and its lower end rotatably connected to one end surface of the meshing gear 33. The connection between the meshing gear 33 and the positioning bracket 31 is achieved through the positioning block 32.

[0078] The center of the other side end surface of the corresponding meshing gear 33 is connected to the shifting block 37 through a plurality of swing rods and connecting rods. In this embodiment, the center of the other side end surface of the meshing gear 33 is fixedly connected to one end of the first swing rod 34, the other end of the first swing rod 34 is rotatably connected to one end of the second swing rod 35, the other end of the second swing rod 35 is rotatably connected to one end of the connecting rod 36, and the other end of the connecting rod 36 is rotatably connected to a connecting shaft fixed at the corner point of the shifting block 37.

[0079] During the travel of the unmanned vehicle, the rotation of the metal rotating blade 21 drives the first transmission wheel 22 fixedly connected to both sides thereof to rotate synchronously along the rotating shaft 14. Through the transmission connection between the first transmission wheel 22 and the second transmission wheel 24, the first transmission belt 23 transmits the torque to the second transmission wheel 24, driving the second transmission wheel 24 to rotate along the positioning bracket 31. Through the transmission connection between the second transmission wheel 24 and the third transmission wheel 27, the second transmission belt 26 transmits the torque to the third transmission wheel 27, driving the third transmission wheel 27 to rotate along the positioning bracket 31.

[0080] The first rotating wheel 25 fixedly connected to the second transmission wheel 24 drives the meshing gear 33 meshing therewith to rotate, and the second rotating wheel 28 fixedly connected to the third transmission wheel 27 drives the meshing gear 33 meshing therewith to rotate.

[0081] The meshing gear 33 rotates, which can drive the first swing rod 34 fixedly connected to its outer surface to rotate periodically around the center of the meshing gear. The other end of the first swing rod 34 drives the second swing rod 35 connected to it to move accordingly. The other end of the second swing rod 35 drives the connecting rod 36 connected to it to swing. During the swinging process of the connecting rod 36, the shifting block 37 connected to it is driven to swing periodically around the connection point between the shifting block and the round rod 38. During the swinging process of one of the shifting blocks 37, the shifting block 37 fixed to the round rod 38 can also be driven by the round rod 38 to swing synchronously.

[0082] Therefore, in the present application, the two shifting blocks 37 behind the first rotating wheel 25 and the two shifting blocks 37 behind the second rotating wheel 28 swing simultaneously.

[0083] During the movement of the unmanned vehicle, the periodic swing of the shifting block 37 can prevent the vegetation that is shifted away by the metal rotating blade 21 from rebounding due to its own toughness and other reasons, thereby preventing it from colliding with the bottom surface of the unmanned vehicle body 11, thereby avoiding damage to precision parts such as electronic components inside the unmanned vehicle body 11, and maintaining the long-term use of the unmanned vehicle in the wetland exploration process.

[0084] In addition, when the unmanned vehicle enters an area with deeper water coverage, the periodic swing of the shift block 37 is similar to installing an object similar to a paddle at the bottom of the unmanned vehicle body 11, which shifts the water flow around the unmanned vehicle body 11 and assists the unmanned vehicle in moving forward. In areas with deeper water, the buoyancy of the water will reduce the contact friction between the tires of the unmanned vehicle and the ground / bottom of the water, resulting in insufficient power for the vehicle to move forward. The backward thrust generated by the periodic swing of the shift block 37 is similar to the principle of paddling by a paddle, providing additional forward power for the unmanned vehicle. This thrust can supplement the tire adhesion reduced by buoyancy, ensuring that the unmanned vehicle can continue to move forward smoothly. In deep water areas, the water flow may produce uneven force on the unmanned vehicle body 11, causing the vehicle to shake or even roll over. The swing of the shift block 37 can help adjust the direction and strength of the water flow on the vehicle body to keep the vehicle body stable.

[0085] Inflatable components are installed on both sides of the unmanned vehicle along its travel direction. Fig. 9 and Fig.10 As shown, the inflatable assembly includes a fixed frame 41 located below the frame 13, and the fixed frame 41 is fixedly connected to the frame 13. An inflatable airbag 44 is connected to the fixed frame 41, and the inflatable airbag 44 is connected to an air pump 42 through a gas delivery pipeline 43, and the air pump 42 is fixedly arranged on the frame 13. The air pump 42 is electrically connected to a control system arranged in the body 11 of the unmanned vehicle.

[0086] The inflatable airbag 44 is slidably connected to the fixed frame 41. In this embodiment, a slider 45 is fixed to the inflatable airbag 44, and the slider 45 is slidably connected to the fixed frame 41.

[0087] When the unmanned vehicle travels to a deeper area in the wetland, the exploration component 12 disposed inside the unmanned vehicle body 11 will electrically control the air pump 42 to start through the sensor, signal receiver and control system, and the air pump 42 will deliver gas to the inflatable airbag 44 through the gas delivery pipeline 43, so that the inflatable airbag 44 will expand. The bottom of the inflated inflatable airbag 44 will contact the water surface, exerting an upward buoyancy on the unmanned vehicle, and assisting the unmanned vehicle to travel inside the wetland. At the same time, the expansion of the inflatable airbag 44 can make the unmanned vehicle body 11 stable inside the water area, and prevent the unmanned vehicle from tilting during the travel process.

[0088] There are often waters of varying depths in wetlands. The water depth in some areas may exceed the height of the chassis of the unmanned vehicle, making it impossible for the vehicle to pass normally. The buoyancy generated by the inflatable airbag 44 can lift the unmanned vehicle so that it can maintain a sufficient height even in deeper water, avoiding the vehicle body from being too immersed in water and being obstructed. The wetland ground is often soft and uneven, especially in some muddy areas. The body and chassis of the unmanned vehicle will be under great pressure. The buoyancy provided by the inflatable airbag 44 can reduce the pressure of the unmanned vehicle body 11 on the mud and reduce the risk of deformation or damage to the unmanned vehicle body 11. In addition, the inflatable airbag 44 helps to adjust the center of gravity of the unmanned vehicle by providing stable buoyancy, so that the unmanned vehicle body 11 remains in a more horizontal and stable state. When the unmanned vehicle is driving on a sloping water surface or shore, the buoyancy can offset part of the lateral force generated by the inclined terrain to prevent the unmanned vehicle from rolling over.

[0089] Embodiment 2

[0090] The present application also includes a method for using an unmanned vehicle for walking in wetlands, comprising the following steps:

[0091] Step 1: The solar cell group in the power system is started to drive the motor to rotate, and the motor output shaft drives the rotating shaft 14 connected to it to rotate, which causes the wheels 15 of the unmanned vehicle to rotate, and the unmanned vehicle starts to travel on the wetland.

[0092] Step 2: Explore wetland data through the sensor system installed on the unmanned vehicle.

[0093] When the unmanned vehicle is moving, the distance perception sensor measures the distance between the unmanned vehicle and surrounding objects by transmitting and receiving reflected signals through the lidar. The lidar emits a laser beam, and when the laser beam encounters an obstacle, it is reflected back, and the distance is calculated based on the reflection time.

[0094] Image acquisition sensors include cameras, which are used to obtain image information of wetlands. The cameras take high-resolution photos and videos and use image recognition technology to extract information such as terrain, vegetation, and animals from the images, helping unmanned vehicles to perceive the environment and identify targets.

[0095] Environmental monitoring sensors include temperature and humidity sensors and water quality sensors. The temperature and humidity sensors detect the temperature and humidity in the air and provide environmental data for the electronic components of the unmanned vehicle. The water quality sensors detect the quality of wetland water and monitor the environmental parameters of the wetlands.

[0096] Step 3: During the movement of the unmanned vehicle in the above steps 1 and 2, the BeiDou Navigation Satellite System (BDS) satellite positioning device of the navigation system receives signals transmitted by satellites to determine the location coordinates of the unmanned vehicle, including longitude, latitude and altitude.

[0097] Step 4: When the unmanned vehicle is moving in the wetland, the rotation of the rotating shaft 14 causes the metal rotating blades 21 to rotate, thereby assisting the unmanned vehicle in moving. When the unmanned vehicle is trapped in soft soil or the water submerges half the height of the wheels 15 of the unmanned vehicle, the metal rotating blades 21 move the soft soil and water to help the unmanned vehicle move forward;

[0098] Step 5: When the unmanned vehicle encounters a single-sided pothole during its travel, the unmanned vehicle deflects. The deflection data of the vehicle body is transmitted through the sensor system. The sensor system electrically controls the extension of the electric telescopic rod 52, and the electric telescopic rod 52 and the support plate 53 assist in stabilizing the body 11 of the unmanned vehicle.

[0099] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0100] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned vehicle for traveling on wetlands, comprising an unmanned vehicle body, wherein the front and rear ends of the unmanned vehicle body along the moving direction are both provided with a rotating shaft, and the two ends of the rotating shaft are respectively fixed with wheels of the unmanned vehicle, characterized in that: An auxiliary component is provided in the middle of the rotating shaft, and auxiliary moving components are provided at both ends of the rotating shaft, and the auxiliary component is located between the auxiliary moving components on both sides; A frame is provided in the middle of the unmanned vehicle body, on which a toggle assembly and an inflatable assembly are provided. The toggle assembly is transmission-connected to an auxiliary assembly of one of the rotating shafts. When the rotating shaft drives the auxiliary assembly to rotate, the torque is transmitted to the toggle assembly to realize periodic swing of the toggle assembly.

2. The unmanned vehicle for wetland travel according to claim 1, characterized in that: The auxiliary component comprises a plurality of metal rotating blades fixed at the middle of the rotating shaft and arranged at intervals along the annular outer surface of the rotating shaft, and the metal rotating blades are extended along the axial direction of the rotating shaft.

3. The unmanned vehicle for wetland travel according to claim 2, characterized in that: A first transmission wheel is fixed to both side end surfaces of the metal rotating blade in the middle of one of the rotating shafts along the axial direction of the rotating shaft, and two second transmission wheels are correspondingly provided on the auxiliary moving component. The first transmission wheel and the corresponding second transmission wheels are respectively connected to each other through a first transmission belt, and the first rotating wheel is fixedly connected between the two second transmission wheels; Two third transmission wheels corresponding to the second transmission wheel are also rotatably provided on the auxiliary moving component. The second transmission wheel and the corresponding third transmission wheels are respectively connected through a second transmission belt, and a second rotating wheel is fixedly connected between the two third transmission wheels.

4. The unmanned vehicle for wetland travel according to claim 1, characterized in that: The auxiliary moving assembly includes a positioning ring fixed to the end of the rotating shaft, and the positioning ring is located between the wheel of the unmanned vehicle and the auxiliary assembly; A plurality of electrically controlled telescopic rods are arranged at intervals along the annular outer surface of the positioning ring, one end of the electrically controlled telescopic rod is fixedly connected to the positioning ring, and the other end of the electrically controlled telescopic rod is a telescopic end, which is fixedly connected to the support plate.

5. The unmanned vehicle for wetland travel according to claim 3, characterized in that: The toggle assembly comprises: A positioning bracket is fixedly connected to the vehicle frame, and the second transmission wheel, the first rotating wheel, the third transmission wheel and the second rotating wheel are all rotatably arranged on the positioning bracket; The meshing gear is located below the first rotating wheel and the second rotating wheel. The annular outer surfaces of the first rotating wheel and the second rotating wheel are toothed surfaces. The first rotating wheel and the meshing gear thereunder, as well as the second rotating wheel and the meshing gear thereunder, are all in meshing transmission connection. A shift block is provided on the outer side of the second transmission wheel and the third transmission wheel. The upper ends of several shift blocks located on the same side are fixedly connected by a round rod. The round rod is rotatably connected to the positioning bracket. The shift block is in the shape of a folded plate. The corner point of the shift block is connected to the meshing gear. During the rotation of the meshing gear, the shift block is driven to swing periodically along the fixed connection between the shift block and the round rod.

6. The unmanned vehicle for traveling in wetlands according to claim 5, characterized in that: The positioning bracket includes two side brackets arranged along the moving direction, and two transverse brackets connecting the two side brackets; The side bracket is fixedly connected to the vehicle frame; The two second transmission wheels and the first rotating wheel are arranged on one of the transverse brackets, and the two third transmission wheels and the second rotating wheel are arranged on the other transverse bracket.

7. The unmanned vehicle for wetland travel according to claim 5, characterized in that: One end surface of the meshing gear is connected to the positioning bracket through a positioning piece, the positioning piece is L-shaped, one end of the positioning piece is fixedly connected to the positioning bracket, and the other end of the positioning piece is rotatably connected to the meshing gear; The other end surface of the meshing gear is fixedly connected to one end of the first swing rod, the other end of the first swing rod is rotatably connected to one end of the second swing rod, the other end of the second swing rod is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to a connecting shaft fixed at a corner point of one of the shifting blocks; During the rotation of the meshing gears, the first swing rod, the second swing rod and the connecting rod drive the shift block to swing periodically along the fixed connection between the shift block and the round rod. The shift block drives other shift blocks fixed on the round rod to swing synchronously through the round rod fixedly connected to it.

8. The unmanned vehicle for wetland travel according to claim 5, characterized in that: Inflatable components include: A fixed frame is arranged below the positioning bracket and is fixedly connected to the positioning bracket; An inflatable airbag is slidably arranged on a fixed frame; The air pump is fixedly arranged on the positioning bracket and is connected with the fixed inflatable airbag through a gas delivery pipeline.

9. The unmanned vehicle for wetland travel according to claim 5, characterized in that: An exploration component is provided on the top of the unmanned vehicle body.

10. A method for using an unmanned vehicle for traveling in wetlands according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: The shaft rotates, causing the wheels of the unmanned vehicle to rotate, and the unmanned vehicle starts to walk on the wetland; Step 2: Exploring wetland data through the exploration component installed on the unmanned vehicle. The exploration component includes a sensor system, which includes a distance perception sensor, an image acquisition sensor, and an environmental monitoring sensor. When the unmanned vehicle is moving, the distance perception sensor measures the distance between the unmanned vehicle and surrounding objects by transmitting and receiving reflected signals through a laser radar. The laser radar emits a laser beam, and when the laser beam encounters an obstacle, it is reflected back, and the distance is calculated based on the reflection time. Image acquisition sensors include cameras, which are used to obtain image information of wetlands. The cameras take high-resolution photos and videos, and use image recognition technology to extract information such as terrain, vegetation, and animals from the images to help unmanned vehicles perceive the environment and identify targets. Environmental monitoring sensors include temperature and humidity sensors and water quality sensors. The temperature and humidity sensors detect the temperature and humidity in the air and provide environmental data for the electronic components of the unmanned vehicle. The water quality sensors detect the quality of wetland water and monitor the environmental parameters of the wetland. Step 3: When the unmanned vehicle is moving in the wetland, the rotation of the shaft causes the metal rotating blades to rotate, assisting the unmanned vehicle to move forward. When the unmanned vehicle is stuck in soft soil or in water that is half the height of the wheels of the unmanned vehicle, the metal rotating blades move the soft soil and water to help the unmanned vehicle move forward; When the unmanned vehicle encounters a single-sided pothole during its movement, the unmanned vehicle will deviate, causing the electrically-controlled telescopic rod on the deviated side to extend, and the electrically-controlled telescopic rod and the support plate will help stabilize the body of the unmanned vehicle.

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