All-terrain transportation platform

Abstract

The invention provides an all-terrain transportation platform. The all-terrain transportation platform comprises a bottom plate; the width adjusting mechanism is arranged on the bottom plate; the two height adjusting mechanisms are arranged at the two adjusting ends of the height adjusting mechanisms respectively; the two traveling mechanisms are arranged at the adjusting ends of the two height adjusting mechanisms correspondingly and used for supporting the whole all-terrain transportation platform; wherein the width adjusting mechanism drives the two height adjusting mechanisms to get away from each other during adjustment and drives the two traveling mechanisms to get away from or get close to each other during adjustment, and the width adjusting mechanism and the bottom plate are driven to ascend and descend during adjustment of the two height adjusting mechanisms. The all-terrain transportation platform provided by the invention can be operated on various terrains, and the overall trafficability is improved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and particularly to an all-terrain transportation platform. Background Art

[0002] Agricultural transportation platforms have been applied in agricultural production. However, existing equipment generally adopts fixed wheelbases and fixed chassis heights, making it difficult to adapt to complex terrains such as hills, mountains, and ravines. For example, operating on narrow ridges and rugged roads in the fields can cause the transport vehicle to be unstable, and the equipment is prone to rollover or rubbing. Existing transportation platforms mostly rely on manual operation or simple single-sensing devices such as GPS navigation, infrared sensors, and lidar, which are easily interfered by light changes and vegetation occlusion, have a high misjudgment rate, and cannot achieve full-process autonomous transportation. In addition, in the field of agricultural transportation, research on the person following function of the transportation platform is still blank. To sum up, the main problems of current traditional agricultural transport vehicles are summarized as follows: 1) Insufficient overall passability: The terrain in hilly areas is complex, with variable slopes and poor ground conditions (such as soft soil, ravines, stones, etc.). Traditional transportation platforms often have low operating efficiency or even safety hazards due to insufficient passability in such scenarios. The main reason is that the wheelbases and chassis heights of traditional field transport vehicles are fixed and cannot be dynamically adjusted according to complex terrain environments. Even for some intelligent transportation platforms, the adjustment of chassis parameters depends on manual adjustment, and the optimal solution of the parameters cannot be guaranteed.

[0003] 2) Low stability during the overall transportation process: There are problems such as high slopes and uneven ground in hilly areas. When traditional agricultural transport machinery transports goods, the center of gravity is prone to shift, causing the transport vehicle to be prone to overturning, and there is no suitable solution.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] The present invention provides an all-terrain transportation platform to solve the technical problem of insufficient overall passability of agricultural machinery during movement in the prior art.

[0006] The present invention provides an all-terrain transportation platform, including: a bottom plate; a width adjustment mechanism disposed on the bottom plate; two height adjustment mechanisms respectively disposed on two adjustment ends of the height adjustment mechanism; and two traveling mechanisms respectively disposed on the adjustment ends of the two height adjustment mechanisms for supporting the entire all-terrain transportation platform; wherein, when the width adjustment mechanism adjusts, it drives the two height adjustment mechanisms to move away from each other and the two traveling mechanisms to move away from or close to each other, and when the two height adjustment mechanisms adjust, they drive the width adjustment mechanism and the bottom plate to rise and fall.

[0007] In a further aspect of the present invention, the width adjustment mechanism includes: a first driving member disposed on the bottom plate; a transmission connection assembly drivingly connected to the output shaft of the first driving member; and two fixing members disposed on two driving ends of the transmission connection assembly, and the two height adjustment mechanisms are respectively disposed on the two fixing members.

[0008] In a further aspect of the present invention, the transmission connection assembly includes: a first coupling drivingly connected to the output shaft of the first driving member; a motor arm drivingly connected to the first coupling; two lead screws both drivingly connected to the motor arm; two spherical bearings respectively sleeved on the lead screws and drivingly connected to the lead screws, and the two fixing members are respectively disposed on the two spherical bearings.

[0009] In a further aspect of the present invention, the height adjustment mechanism includes: a first mounting bracket disposed on the fixing member; an electric push rod having one end movably connected to the first mounting bracket; and a second mounting bracket disposed on the traveling mechanism, and the other end of the electric push rod is movably connected to the second mounting bracket.

[0010] In a further aspect of the present invention, the traveling mechanism includes: a connecting member disposed on the fixing member; an omni-wheel assembly disposed at one end of the connecting member to drive the all-terrain transportation platform to travel; and a steering wheel assembly disposed at the other end of the connecting member to drive the all-terrain transportation platform to steer.

[0011] In a further aspect of the present invention, the steering wheel assembly includes: a fixed seat disposed on the steering member; a second driving member disposed on the fixed seat; a second coupling drivingly connected to the output shaft of the second driving member; a front wheel leg disposed on the second coupling; and a steering wheel body and a bogie body, the bogie body is disposed on the front wheel leg, and the steering wheel body is movably disposed on the bogie body.

[0012] In a further aspect of the present invention, the omni-wheel assembly includes: a steering control lug, a damper, a damper control lug, a rear wheel leg, a fixing plate, a fixing lug, a flange bearing, a fixed seat, an omni-wheel bracket and a third driving member.

[0013] In a further aspect of the present invention, the directional wheel leg is bolted to the fixed earpiece through the steering control lug, the fixed earpiece is connected to the fixed plate, the steering control lug is connected to the fixed seat, the flange bearing is connected to the fixed seat, the damper is connected to the steering control lug, the damper is bolted to the damper control lug, the damper control lug is connected to the rear wheel leg, the rear wheel leg is connected through the flange bearing, the rear wheel leg is connected to the directional wheel bracket, and the directional wheel bracket is bolted to the third driving member.

[0014] In a further aspect of the present invention, the all-terrain transport platform further includes a slide bar and a slide sleeve. The slide bar is disposed through the slide sleeve and connected to the connecting member, and the slide sleeve is disposed on the bottom plate.

[0015] In a further aspect of the present invention, the all-terrain transport platform further includes an image recognition module and a control module. The image recognition module is used to obtain the terrain ahead, and the control module controls the width adjustment mechanism, the height adjustment mechanism, and the two traveling mechanisms according to the terrain ahead obtained by the image recognition module.

[0016] In a further aspect of the present invention, the all-terrain transport platform further includes a loading device. The loading device includes: a first conveyor belt and a plurality of second conveyor belts. The output points of the plurality of second conveyor belts are connected to the first conveyor belt, and the moving directions of the plurality of second conveyor belts are perpendicular to the first conveyor belt, so as to adjust the center of gravity when the loaded goods on the loading device shift.

[0017] In a further aspect of the present invention, the loading device further includes an ultrasonic sensor and a plurality of infrared sensors. Among them, an infrared sensor is disposed in the middle of each of the second conveyor belts. When the infrared sensor is blocked, the corresponding second conveyor belt is started to enable the goods to enter the first conveyor belt. An ultrasonic sensor is disposed in the middle of the first conveyor belt. When the distance value obtained by the ultrasonic sensor deviates from the preset range, the first conveyor belt is started to adjust the position of the goods on the first conveyor belt.

[0018] Other features and advantages of the embodiments of the present invention will be described in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation manners of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific implementation manners or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Schematic structural diagram of the all-terrain transportation platform provided by one embodiment of the present invention; Figure 2 Schematic structural diagram of the bottom of the all-terrain transportation platform provided by one embodiment of the present invention; Figure 3 Schematic structural diagram of the height adjustment mechanism provided by one embodiment of the present invention; Figure 4 Schematic diagram of the change in width adjustment provided by one embodiment of the present invention; and Figure 5 Schematic structural diagram of one loading device of the present invention.

[0021] Reference numerals 1. Steering control lug; 2. Connecting bolt; 3. Damper; 4. Damper control lug; 5. Rear wheel leg; 6. Fixed plate; 7. Binocular camera; 8. Electrical box; 9. Placing platform; 10. Bottom plate; 11. Upper end hydraulic cylinder lug; 12. Fixed lug; 13. First connection point; 14. Flange bearing; 15. Electric push rod; 16. First rod lug; 17. Second connection point; 18. Third connection point; 19. Fourth connection point; 20. Reinforcing member; 21. Second rod lug; 22. Directional wheel body; 23. Third driving member; 24. Bogie body; 25. Steering wheel body; 26. Front wheel leg; 27. First driving member; 28. Connecting shaft body; 29. Power supply; 30. Second coupling; 31. Second driving member; 32. Lower end hydraulic cylinder lug; 33. Connecting rod; 34. Limiting end; 35. Sliding sleeve; Fixed end; 37. Slide bar; 39. Fixed member; 40. Lead screw; 41. Motor arm; 42. First coupling; 43. Connecting member; 44. Fixed seat, 45. Second conveyor belt; 46. First conveyor belt; 47. Cargo box. Detailed implementation manners

[0022] In order to make the above and other features and advantages of the present invention clearer, the present invention will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are merely exemplary, not restrictive.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. These terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the indicated mechanism or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0025] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0026] The present invention provides an all-terrain transportation platform, including: a bottom plate 10; a width adjustment mechanism disposed on the bottom plate 10; two height adjustment mechanisms respectively disposed on two adjustment ends of the height adjustment mechanism; and two traveling mechanisms respectively disposed on the adjustment ends of the two height adjustment mechanisms for supporting the entire all-terrain transportation platform; wherein, when the width adjustment mechanism adjusts, it drives the two height adjustment mechanisms to move away from each other and the two traveling mechanisms to move away from or close to each other, and when the two height adjustment mechanisms adjust, they drive the width adjustment mechanism and the bottom plate 10 to rise and fall.

[0027] Width adjustment mechanism: By driving the two traveling mechanisms to move horizontally, the wheelbase can be automatically expanded or contracted. For example, in narrow ridges, the wheelbase can be narrowed (the minimum can reach 0.8 m), while in gully areas, the wheelbase can be widened (the maximum can reach 1.5 m) to avoid the chassis being scratched or the wheels being suspended.

[0028] Height adjustment mechanism: independently controls the lifting and lowering of the traveling mechanisms on both sides (adjustment range ±30cm), raising the chassis in soft soil or stone areas to reduce the risk of collision between the chassis and obstacles.

[0029] Linkage mechanism: Width and height adjustments are performed synchronously (for example, when widening the wheelbase, the height is lowered simultaneously to maintain the center of gravity). The algorithm optimizes the parameter combination to avoid manual adjustment errors.

[0030] Slope adaptability: By compensating for height differences, the climbable slope can be increased to 35° (traditional platforms are usually ≤25°).

[0031] Crossing gullies: After the wheelbase is extended, the maximum crossing width reaches 1.2m, and with the chassis lifted, it can handle gullies with a depth of 40cm. Getting out of trouble on soft ground: When the running mechanism sinks, the chassis is automatically lifted and the wheelbase is widened to increase the ground contact area and reduce pressure (experimental data shows that the pass rate on muddy roads is increased by 60%).

[0032] The extended wheelbase increases the support surface and the roll angle tolerance is increased to 15° (about 8° for traditional platforms). The height adjustment mechanism adjusts the height difference of the chassis on both sides in real time according to the slope to keep the cargo box level (accuracy ±2°) and avoid overturning due to cargo deviation. When the sensor detects abnormal tilt (such as one side of the wheel hanging in the air), it automatically narrows the wheelbase and lowers the height to quickly restore stability.

[0033] When working in collaboration with agricultural unmanned vehicles, harvesters and other equipment, it automatically matches the travel speed and terrain parameters to reduce waiting time.

[0034] It effectively ensures the consistency of the wheelbase changes on both sides, maintains the center of gravity of the vehicle unchanged, and ensures the stability of the whole machine. The entire width adjustment mechanism is arranged at the bottom of the frame, which is more beautiful and saves space.

[0035] In a further embodiment of the present invention, the width adjustment mechanism includes: a first driving member 27, which is arranged on the base plate 10; a transmission connection assembly, which is transmission-connected to the output shaft of the first driving member 27; and two fixing members 39, which are arranged on the two transmission ends of the transmission connection assembly, and the two height adjustment mechanisms are respectively arranged on the two fixing members 39.

[0036] In a further embodiment of the present invention, the transmission connection assembly includes: a first coupling 42, which is transmission-connected to the output shaft of the first driving member 27; a motor arm 41, which is transmission-connected to the first coupling 42; two screw rods 40, both of which are transmission-connected to the motor arm 41; two fisheye bearings, which are respectively mounted on the screw rods 40 and transmission-connected to the screw rods 40, and the two fixing members 39 are respectively arranged on the two fisheye bearings.

[0037] In a further aspect of the present invention, the height adjustment mechanism includes: a first mounting bracket disposed on the fixing member 39; an electric push rod 15, one end of which is movably connected to the first mounting bracket; and a second mounting bracket disposed on the traveling mechanism, and the other end of the electric push rod 15 is movably connected to the second mounting bracket.

[0038] When the electric push rod 15 contracts, the turning leg end of the height adjustment mechanism moves upward, and the entire turning leg contracts along the 45-degree direction towards the bottom plate 10. At this time, the ground clearance of the implement decreases and the wheelbase shrinks; when the electric push rod 15 extends, the turning leg end of the height adjustment mechanism moves downward, and the double parallel link 33 self-adjustment mechanism maintains a horizontal state. At this time, the ground clearance of the implement is the largest and the wheelbase is the largest.

[0039] Furthermore, the first mounting bracket includes an upper hydraulic cylinder lug 11 and a first rod lug 16, the second mounting bracket includes a second rod lug 21 and a lower hydraulic cylinder lug 32, and the first mounting bracket and the second mounting bracket are also connected at the fourth connection point 19 through a link 33. The electric push rod 15 is connected at the first connection point 13, the second mounting bracket is connected to the traveling mechanism through the second connection point 17, and the first bracket is connected to the connecting member 43 through the third connection point 18. Reinforcing members 20 can be considered to be added to the first mounting bracket.

[0040] In a further aspect of the present invention, the traveling mechanism includes: a connecting member 43 disposed on the fixing member 39; a directional wheel assembly disposed at one end of the connecting member 43 to drive the all-terrain transportation platform to travel; and a steering wheel assembly disposed at the other end of the connecting member 43 to drive the all-terrain transportation platform to steer.

[0041] In a further aspect of the present invention, the steering wheel assembly includes: a fixed seat 44 disposed on the steering member; a second driving member 31 disposed on the fixed seat 44; a second coupling 30 drivingly connected to the output shaft of the second driving member 31; a front wheel leg 26 disposed on the second coupling 30; and a steering wheel body 25 and a bogie body 24, the bogie body 24 is disposed on the front wheel leg 26, and the steering wheel body 25 is movably disposed on the bogie body 24.

[0042] In a further aspect of the present invention, the directional wheel assembly includes: a steering control lug 1, a damper 3, a damper control lug 4, a rear wheel leg 5, a fixing plate 6, a fixed lug 12, a flange bearing 14, a fixed seat 44, a directional wheel bracket, and a third driving member 23.

[0043] In a further aspect of the present invention, the directional wheel leg is bolted to the fixed earpiece 12 through the steering control lug 1. The fixed earpiece 12 is connected to the fixed plate 6. The steering control lug 1 is connected to the fixed seat 44. The flange bearing 14 is connected to the fixed seat 44. The damper 3 is connected to the steering control lug 1. The damper 3 is connected to the damper control lug 4 through the connecting bolt 2. The damper control lug 4 is connected to the rear wheel leg 5. The rear wheel leg 5 passes through the flange bearing 14 for connection. The rear wheel leg 5 is connected to the directional wheel bracket. The directional wheel bracket is bolted to the third driving member 23. The third driving member 23 drives the directional wheel body 22 to move. The directional wheel body 22 is connected to the directional wheel bracket through the connecting shaft body 28.

[0044] In a further aspect of the present invention, the all-terrain transportation platform further includes a slide bar fixed end; 37 and a sliding sleeve 35. The slide bar fixed end; 37 is inserted into the sliding sleeve 35 and connected to the connecting member 43. The sliding sleeve 35 is disposed on the bottom plate 10. The slide bar fixed end; 37 also has a limiting end 34. The slide bar fixed end; 37 is connected to the connecting member 43 through the limiting end 34.

[0045] Furthermore, the vehicle of the present application is also equipped with a vehicle-mounted gyroscope, which can realize real-time detection of the terrain flatness. When there are inclinations and terrain changes in terms of slopes, the vehicle can be quickly adjusted. At the same time, since the vehicle adopts a four-leg independent adjustment mechanism, it can achieve fully autonomous adaptive adjustment, and can ensure the goal of no obstacle and no overturning of goods on a hillside with a load full of goods and an inclination angle lower than 15°. At the same time, when the vehicle is not fully loaded and the vehicle chassis is in the adjustment stage, a conveyor belt is installed on the chassis to transport the goods to the center of gravity position. Specifically, two ultrasonic sensors are installed to identify the specific position of the goods on the chassis. In a further aspect of the present invention, the all-terrain transportation platform further includes an image recognition module and a control module. The image recognition module is used to obtain the terrain ahead. The control module controls the width adjustment mechanism, the height adjustment mechanism, and the two traveling mechanisms according to the terrain ahead obtained by the image recognition module. A power supply 29 can also be provided to supply power to each module.

[0046] In the image recognition module, recognition algorithms such as yolov5 object recognition, OpenCV object tracking, and deeplabv3+ semantic segmentation can be integrated. First, the image recognition module captures high-definition images of the surrounding environment in the field in real time through a high-definition camera installed on the transportation platform. These images include crops, obstacles, terrain features, and other moving objects, etc.

[0047] Taking an orchard as an example, this platform uses a USB3.0 binocular camera to conduct visual research on the orchard environment. The USB3.0 camera adopts the pinhole camera model, and optimizes the outdoor shooting conditions through a 4mm glass lens and a polarizing filter to improve the color depth and quality of the image. The camera spacing is 6cm, supporting a maximum depth measurement of 40m, with an error of no more than 0.5m within 10m. The disparity is calculated through stereo matching of binocular images, and the depth information is deduced using internal and external parameters to obtain a depth image, ensuring the accuracy of depth measurement and visual perception.

[0048] Then, image preprocessing: The collected images need to undergo preprocessing, including steps such as Gaussian denoising, contrast enhancement, and grayscale conversion. First, the Gaussian filter can smooth out the small fluctuations in pixel values while retaining the important features in the image, thereby reducing the noise in the background and improving the image quality. Then, contrast enhancement will be carried out, which is a key step to improve the visual quality and feature distinguishability of the image. Next is grayscale conversion. Converting a color image to a grayscale image is an effective means to simplify the image processing process. This can reduce the computational complexity, and grayscale conversion does not affect the basic contour and shape information of the object. Finally, by adjusting the high and low thresholds of HSV, the effect of the preprocessed image is made convenient for recognition and classification to reach an ideal confidence level, so as to improve the efficiency and accuracy of subsequent processing.

[0049] Through computer vision technologies such as edge contour detection, corner detection, and texture analysis, key environmental features are extracted from the preprocessed images. At the same time, the binocular ranging function can obtain human figures after multiple trainings and can distinguish stationary objects from real people. During the test process, to test the farthest recognition distance of the camera and whether the target will be suddenly lost during recognition, multiple human movement trainings and human distance tests were carried out. The final result is that the camera can actually detect human figures and other objects up to 152m at the farthest, and there is no situation of losing the target or misidentifying in the 4 test projects. Therefore, it is judged that the basic effect of this camera can achieve the purpose.

[0050] After achieving human figure recognition, route planning is also required. Edge detection and linear fitting are carried out through OpenCV-Canny to achieve the obstacle avoidance effect on the path: The route planning uses the OpenCV-Canny algorithm to detect the two sides of the road through edge detection and jointly realizes the obstacle avoidance effect on the path with linear fitting. During image preprocessing, the color image collected by the camera is converted into a grayscale image, and Gaussian filtering is used to blur and denoise. The gradient intensity and direction of each pixel point are calculated using a gradient detection operator, and non-maximum suppression is performed to thin the edge lines. After setting two high and low thresholds, the pixel points within a certain threshold range are retained, and the Hough transform is used to fit the detected edges into straight line segments to identify possible obstacles or lane lines.

[0051] Specific usage method: The third driving member 23 is connected to the driving module in the electrical box 8 through an external signal line and can perform driving. At the same time, there is a motor driving module in the electrical box 8 that drives the second driving member 31 to enable the circumferential steering of the steering wheel. The motor coupling mechanism can adjust the wheelbase and adapt to complex terrain conditions. When the wheelbase needs to be adjusted, the motor control module of the second driving member 31 starts to work and can rotate the front steering leg 90° so that the platform can move laterally. In order to enable the platform to turn and meet various working environments, first, when the binocular camera 7 identifies the transportation path ahead, then the front wheels are steered, and only the two front second driving members 31 need to rotate to achieve steering. In another embodiment, in order to ensure the correct running trajectory of the platform, the binocular camera 77 performs path recognition and detection, and can also ensure the recognition and avoidance of obstacles. When the signal transmitted back by the binocular camera 7 is for forward movement, the third driving member 23 is driven to move. If an obstacle needs to be avoided ahead at this time, a signal is sent to drive the second driving member 31 to achieve the steering of the platform and the avoidance of the obstacle. If the field road conditions are rough and cause the platform to deviate, the gyroscope transmits a signal to achieve the adaptive horizontal adjustment of the platform to ensure the stability of the platform when transporting tea. When the weight of the tea transported by the platform exceeds the weight set by the pressure sensor, the platform returns to the set starting position through the GPS positioning module, unloads the transported goods, and then returns to the side of the collector to continue performing path recognition and following.

[0052] Furthermore, a placement platform 9 is provided on the bottom plate 10 for placing items to be transported.

[0053] In a further aspect of the present invention, the placement platform 9 can be replaced by a loading device, and the loading device includes: a first conveyor belt 46 and a plurality of second conveyor belts 45, wherein the output points of the plurality of second conveyor belts 45 are connected to the first conveyor belt 46, and the moving directions of the plurality of second conveyor belts 45 are perpendicular to the first conveyor belt 46 to adjust the center of gravity when the load on the loading device is offset.

[0054] In a further aspect of the present invention, the loading device further includes ultrasonic sensors and a plurality of infrared sensors (not marked in the figure). Among them, an infrared sensor is provided in the middle of each of the second conveyor belts 45. When the infrared sensor is blocked, the corresponding second conveyor belt 45 is started to enable the goods to enter the first conveyor belt 46. An ultrasonic sensor is provided in the middle of the first conveyor belt 46. When the distance value obtained by the ultrasonic sensor deviates from the preset range, the first conveyor belt 46 is started to adjust the position of the goods on the first conveyor belt 46, wherein the detection directions of the ultrasonic sensors and the plurality of infrared sensors are perpendicular to the conveying directions of the corresponding conveyor belts.

[0055] Furthermore, the loading device further includes a cargo frame 47, wherein the first conveyor belt 46 and the second conveyor belt 45 are both disposed within the cargo frame. The provision of the cargo frame can prevent the goods from falling off the loading platform. It should be noted that the first conveyor belt 46 can transport goods forward or backward to adjust the position of the goods, while the second conveyor belt 45 can only transport goods forward towards the first conveyor belt 46.

[0056] By utilizing the loading device, the first conveyor belt 46 and the second conveyor belt 45 system with a vertical staggered layout, in conjunction with the distance detection mechanism of the ultrasonic sensor, can real-time sense the state of the center-of-gravity offset of the goods. When the ultrasonic sensor detects that the distance parameter exceeds the preset threshold, the system can automatically activate the first conveyor belt 46 for position compensation adjustment, effectively preventing the risk of the goods tipping over and increasing the transportation stability by more than about 40%.

[0057] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An all-terrain transportation platform, characterized in that, Comprising: Bottom plate; Width adjustment mechanism, disposed on the bottom plate; Two height adjustment mechanisms, respectively disposed on two adjustment ends of the height adjustment mechanism; And Two traveling mechanisms, respectively disposed on the adjustment ends of the two height adjustment mechanisms for supporting the entire all-terrain transportation platform; Wherein, when the width adjustment mechanism adjusts, it drives the two height adjustment mechanisms to move away from each other and the two traveling mechanisms to move away from or close to each other, and when the two height adjustment mechanisms adjust, it drives the width adjustment mechanism and the bottom plate to lift or lower.

2. The all-terrain transportation platform according to claim 1, characterized in that, The width adjustment mechanism includes: First driving member, disposed on the bottom plate; Transmission connection assembly, in transmission connection with the output shaft of the first driving member; and Two fixing members, the fixing members are disposed on two transmission ends of the transmission connection assembly, and the two height adjustment mechanisms are respectively disposed on the two fixing members.

3. The all-terrain transportation platform according to claim 2, wherein The transmission connection assembly includes: First coupling, in transmission connection with the output shaft of the first driving member; Motor arm, in transmission connection to the first coupling; Two lead screws, both in transmission connection with the motor arm; Two spherical bearings, respectively sleeved on the lead screws and in transmission with the lead screws, and the two fixing members are respectively disposed on the two spherical bearings.

4. The all-terrain transportation platform according to claim 3, wherein, The height adjustment mechanism includes: First mounting bracket, disposed on the fixing member; Electric push rod, one end of which is movably connected to the first mounting bracket; and Second mounting bracket, disposed on the traveling mechanism, and the other end of the electric push rod is movably connected to the second mounting bracket.

5. The all-terrain transportation platform according to claim 4, wherein The traveling mechanism includes: Connecting member, disposed on the fixing member; Directional wheel assembly, disposed at one end of the connecting member to drive the all-terrain transportation platform to travel; and Steering wheel assembly, disposed at the other end of the connecting member to drive the all-terrain transportation platform to steer.

6. The all-terrain transportation platform according to claim 5, wherein The steering wheel assembly includes: Fixed seat, disposed on the steering member; Second driving member, disposed on the fixed seat; Second coupling, in transmission connection with the output shaft of the second driving member; Front wheel support leg, disposed on the second coupling; and Steering wheel body and bogie body, the bogie body is disposed on the front wheel support leg, and the steering wheel body is movably disposed on the bogie body.

7. The all-terrain transportation platform according to claim 5, characterized in that, The directional wheel assembly includes: steering control lug, damper, damper control lug, rear wheel support leg, fixing plate, fixing lug, flange bearing, fixed seat, directional wheel bracket and third driving member.

8. The all-terrain transportation platform according to claim 7, characterized in that, The directional wheel support leg is bolted to the fixing lug through the steering control lug, the fixing lug is connected to the fixing plate, the steering control lug is connected to the fixed seat, the flange bearing is connected to the fixed seat, the damper is connected to the steering control lug, the damper is bolted to the damper control lug, the damper control lug is connected to the rear wheel support leg, the rear wheel support leg passes through the flange bearing for connection, the rear wheel support leg is connected to the directional wheel bracket, and the directional wheel bracket is bolted to the third driving member.

9. The all-terrain transportation platform according to claim 8, characterized in that, The all-terrain transportation platform further includes a slide bar and a sliding sleeve. The slide bar is inserted into the sliding sleeve and connected to the connecting member, and the sliding sleeve is arranged on the bottom plate.

10. The all-terrain transportation platform according to claim 9, characterized in that, The all-terrain transportation platform further includes an image recognition module and a control module. The image recognition module is used to obtain the terrain ahead, and the control module controls the width adjustment mechanism, the height adjustment mechanism, and the two traveling mechanisms according to the terrain ahead obtained by the image recognition module.

11. The all-terrain transportation platform according to claim 1, wherein The all-terrain transportation platform further includes a loading device. The loading device includes: a first conveyor belt and a plurality of second conveyor belts. The output points of the plurality of second conveyor belts are connected to the first conveyor belt, and the moving directions of the plurality of second conveyor belts are perpendicular to the first conveyor belt so as to adjust the center of gravity when the loaded goods on the loading device shift.

12. The all-terrain transportation platform according to claim 2, characterized in that, The loading device further includes ultrasonic sensors and a plurality of infrared sensors. Among them, an infrared sensor is arranged in the middle of each of the second conveyor belts. When the infrared sensor is blocked, the corresponding second conveyor belt is started to enable the goods to enter the first conveyor belt. An ultrasonic sensor is arranged in the middle of the first conveyor belt. When the distance value obtained by the ultrasonic sensor deviates from the preset range, the first conveyor belt is started to adjust the position of the goods on the first conveyor belt.

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