Intelligent laser weeding robot

Abstract

The invention provides an intelligent laser weeding robot which is characterized in that a transverse adjusting drive and a vertical adjusting drive are mounted on a mounting frame of a frame of a chassis, an output shaft of the transverse adjusting drive is connected with a transverse adjusting rod, the other end of the transverse adjusting rod is mounted on a U-shaped frame, and an output shaft of the vertical adjusting drive is connected with a vertical adjusting frame; a steering assembly is installed on an installation frame of the frame, a T-shaped transverse shaft of a T-shaped shaft is installed on the outer side of a U-shaped frame, a differential mechanism of a driving device is installed on the installation frame, a chain transmission is connected with the differential mechanism through a half shaft, the other end of the chain transmission is hinged to the outer side of the U-shaped frame, and a chassis is supported on the ground through the steering assembly and four tires of the driving device. The image acquisition camera is mounted on a frame of the chassis, the navigation camera is mounted on the outer side of a short frame, and the laser assembly is mounted on the vertical adjusting frame; a support of the energy collecting assembly is installed on the frame, a solar cell panel is installed above the support, and a storage battery and a controller are installed below the support. The method is accurate in weeding, high in removal rate and free of environmental pollution.

Description

Technical Field

[0001] The present invention provides an intelligent laser weeding robot, belonging to the field of agricultural equipment, mainly used for removing weeds growing around crops. Background Art

[0002] In modern agricultural production, weed control is a key link to ensure the healthy growth of crops, improve yield and quality. However, traditional weeding methods are facing increasingly severe technical bottlenecks and environmental protection challenges. For example, manual weeding relies on high-intensity manual input, with high costs and low efficiency in the trend of large-scale planting; mechanical weeding removes weeds through physical tillage, but it is difficult to accurately distinguish between crops and weeds, and it is easy to damage the soil structure. The leakage rate is as high as 25% in complex terrains such as orchards and slopes; although chemical weeding is highly efficient in the short term, problems such as pesticide residue pollution and enhanced weed resistance are seriously inconsistent with the current concept of green agricultural development. Policies have been introduced in the EU and China to strictly restrict the use of highly toxic pesticides. Therefore, more environmentally friendly and efficient weeding technologies are urgently needed.

[0003] In recent years, although certain progress has been made in the research and development of intelligent weeding equipment, there are still significant technical shortcomings. For example, the robotic arm weeding robot is limited by the large inertia of the execution mechanism and high maintenance costs. The single-plant processing time exceeds 2 s, making it difficult to meet the requirements of high-density planting agronomy; the flame weeding equipment relies on propane fuel, with fire hazards, and the thermal damage range reaches more than 5 cm, which is easy to cause irreversible damage to crops. The patented technology "omnidirectional agricultural robot" with the publication number CN115465358A has flexible steering, low cost, simple structure, and long battery life, but the wheelbase cannot be adjusted. When operating in crop fields with different row spacings, the wheels will crush the crops, causing certain damage; the height of the laser head is fixed and cannot adapt to the height change of the crops, and the laser is easy to misfire the crop stems, causing damage.

[0004] Looking at the current situation of the agricultural equipment industry, there is an urgent need for an intelligent laser weeding robot with accurate weeding, high weed removal rate, adjustable wheelbase and laser head, energy and labor saving, and no environmental pollution risk. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent laser weeding robot that can overcome the problems existing in the existing agricultural equipment industry, which not only weeds accurately and quickly, has a high weed removal rate, good adaptability to crops, saves energy and labor, but also has no pollution.

[0006] The technical solution is as follows: It includes a chassis, an image acquisition camera, a navigation camera, a laser component, an energy collection component and a controller. The chassis includes a vehicle frame, a steering component and a driving device. The vehicle frame includes a mounting frame, a horizontal adjustment drive, a horizontal adjustment rod, a U-shaped frame, a vertical adjustment drive and a vertical adjustment frame. The mounting frame is in the structure of a planar rectangular frame. Define the plane passing through the center of the short side frame of the rectangular frame plane of the mounting frame, perpendicular to the short side frame, and perpendicular to the rectangular frame plane as the longitudinal symmetry plane of the mounting frame. The plane passing through the center of the long side frame of the rectangular frame plane of the mounting frame, perpendicular to the long side frame, and perpendicular to the rectangular frame plane is the transverse symmetry plane of the mounting frame. Two horizontal adjustment drives are installed near the longitudinal symmetry plane of the mounting frame on the rectangular frame plane of the mounting frame. The output shafts of the two horizontal adjustment drives both extend in the direction away from the longitudinal symmetry plane of the mounting frame, the axes of the output shafts are coaxial, and they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame. Another two horizontal adjustment drives are installed near the longitudinal symmetry plane of the mounting frame on the rectangular frame plane of the mounting frame. The output shafts all extend in the direction away from the longitudinal symmetry plane of the mounting frame, the axes are coaxial, they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame, and they are symmetrically arranged with respect to the transverse symmetry plane of the mounting frame with the previous two horizontal adjustment drives. One end of each of the four horizontal adjustment rods is respectively connected to the output shafts of the four horizontal adjustment drives. The other ends of the two horizontal adjustment rods extending in the same direction are respectively installed on the U-shaped planes of the two U-shaped frames. The U-shaped openings of the two U-shaped frames all face the same direction away from the mounting frame, the U-shaped planes are all parallel to the longitudinal symmetry plane of the mounting frame, and they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame. Two vertical adjustment drives are respectively installed at the same end of the two long side frames of the mounting frame. The vertical adjustment frame in the structure of a planar frame and provided with an annular guide rail is installed at the ends of the output shafts of the two vertical adjustment drives, and the frame plane of the vertical adjustment frame is parallel to the frame plane of the mounting frame. The steering component includes a T-shaped shaft, a tire, a steering rod, a rocker arm, a steering link and a steering drive. The tire is installed at the end of the T-shaped vertical shaft of the T-shaped shaft. One end of the steering rod is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft, and a rocker arm is fixed at the other end. One end of the steering link is hinged to the end of the rocker arm far from the steering rod, and the other end is hinged to the output shaft of the steering drive. Two steering components are respectively installed on the frame plane of the mounting frame on the side of the vehicle frame where the U-shaped frame is installed through the steering drive. The two steering components are located at the same end of the long side frame of the mounting frame, and the output shafts of the steering drives are parallel to the short side frame of the mounting frame. The output shafts of the two steering drives both extend in the direction away from the longitudinal symmetry plane of the mounting frame, and the axes of the output shafts are coaxial. The two ends of the T-shaped horizontal shafts of the T-shaped shafts of the two steering components are respectively hinged to the outer sides of the U-shaped sides of the two U-shaped frames of the vehicle frame. The axis of the T-shaped horizontal shaft of the T-shaped shaft is parallel to the U-shaped side of the U-shaped frame, and the two steering drives are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame.The drive device includes a traveling drive, a differential, half shafts, chain drives, tires, and a shield. The differential equipped with the traveling drive is installed on the frame plane of the mounting bracket on the frame away from the lateral adjustment drive side and is located at one end of the long side frame of the mounting bracket away from the steering assembly. One half shaft is sleeved on each side of the differential in a direction perpendicular to the longitudinal symmetry plane of the mounting bracket; one end of each of the two chain drives is respectively installed at one end of the two half shafts away from the differential, and the other end of each of the two chain drives is respectively hinged to the outer side of the U-shaped side of the two U-shaped brackets on the frame away from the T-shaped shaft. Tires are installed on the outer sides of the two chain drives away from the U-shaped brackets, and shields are installed on the outer sides of the two chain drives; the chassis is supported on the ground by the two tires of the steering assembly and the drive device; two image acquisition cameras are installed on the frame plane of the chassis on the side equipped with the lateral adjustment drive, and the two image acquisition cameras are located near the steering drive of the frame and are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket; the navigation camera is installed on the outer side of the middle of the short side frame at one end of the chassis frame away from the steering drive; the laser assembly includes a laser base, an adjustment block, and a laser head. One side of the laser base is hinged with the adjustment block, and the other side of the adjustment block is hinged with the laser head. The two laser assemblies are respectively installed on the vertical adjustment frames of the chassis frame through the laser bases; the energy collection assembly includes a bracket, a solar panel, and a storage battery. The bracket with a middle arched upward to one side is installed on the frame plane of the mounting bracket on the chassis frame away from the lateral adjustment drive side, and the arch in the middle of the bracket protrudes upward; multiple solar panels are installed above the arch in the middle of the bracket, and the storage battery is installed on the frame plane of the mounting bracket and is located inside the arch of the bracket; the controller is installed on the frame plane of the mounting bracket of the chassis frame and is located inside the arch of the bracket of the energy collection assembly.;

[0007] Compared with the current situation in the existing field, the present invention uses a navigation camera to collect direction and position information, an image acquisition camera to collect weed position and growth status information, uses a laser method for weeding, and uses solar energy to power the machine. Therefore, the weeding is accurate and rapid, the weed removal rate is high, the adaptability to crops is good, energy and labor are saved, automatic navigation is possible, and there is no environmental pollution. Since the frame of the chassis is provided with a horizontal adjustment drive and a horizontal adjustment rod, the wheelbase can be adjusted according to different crops and different planting row spacings during field operations, so the adaptability to crops and planting agronomy is good. Since the frame of the chassis is provided with a vertical adjustment drive and a vertical adjustment frame, the ground clearance of the laser assembly can be adjusted according to different crops, the height at different times, and the growth status of weeds, etc., further improving the adaptability to crops and planting agronomy. Since the vertical adjustment frame of the frame of the chassis is provided with an annular guide rail, the laser seat of the laser assembly can adjust the relative position with the vertical adjustment frame along the annular guide rail, and at the same time, the laser head can quickly adjust the relative angles in two directions with the laser seat. Therefore, it can ensure that the laser beam acts on the weeds quickly and accurately, and is beneficial to protecting the crops from damage. Since the energy collection component is provided with a solar panel and a storage battery, it not only ensures the cleanliness and convenience of energy supply, reduces the operation energy consumption and cost, but also reduces the influence of meteorological conditions on the operation of the machine, thereby improving the adaptability of the machine to the farmland environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a partial axonometric sectional view of the embodiment of the present invention with 4 solar panels hidden; Figure 2 is the present invention Figure 1 axonometric view of another direction of the shown embodiment; Figure 3 is the present invention Figure 1 axonometric view of the chassis of the shown embodiment; Figure 4 is the present invention Figure 3 axonometric view of the frame of the shown embodiment; Figure 5 is the present invention Figure 3 axonometric view of the steering assembly of the shown embodiment; Figure 6 is the present invention Figure 3 axonometric view of the drive device of the shown embodiment; Figure 7 is the present invention Figure 1 axonometric view of the image acquisition camera of the shown embodiment; Figure 8 is the present invention Figure 1 axonometric view of the laser assembly of the shown embodiment; Figure 9 is the present invention Figure 1Partial isometric sectional view of the energy harvesting component shown in the embodiment after hiding four solar panels. Detailed implementation

[0009] 1. Chassis 11, vehicle frame 111, mounting bracket 112, horizontal adjustment drive 113, horizontal adjustment rod 114, U-shaped bracket 115, vertical adjustment drive 116, vertical adjustment frame 12, steering assembly 121, T-shaped shaft 122, tire 123, steering rod 124, rocker arm 125, steering link 126, steering drive 13, drive device 131, traveling drive 132, differential 133, half shaft 134, chain drive 135, protective cover 2, image acquisition camera 3, navigation camera 4, laser assembly 41, laser base 42, adjustment block 43, laser head 5, energy harvesting component 51, bracket 52, solar panel 53, storage battery 6, controller.

[0010] In Figures 1-9In the illustrated embodiment: The mounting bracket 111 of the vehicle frame 11 of the chassis 1 is in the structure of a planar rectangular frame. Define the plane passing through the center of the short side frame of the rectangular frame plane of the mounting bracket 111, perpendicular to the short side frame, and perpendicular to the rectangular frame plane as the longitudinal symmetry plane of the mounting bracket 111. The plane passing through the center of the long side frame of the rectangular frame plane of the mounting bracket 111, perpendicular to the long side frame, and perpendicular to the rectangular frame plane is the transverse symmetry plane of the mounting bracket 111. Two transverse adjustment drives 112 are installed near the longitudinal symmetry plane of the mounting bracket 111 in the rectangular frame plane of the mounting bracket 111. The output shafts of the two transverse adjustment drives 112 both extend in the direction away from the longitudinal symmetry plane of the mounting bracket 111, the axes of the output shafts are coaxial, and they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111; another two transverse adjustment drives 112 are installed near the longitudinal symmetry plane of the mounting bracket 111 in the rectangular frame plane of the mounting bracket 111. The output shafts all extend in the direction away from the longitudinal symmetry plane of the mounting bracket 111, the axes are coaxial, they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111, and they are symmetrically arranged with respect to the previous two transverse adjustment drives 112 with respect to the transverse symmetry plane of the mounting bracket 111. One ends of four transverse adjustment rods 113 are respectively connected to the output shafts of the four transverse adjustment drives 112. The other ends of the two transverse adjustment rods 113 extending in the same direction are respectively installed on the U-shaped planes of two U-shaped brackets 114. The U-shaped openings of the two U-shaped brackets 114 both face the same direction away from the mounting bracket 111, the U-shaped planes are all parallel to the longitudinal symmetry plane of the mounting bracket 111, and they are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111; two vertical adjustment drives 115 are respectively installed at the same end of the two long side frames of the mounting bracket 111. A vertical adjustment frame 116 in the structure of a planar frame and provided with an annular guide rail is installed at the ends of the output shafts of the two vertical adjustment drives 115, and the frame plane of the vertical adjustment frame 116 is parallel to the frame plane of the mounting bracket 111. Therefore, the laser head assembly can move along the annular guide rail of the vertical adjustment frame. A tire 122 is installed at the end of the T-shaped vertical shaft of the T-shaped shaft 121 of the steering assembly 12. One end of the steering rod 123 is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft 121, and a rocker arm 124 is fixed at the other end; one end of the steering link 125 is hinged to the end of the rocker arm 124 away from the steering rod 123, and the other end is hinged to the output shaft of the steering drive 126.Two steering assemblies 12 are respectively installed on the frame plane of the mounting bracket 111 of the vehicle frame 11 where the U-shaped bracket 114 is installed through the steering drive 126. The two steering assemblies 12 are located at the same end of the long side frame of the mounting bracket 111, and the output shafts of the two steering drives 126 are parallel to the short side frame of the mounting bracket 111. The output shafts of the two steering drives 126 both extend in the direction away from the longitudinal symmetry plane of the mounting bracket 111, and the axes of the output shafts are coaxial. The two ends of the T-shaped horizontal axis of the T-shaped shaft 121 of the two steering assemblies 12 are respectively hinged to the outer sides of the U-shaped sides of the two U-shaped brackets 114 of the vehicle frame 11. The axis of the T-shaped horizontal axis of the T-shaped shaft 121 is parallel to the U-shaped sides of the U-shaped bracket 114, and the two steering drives 126 are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111 to ensure that the two tires 122 respectively installed on the two steering assemblies 12 are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111. The differential 132 of the traveling drive 131 of the drive device 13 is installed on the frame plane of the mounting bracket 111 of the vehicle frame 11 on the side away from the horizontal adjustment drive 112 and is located at the end of the long side frame of the mounting bracket 111 away from the steering assembly 12. One half shaft 133 is sleeved on both sides of the differential 132 in the direction perpendicular to the longitudinal symmetry plane of the mounting bracket 111 to facilitate the adjustment of the wheelbase. One end of the two chain drives 134 is respectively installed at the end of the two half shafts 133 away from the differential 132. The other ends of the two chain drives 134 are respectively hinged to the outer sides of the U-shaped sides of the two U-shaped brackets 114 of the vehicle frame 11 on the side away from the T-shaped shaft 121. Tires 122 are installed on the outer sides of the two chain drives 134 away from the U-shaped brackets 114, and shields 135 are installed on the outer sides of the two chain drives 134 to prevent entanglement of weeds, etc. The chassis 1 is supported on the ground by the two tires 122 of the steering assembly 12 and the drive device 13. Two image acquisition cameras 2 are installed on the frame plane of the vehicle frame 11 of the chassis 1 on the side where the horizontal adjustment drive 112 is installed. The two image acquisition cameras 2 are located near the steering drive 126 of the vehicle frame 11 and are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting bracket 111. The navigation camera 3 is installed on the outer side of the middle of the short side frame at the end of the vehicle frame 11 of the chassis 1 away from the steering drive 126. One side of the laser seat 41 of the laser assembly 4 is hinged with an adjustment block 42, and the other side of the adjustment block 42 is hinged with a laser head 43. The two laser assemblies 4 are respectively installed on the vertical adjustment frame 116 of the vehicle frame 11 of the chassis 1 through the laser seat 41. The two laser assemblies 4 can not only adjust the lateral relative position between the laser assembly 4 and the vehicle frame 11 according to the growth conditions of crops and weeds, but also adjust the height position between the laser assembly 4 and the vehicle frame 11 through the vertical adjustment drive 115. Moreover, the laser head 43 can adjust the relative angles in two directions between the laser head 43 and the laser seat 41, and can also adjust the relative position between the laser assembly 4 and the vertical adjustment frame 116 of the vehicle frame 11 of the chassis 1.The middle part of the bracket 51 of the energy collection component 5 bulges to one side in an arched shape. The bracket 51 is installed on the frame plane of the mounting rack 111 on the side away from the horizontal adjustment drive 112 of the vehicle frame 11 of the chassis 1, and the arch in the middle of the bracket 51 bulges upward; Nine solar panels 52 are installed on the outer surface of the arch in the middle of the bracket 51 to provide energy for the machine; The storage battery 53 is installed on the frame plane of the mounting rack 111 and is located inside the arch of the bracket 51 to store the energy collected by the solar panels 52. The controller 6 is installed on the frame plane of the mounting rack 111 of the vehicle frame 11 of the chassis 1 and is located inside the arch of the bracket 51 of the energy collection component 5 to control the entire machine.

[0011] Its working principle is as follows: When the machine is powered on, according to the characteristics of different crops and weeds and the terrain characteristics of the field plot to be weeded, the distance between the left and right tires is adjusted through the horizontal adjustment drive of the vehicle frame of the chassis, and the ground clearance of the laser component is adjusted through the vertical adjustment drive. After the machine is transferred to the field plot to be weeded, the weeding operation begins.

[0012] The navigation camera installed in front of the machine, that is, on the outer side of the short border of the vehicle frame of the chassis, feeds back the collected position information to the controller to guide the machine to move forward in a predetermined direction. The steering drive of the steering component of the chassis of the machine can adjust the deflection angles of the two tires in real time according to the direction information sent by the controller to guide the machine to move forward in the correct direction; While driving the machine forward through the two tires, the traveling drive of the drive device adjusts the rotational speeds of the two tires on both sides of the drive device in real time through the differential according to the deflection angles of the tires of the steering component to ensure that the running direction of the machine is accurate.

[0013] When the image acquisition camera discovers weeds, confirms the positions and growth states of the weeds, and feeds back the information to the controller in real time, the controller quickly issues an instruction to the laser component after processing. The laser component quickly adjusts the angle of the laser head, and the laser seat can also move along the circular guide rail of the vertical adjustment frame to adjust the accurate position of the laser head relative to the vertical adjustment frame and emit a laser beam in real time to kill the weeds.

[0014] After the machine runs to the end of the field plot, the navigation camera feeds back the collected position information to the controller again to guide the machine to move forward in a predetermined direction. The steering drive of the steering component of the chassis of the machine adjusts the deflection angles of the two tires in real time according to the direction information sent by the controller to guide the machine to turn around in a set manner; The traveling drive of the drive device adjusts the rotational speeds of the two tires on both sides of the drive device in real time through the differential according to the deflection angles of the tires of the steering component to ensure that the machine turns around smoothly and moves forward along the predetermined direction again.

[0015] After completing the weeding task of the entire plot, the machine is transferred to other plots to be weeded for continuous weeding operations or returns to the machine shed.

Claims

1. An intelligent laser weeding robot, comprising a chassis (1), an image acquisition camera (2), a navigation camera (3), a laser component (4), an energy collection component (5) and a controller (6), characterized in that: The chassis (1) comprises a vehicle frame (11), a steering assembly (12) and a drive device (13), wherein the vehicle frame (11) comprises a mounting frame (111), a lateral adjustment drive (112), a lateral adjustment rod (113), a U-shaped frame (114), a vertical adjustment drive (115) and a vertical adjustment frame (116); the mounting frame (111) is a planar rectangular frame structure; a plane passing through the center of a short frame of the rectangular frame plane of the mounting frame (111), perpendicular to the short frame and perpendicular to the rectangular frame plane is defined as a longitudinal symmetry plane of the mounting frame (111); a plane passing through the center of a long frame of the rectangular frame plane of the mounting frame (111), perpendicular to the long frame and perpendicular to the rectangular frame plane is defined as a transverse symmetry plane of the mounting frame (111); A horizontal adjustment drive (112) is installed on a rectangular frame plane of the mounting frame (111) near the longitudinal symmetric plane of the mounting frame (111), the output shafts of the two horizontal adjustment drives (112) both extend in a direction away from the longitudinal symmetric plane of the mounting frame (111), the axes of the output shafts are coaxial, and they are arranged symmetrically with respect to the longitudinal symmetric plane of the mounting frame (111), and another two horizontal adjustment drives (112) are installed on a rectangular frame plane of the mounting frame (111) near the longitudinal symmetric plane of the mounting frame (111), the output shafts both extend in a direction away from the longitudinal symmetric plane of the mounting frame (111), the axes of the output shafts are coaxial, and they are arranged symmetrically with respect to the longitudinal symmetric plane of the mounting frame (111), and they are arranged symmetrically with respect to the mounting frame (111) as with the previous two horizontal adjustment drives (112). The mounting frame (111) is symmetrically arranged on a transverse symmetric plane; one end of four transverse adjustment rods (113) is respectively connected to the output shafts of four transverse adjustment drives (112); the other ends of two transverse adjustment rods (113) extending in the same direction are respectively mounted on U-shaped planes of two U-shaped frames (114); the U-shaped openings of the two U-shaped frames (114) are both in the same direction away from the mounting frame (111); the U-shaped planes are both parallel to the longitudinal symmetric plane of the mounting frame (111), and are symmetrically arranged relative to the longitudinal symmetric plane of the mounting frame (111); two vertical adjustment drives (115) are respectively mounted on the same end of two long side frames of the mounting frame (111); a vertical adjustment frame (116) having a plane frame structure and provided with an annular guide rail is mounted on the two vertical The output shaft end of the adjustment drive (115) and the frame plane of the vertical adjustment frame (116) are parallel to the frame plane of the mounting frame (111); the steering assembly (12) comprises a T-shaped shaft (121), a tire (122), a steering rod (123), a rocker arm (124), a steering link (125) and a steering drive (126), wherein the tire (122) is installed at the end of the T-shaped vertical shaft of the T-shaped shaft (121), one end of the steering rod (123) is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft (121), and the other end is fixed with the rocker arm (124); one end of the steering link (125) is hinged to the end of the rocker arm (124) away from the steering rod (123), and the other end is hinged to the output shaft of the steering drive (126);The two steering assemblies (12) are respectively mounted on a frame plane on one side of a mounting frame (111) of a vehicle frame (11) equipped with a U-shaped frame (114) through a steering drive (126); the two steering assemblies (12) are located at the same end of a long frame of the mounting frame (111); the output shaft of the steering drive (126) is parallel to a short frame of the mounting frame (111); the output shafts of the two steering drives (126) both extend in a direction away from a longitudinal symmetric plane of the mounting frame (111); and the axes of the output shafts are coaxial; the two ends of the T-shaped transverse axes of the T-shaped axes (121) of the two steering assemblies (12) are respectively hinged to the outer sides of the U-shaped sides of the two U-shaped frames (114) of the vehicle frame (11) and the T-shaped transverse axes of the T-shaped axes (121). The line is parallel to the U-shaped side of the U-shaped frame (114), and the two steering drives (126) are symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111); the driving device (13) includes a travel drive (131), a differential (132), a half shaft (133), a chain drive (134), a tire (122) and a shield (135), wherein the differential (132) equipped with the travel drive (131) is installed on a frame plane on the side of the mounting frame (111) of the frame (11) away from the lateral drive (112) and is located at an end of the long frame of the mounting frame (111) away from the steering assembly (12), and the differential (132) is provided with 1 on both sides in a direction perpendicular to the longitudinal symmetry plane of the mounting frame (111). A half shaft (133); one end of two chain drives (134) are respectively mounted on one end of the two half shafts (133) away from the differential (132); the other ends of the two chain drives (134) are respectively hinged to the outer side of the U-shaped side of two U-shaped frames (114) of the frame (11) away from the T-shaped shaft (121); the outer sides of the two chain drives (134) away from the U-shaped frames (114) are both equipped with tires (122); and the outer sides of the two chain drives (134) are both equipped with guards (135); the chassis (1) is supported on the ground through the two tires (122) of the steering assembly (12) and the drive device (13); two image acquisition cameras (2) are mounted on the frame (11) of the chassis (1) and are equipped with a transverse adjustment drive On a frame plane on one side of the vehicle frame (112), two image acquisition cameras (2) are located near the steering drive (126) of the vehicle frame (11) and are symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111); a navigation camera (3) is mounted on the outside of the middle of the short frame at one end of the vehicle frame (11) of the chassis (1) away from the steering drive (126); a laser assembly (4) comprises a laser seat (41), an adjustment block (42) and a laser head (43), wherein one side of the laser seat (41) is hingedly connected to the adjustment block (42), and the other side of the adjustment block (42) is hingedly connected to the laser head (43), and the two laser assemblies (4) are respectively mounted on the vertical adjustment frame (116) of the vehicle frame (11) of the chassis (1) through the laser seat (41);The energy collection component (5) comprises a bracket (51), a solar cell panel (52) and a storage battery (53), wherein the bracket (51) with a middle portion protruding toward one side in an arch shape is mounted on a frame plane of a mounting frame (111) of a vehicle frame (11) of a chassis (1) away from a side of a transverse adjustment drive (112), and the arch shape in the middle portion of the bracket (51) protrudes upward; a plurality of solar cell panels (52) are mounted above the arch shape in the middle portion of the bracket (51), and the storage battery (53) is mounted on the frame plane of the mounting frame (111) and is located in the arch shape of the bracket (51); and the controller (6) is mounted on the frame plane of the mounting frame (111) of the vehicle frame (11) of the chassis (1) and is located in the arch shape of the bracket (51) of the energy collection component (5). ;

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