Crawler-type birch juice transport vehicle based on movable baffles and pressure sensors

Abstract

The invention relates to a crawler-type birch juice transport vehicle based on movable baffles and pressure sensors. The crawler-type birch juice transport vehicle comprises a crawler-type walking mechanism, a vehicle hopper, a pressure sensor array and a control integration box. The crawler-type walking mechanism comprises a crawler, a driving wheel and other parts; a fixed side plate, a movable baffle, a bottom plate and an executing mechanism are arranged in the car hopper, the fixed side plate is arranged in the driving direction, the movable baffle is driven by the executing mechanism to be matched with the fixed side plate and the bottom plate for translation, and the bottom plate is covered with a rubber friction cushion layer. The control integration box comprises a tilt angle sensor, an acceleration measuring unit, a processor and a controller, the processor is connected with the sensors and the controller, and the controller is connected with the execution mechanism. The transport vehicle adapts to the complex terrain of the forest region, the load gravity center is calculated and corrected through the pressure sensor array and the control integration box, the baffle is driven to adjust and prevent load deviation, and the rollover risk of the vehicle for transporting birch juice in the forest region is effectively solved.

Description

Technical Field

[0001] This disclosure relates to the field of forestry machinery technology, specifically to a tracked birch sap transport vehicle based on a movable baffle and a pressure sensor. Background Technology

[0002] The cold-temperate birch forest regions of my country (such as the Greater and Lesser Khingan Mountains and Changbai Mountains) are the core collection areas for birch sap. The transportation of birch sap presents significant terrain challenges: during the late spring snowmelt season, the surface of the collection area is covered with a thick layer of humus, which becomes soft and easily sinks after being soaked by the melting snow; temporary farm roads have steep slopes and are littered with tree roots and debris, resulting in extremely poor vehicle stability. Furthermore, birch sap needs to be transported in multiple layers of sterile polyethylene bags. The high loading height causes the center of gravity to be higher inside the cargo box, significantly increasing the risk of rollover when ordinary vehicles are fully loaded and enter these complex road conditions, becoming a core pain point in the transportation process.

[0003] The currently disclosed "A Forestry Engineering Transport Vehicle" (authorization announcement number CN210310094U) provides a targeted forestry transportation solution: it achieves lateral support and fixation of seedlings through structures such as baffles, mounting plates, support plates, and protective sleeves, effectively solving the problem of "middle seedlings squeezing outer seedlings causing tilting" during seedling transportation, and has good adaptability in seedling transportation scenarios. However, the original design intent of this technical solution is fundamentally different from the needs of birch sap transportation and cannot be directly applied to birch sap transportation scenarios.

[0004] Specifically, this technology has key flaws in birch sap transportation, further amplifying the risk of tipping over: First, its core structures, such as protective sleeves and support plates, are designed for the "trunk-soil ball" shape of seedlings, requiring them to conform to the curved surface of the trunk for support. However, birch sap is transported in bags and stacked, and this structure cannot effectively constrain the bags. The problem of low friction coefficient between the bags and the bottom of the truck bed, and between the bags themselves, remains unresolved, making it easy for the bags to slip during vehicle movement, causing the center of gravity of the stack to shift. Second, this technology does not have a dynamic center of gravity adjustment mechanism designed for soft forest roads and steep slopes. It cannot correct the center of gravity position of the stack in real time according to changes in road conditions. When fully loaded with birch sap, the center of gravity shift will continue to intensify when the vehicle is bumpy or traveling on slopes, making it difficult to avoid the risk of tipping over. In addition, birch sap is weakly acidic, and this technology does not mention corrosion-resistant design for metal components (such as baffles and support plates). Long-term use makes them susceptible to corrosion from the volatile gases of the sap. Although this does not directly cause tipping over, it will shorten the service life of the equipment and indirectly affect transportation safety. Summary of the Invention

[0005] To overcome the problems existing in the related technologies, this disclosure provides a tracked birch sap transport vehicle based on a movable baffle and a pressure sensor.

[0006] According to a first embodiment of this disclosure, a tracked birch sap transport vehicle based on a movable baffle and a pressure sensor is provided. The tracked birch sap transport vehicle based on the movable baffle and pressure sensor includes: Tracked walking mechanism 1: includes track 11, drive wheel 12, driven wheel 13, guide wheel 14, support wheel 15 and track frame 16; Cab assembly 2: located at the front of the tracked walking mechanism 1; Power system 3: installed above the front of the track frame 16 and adjacent to the cab assembly 2; Carriage 4: serves as the load-bearing base and is located above the center of the tracked walking mechanism 1; Cargo bed 5: Made of corrosion-resistant metal material, it is installed inside the cargo box 4 and includes a fixed side plate 51, at least one movable baffle 52, a bottom plate 53, and an actuator 54; the fixed side plate 51 is arranged along the driving direction; the movable baffle 52 cooperates with the fixed side plate 51 and the bottom plate 53 through the actuator 54, and can be translated along the perpendicular direction of travel to separate and constrain the load area; the surface of the bottom plate 53 is covered with a rubber friction pad layer; Pressure sensor array 6: Located below the base plate 53 perpendicular to the driving direction; the pressure sensor array 6 consists of multiple single-point weighing sensors, and is externally equipped with a waterproof and dustproof sealing structure adapted to the rainwater and soil environment in forest areas and the corrosion resistance requirements of the truck bed. Control integration box 7: Located behind the cab, it integrates tilt sensor 71, acceleration measurement unit 72, processor 73 and controller 74; the processor 73 is electrically connected to pressure sensor array 6, tilt sensor 71, acceleration measurement unit 72 and controller 74 respectively; the controller 74 is electrically connected to actuator 54.

[0007] In one embodiment, the processor 73 is configured to: receive pressure data measured by the pressure sensor array 6 and acceleration data measured by the acceleration measurement unit 72, and calculate the real-time center of gravity coordinates of the bagged birch sap stack; when the center of gravity coordinates deviate from the preset stable area, the processor 73 sends an adjustment signal; at the same time, the processor 73 corrects the center of gravity coordinates in conjunction with the tilt angle data of the tilt sensor 71.

[0008] In another embodiment, the preset stable region is a circular area within the horizontal projection plane of the truck bed 5 with its geometric center as the origin. The ratio of the radius of the circular region to the width of the truck bed 5 is a preset proportional coefficient, which is determined based on the width of the truck bed 5 and the center of gravity stability threshold to ensure that the center of gravity of the bagged birch sap stack can still fall within the stable region when the vehicle body tilts slightly. When the center of gravity coordinates exceed this region, the processor 73 calculates the offset and generates a graded adjustment command based on the relative distance between the offset and the boundary of the preset stable region. The controller 74 is configured to receive the graded adjustment command and send a control command to the actuator 54. The actuator 54 controls the movable baffle 52 to move towards the offset side according to the control command, and the movement range of the baffle is positively correlated with the degree of center of gravity offset, so as to gradually pull the center of gravity back to the preset stable region.

[0009] In another embodiment, the controller 74 is also electrically connected to the power system 3. When the vehicle body roll angle exceeds a set threshold (which is determined based on the ground pressure of the tracked walking mechanism, the width of the truck bed, and the maximum common slope in the forest area) and the center of gravity offset exceeds a set threshold (which is determined based on the radius of the preset stable area and the maximum allowable offset of the stack), the controller 74 sends a speed limit signal to the power system 3 to limit the driving speed to a safe range that is compatible with the current forest terrain and the vehicle body stability, so as to ensure that the load has no risk of tipping over during driving.

[0010] This disclosure discloses a tracked birch sap transport vehicle based on movable baffles and pressure sensors. Addressing the core problem of "load shift and center of gravity instability leading to vehicle rollover in complex forest terrain," this vehicle offers a targeted solution: its tracked walking mechanism adapts to complex terrains such as forest slopes and gravel roads—by increasing the ground contact area, the vehicle's weight is evenly distributed to the ground, preventing sinking into soft humus layers; simultaneously, the support rollers are evenly distributed along the tracks, buffering the bumps caused by root protrusion and reducing the impact of vehicle posture fluctuations on the stack's center of gravity, thus mitigating center of gravity fluctuations from a fundamental driving perspective and reducing the risk of rollover due to terrain; furthermore, a pressure sensor array collects real-time data on the weight of the bagged birch sap. The load pressure data of the sap stack, combined with the processor in the control integration box, calculates and corrects the center of gravity coordinates. Once the center of gravity is detected to be unstable due to load offset, the movable baffle is driven to actively adjust according to the degree of offset, pulling the center of gravity of the stack back to the stable area. This directly solves the rollover cause of "offset-instability" from the load control level. At the same time, the controller is linked with the power system. When the vehicle tilt angle plus the center of gravity offset reaches the dangerous threshold, the driving speed is automatically limited to prevent minor instability at high speed from escalating into a rollover. This ultimately forms a three-layer protection of "terrain adaptation-load center of gravity stabilization-speed control", effectively mitigating the risk of vehicle rollover in the transportation of birch sap in forest areas and providing a reliable equipment solution for the transportation of birch sap in forest areas. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of a tracked birch sap transport vehicle based on movable baffles and pressure sensors. Figure 2 This is a side view of a tracked birch sap transport vehicle based on movable baffles and pressure sensors; Figure 3 This is a top view of a tracked birch sap transport vehicle based on movable baffles and pressure sensors; Figure 4 This is a schematic diagram of the internal structure of the control integration box; Figure 5 This is the core control flow logic diagram of a tracked birch sap transport vehicle based on movable baffles and pressure sensors. Among them, 1. Tracked walking mechanism; 11. Track; 12. Drive wheel; 13. Driven wheel; 14. Guide wheel; 15. Track roller; 16. Track frame; 2. Cab assembly; 3. Power system; 4. Cargo box; 5. Cargo bed; 51. Fixed side plate; 52. Movable baffle; 53. Floor plate; 54. Actuator; 6. Pressure sensor array; 7. Control integration box; 71. Tilt sensor; 72. Acceleration measurement unit; 73. Processor; 74. Controller. Detailed Implementation

[0012] The following is a detailed description of the tracked anti-tipping birch sap transport vehicle based on movable baffles and pressure sensors in the embodiments of this disclosure, with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of this disclosure, not all of them. The configuration of components in this disclosure can be adjusted according to different needs. The following detailed description does not limit the scope of protection of this disclosure, but only represents selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure. It should be noted that similar reference numerals and letters in the drawings represent similar items. Once an item is defined in one drawing, it does not need to be defined and explained again in subsequent drawings. In addition, in the description of this disclosure, the terms "first" and "second" are only used to distinguish descriptions and do not indicate or imply relative importance.

[0013] This disclosure provides a tracked, anti-rollover birch sap transport vehicle based on movable baffles and pressure sensors. It aims to address the risk of vehicle rollover during birch sap transport in complex forest terrain due to load shifting and center of gravity instability caused by the stacking of bagged birch sap. Traditional transport devices often rely on fixed baffles or manual intervention to manage the goods. When vehicles travel on slopes, curves, or uneven surfaces, the stacked bagged birch sap is prone to shifting or even tipping over due to changes in vehicle posture, leading to instability. Furthermore, conventional structures cannot sense the load status in real time and actively adjust accordingly, making it difficult to meet the demands of high-safety transport. Therefore, this transport vehicle integrates a tracked walking mechanism, power system, cab components, cargo box, truck bed, pressure sensor array, and control integration box to construct a "sensing-computation-execution" control system. This enables real-time monitoring and dynamic adjustment of the load status, making it particularly suitable for continuous operation in unstructured terrain in cold-temperate forest areas.

[0014] like Figure 1 As shown, the tracked anti-rollover birch sap transport vehicle based on movable baffles and pressure sensors designed in this disclosure has an overall structure of "front-end control and middle load-bearing".

[0015] Combination Figure 1 and Figure 2 The components are assembled in the following order: The tracked walking mechanism 1 serves as the foundation for the vehicle's movement, with an integral track frame 16 made of high-strength metal material as the main support structure, ensuring structural rigidity under complex terrain. Drive wheels 12 are mounted at the rear end of the track frame 16 and are connected to the output of the power system 3 via a transmission mechanism (which can be chain drive or gear drive) to provide power for track movement. Driven wheels 13 and guide wheels 14 cooperate to achieve track tensioning and steering guidance. Support rollers 15 are evenly distributed along the length of the track 11, bearing the weight of the entire vehicle and evenly transferring the load to the ground, preventing localized overload deformation of the track. In a preferred embodiment, the track 11 can be made of composite rubber material with a built-in reinforcing skeleton, providing both good grounding performance and vibration damping capabilities.

[0016] like Figure 1 As shown, the cab assembly 2 is located at the front of the tracked walking mechanism 1. In a preferred embodiment, it can be composed of a lightweight metal frame and a transparent protective cover. The cab is equipped with control devices such as a steering wheel, accelerator, and brake pedal, providing the operator with basic control space and visibility.

[0017] like Figure 1 and Figure 2 As shown, the power system 3 is installed above the front of the track frame 16 and adjacent to the cab assembly 2. In a preferred embodiment, the power system 3 can be an internal combustion engine type, installed on the support platform above the front of the track frame 16, which facilitates the operator to monitor the operating status of the power system in real time and shortens the power transmission path and reduces energy loss.

[0018] like Figure 1 and Figure 2 As shown, the carriage 4 is the load-bearing base, located above the middle of the tracked walking mechanism 1, and rigidly connected to the track frame 16. It is formed by welding low alloy high strength steel plates, and its two side frames are rigidly connected to the track frame 16 through fasteners to ensure that there is no obvious deformation during the load-bearing process.

[0019] like Figure 1 and Figure 3 As shown, the truck bed 5 is located inside the cargo box 4 and is made of corrosion-resistant metal material, embedded inside the cargo box 4. In a preferred embodiment, the truck bed 5 has a rectangular box structure, specifically made of corrosion-resistant stainless steel (to match the weakly acidic properties of birch sap and avoid material corrosion and contamination). Fixed side plates 51 are set along the driving direction, and movable baffles 52 cooperate with the fixed side plates 51 and the bottom plate 53 through an actuator 54. In a preferred embodiment, 1-4 movable baffles are set to adapt to different loading requirements. The actuator 54 is preferably an electric push rod, which drives the movable baffles 52 to move smoothly through extension and retraction, realizing load constraint and center of gravity adjustment. Its fixed end is welded to the fixed side plate 51, and its telescopic end is connected to the side of the movable baffles 52 through bolts. The stroke range of the electric push rod is determined according to the width of the truck bed 5 to ensure that the baffles can be moved from one side of the truck bed to the other side.

[0020] As a preferred embodiment, the movable baffle 52 can be pre-tightened by stretching a helical spring (the pre-tightening force is set according to the weight of a single bag of birch sap to initially fix the load position and reduce the initial offset of the bag after loading until the vehicle starts), and the surface of the bottom plate 53 is covered with a rubber friction pad layer.

[0021] like Figure 1 As shown and Figure 3 As shown, the pressure sensor array 6 is located below the bottom plate 53 along the direction of travel, and consists of multiple single-point weighing sensors. They are evenly arranged in 3-5 rows along the direction of travel (lateral direction), with 4-6 sensors in each row spaced 0.3-0.5m apart along the direction of travel (longitudinal direction), ensuring coverage of the entire load-bearing area of ​​the bottom plate of the truck bed 5 without any blind spots (the distance between adjacent sensors is no greater than the width of a single bag of birch sap). The sensors are fixed to the outside by a waterproof and dustproof sealing structure.

[0022] As a preferred embodiment, the above-mentioned sealing structure can effectively prevent rainwater and soil from entering the forest area and affecting the accuracy, and is used to collect pressure distribution data of each area of ​​the bottom plate of the truck bed 5 in real time.

[0023] like Figure 1 and Figure 4As shown, the control integration box 7 is located behind the cab and integrates an inclination sensor 71, an acceleration measurement unit 72, a processor 73, and a controller 74. The exterior is covered by a waterproof metal shell. As a preferred embodiment, the shell protection level can be set to IP65 to avoid interference from forest vibrations and dust on electrical components.

[0024] The processor 73 is electrically connected to the pressure sensor array 6, the tilt sensor 71, and the acceleration measurement unit 72 respectively. The controller 74 is electrically connected to the processor 73 and to the actuator 54 (which drives the movable baffle 52 to move by driving the actuator 54). It can also communicate with the power system 3 to achieve speed limiting control.

[0025] In the calculation of load center of gravity and determination of stable region, traditional center of gravity estimation ignores dynamic acceleration interference, which can easily lead to misjudgment. This embodiment improves accuracy by fusing pressure data and acceleration information.

[0026] The core control process of the tracked anti-rollover birch sap transport vehicle based on movable baffles and pressure sensors involved in this embodiment is as follows: Figure 5 As shown. First, the raw signals of the pressure sensor array 6 are periodically acquired and converted into local load mass values ​​for each sensor's region through a preset calibration relationship (such as the curve of the correspondence between sensor output voltage and load mass). Secondly, a two-dimensional coordinate system is established (the origin is set at the geometric center of the truck bed 5), and the spatial coordinates of each sensor are obtained. Next, the initial centroid coordinates are calculated using the weighted average method, with the following formula:

[0027] In the formula, The initial lateral center of gravity coordinates are given, with the geometric center of the truck bed as the origin of the coordinate system, and the lateral direction is parallel to the width of the truck bed (perpendicular to the direction of vehicle travel); positive values ​​indicate that the center of gravity is biased to the right of the truck bed, and negative values ​​indicate that it is biased to the left; the unit is meters (m).

[0028] The initial longitudinal center of gravity coordinates are given, with the geometric center of the truck bed as the origin of the coordinate system, and the longitudinal direction is parallel to the vehicle's direction of travel; positive values ​​indicate that the center of gravity is biased towards the rear of the truck bed, and negative values ​​indicate that it is biased towards the front; the unit is meters (m).

[0029] n is the total number of sensors in the pressure sensor array, a non-negative integer with no unit; for example, when 8 sensors are evenly arranged laterally on the truck bed floor, n=8.

[0030] The local load mass value of the area where the i-th sensor is located is obtained by converting the original voltage signal collected by the sensor through a preset "voltage-mass" calibration curve; the unit is kilograms (kg).

[0031] Let be the lateral coordinate value of the i-th sensor.

[0032] With the geometric center of the truck bed as the origin, the horizontal coordinate scale is aligned with the width of the truck bed; the unit is meters (m); for example, a sensor located 0.6m to the left of the origin. .

[0033] : The longitudinal coordinate value of the i-th sensor. With the geometric center of the truck bed as the origin, the longitudinal coordinate scale is aligned with the vehicle's direction of travel; the unit is meters (m); for example, a sensor located 0.5m in front of the origin... .

[0034] Subsequently, the triaxial acceleration data of the acceleration measurement unit 72 are read, and the lateral acceleration data is extracted. ) and longitudinal ( The acceleration component is adjusted by correcting the mass weight through a dynamic compensation model to eliminate virtual load offsets caused by acceleration, braking, or turning. The correction formula is as follows: In the formula, The corrected equivalent load mass of the i-th sensor region is the actual effective mass after eliminating interference from vehicle dynamic acceleration (acceleration, braking, turning); the unit is kilograms (kg); for example, the original mass of a sensor. After revision This indicates that dynamic forces cause an increase in the equivalent load in that region.

[0035] This represents the local load mass value of the i-th sensor region before correction.

[0036] Raw mass data directly acquired and converted by pressure sensors (without dynamic compensation); unit: kilograms (kg); compared with the initial center of gravity coordinates formula above. For the same physical quantity, ensure that the data source is consistent.

[0037] This represents the lateral acceleration component of the vehicle body.

[0038] Lateral acceleration (perpendicular to the direction of travel) collected by the acceleration measurement unit; unit is meters per second squared (m²). Positive values ​​indicate that the vehicle tilts to the right or turns (centrifugal force to the right), while negative values ​​indicate turning to the left.

[0039] This represents the longitudinal acceleration component of the vehicle body.

[0040] Longitudinal acceleration (parallel to the direction of travel) collected by the acceleration measurement unit; unit is meters per second squared (m²). Positive values ​​indicate that the vehicle is accelerating, while negative values ​​indicate that the vehicle is braking and decelerating.

[0041] , Let x be the horizontal and vertical coordinates of the i-th sensor.

[0042] In the above formula for initial centroid coordinates , Completely consistent (with the geometric center of the truck bed as the origin); unit is meters (m); ensure uniform coordinate reference.

[0043] g is the gravitational acceleration constant, with a value of approximately 9.8 meters per second squared (m² / s). ); used to normalize the effect of acceleration, balance the magnitude relationship between dynamic force and gravity, and ensure that the physical meaning of the correction coefficient is reasonable.

[0044] h represents the average height of the bagged birch sap stack inside the truck bed, estimated by the pressure distribution density detected by the pressure sensor array (the more concentrated the pressure, the higher the stack); the unit is meters (m).

[0045] Finally, the corrected equivalent mass ( The center of gravity coordinates are recalculated to obtain the true load center of gravity position. If the vehicle is in motion (power system not turned off) and the center of gravity has not returned to the preset stable area, the above "pressure acquisition-mass correction-center of gravity calculation" process is repeated; if the vehicle is stopped or the center of gravity has stabilized, the calculation for that round ends.

[0046] In the design of the stable region and graded adjustment instructions, to avoid "the stable region being too large, leading to adjustment lag, or too small, leading to frequent actions," this embodiment defines the preset stable region as "a circular region within the horizontal projection plane of the truck bed 5, with the geometric center as the origin and a radius not exceeding one-quarter of the width of the truck bed." The judgment logic is that the processor 73 calculates the distance from the current center of gravity to the origin. If it exceeds the radius of the region, it is judged as a state of instability risk, and the absolute values ​​of the lateral offset (Δx) and longitudinal offset (Δy) are further extracted. The graded instruction generation is based on the magnitude of the offset, which is divided into multiple adjustment levels (such as mild, moderate, and severe). Each level corresponds to a preset combination of baffle movement stroke, speed, and preload parameters (the parameter mapping table is pre-stored in the processor's non-volatile memory) to ensure that the adjustment intensity matches the instability risk and avoids over-adjustment or under-adjustment.

[0047] Severe vehicle tilt can cause a shift in pressure distribution, which can easily be misinterpreted as load movement. This embodiment uses a tilt sensor 71 to achieve attitude compensation. The trigger condition is that the processor 73 periodically reads the tilt sensor data; when the tilt angle is ≥5°, the correction program is initiated. The correction calculation uses geometric relationships to calculate the compensation amount to offset the shift in gravity projection caused by vehicle tilt. The compensation amount formula is:

[0048] Where h is the average height of the bagged birch sap stack in the truck bed, and θ is the vehicle body roll angle; the result correction is to subtract the compensation amount from the original lateral center of gravity coordinates to obtain the corrected coordinates. If the roll angle is <5°, the correction is not enabled and the original value is used directly to ensure calculation efficiency.

[0049] The complete workflow of this transport vehicle can be divided into five stages: Loading stage: Bags of birch sap are stacked and placed in an independent area of ​​the truck bed 5; the movable baffle initially fixes the load under the preload of the spring. Driving monitoring stage: After the vehicle starts, the pressure sensor array 6, tilt sensor 71, and acceleration measurement unit 72 continuously collect data and transmit it to the processor 73 in real time. Calculation and judgment stage: The processor fuses the data to calculate the true center of gravity coordinates and, combined with the roll angle correction results, determines whether the vehicle exceeds the stable area. Execution and adjustment stage: If the vehicle exceeds the stable area, the processor generates graded instructions, the controller drives the baffle to move according to the corresponding parameters, and simultaneously triggers an instability alarm (reminding the driver to pay attention to road conditions and reduce speed). If a high-risk roll condition is triggered (vehicle roll angle ≥ 8° and center of gravity offset exceeds 1.5 times the radius of the stable area; the stable area is defined as "a circular area within the horizontal projection plane of the truck bed with the geometric center as the origin and a radius not exceeding one-quarter of the width of the truck bed"), the controller 74 drives the movable baffle 52 to move according to the maximum level parameters (such as maximum stroke and maximum preload), forcibly constraining the load to limit further center of gravity offset.

[0050] In terms of technical effects, this embodiment achieves three core improvements through "mechanical structure optimization + intelligent control integration": First, it solves the problems of load offset misjudgment and inaccurate adjustment through movable baffles and dynamic correction; second, it ensures a balance between control accuracy and efficiency through graded adjustment; and third, it reduces the risk of rollover through collaborative control under extreme working conditions, thereby improving the overall safety and automation level of birch sap transportation in forest areas.

[0051] The scope of protection of this disclosure is defined by the claims. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure should be included within the scope of protection. It should be noted that the order of the embodiments described above is merely descriptive and does not represent the superiority or inferiority of the embodiments. In some cases, the actions or steps recorded in the specification and claims can be performed in a different order than that shown in the embodiments, and the desired result can still be achieved. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result; in some embodiments, multitasking and parallel processing are also feasible or advantageous. Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware to implement them. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. The above are merely preferred embodiments of this disclosure and should not be construed as limiting this disclosure. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A tracked birch sap transport vehicle based on a movable baffle and a pressure sensor, characterized in that, Includes tracked walking mechanism (1), cab assembly (2), power system (3), cargo box (4), truck bed (5), pressure sensor array (6) and control integration box (7); The tracked walking mechanism (1) includes tracks (11), drive wheels (12), driven wheels (13), guide wheels (14), support wheels (15) and track frame (16). The cab assembly (2) is located at the front of the tracked walking mechanism (1); The power system (3) is mounted on the front of the track frame (16) and is adjacent to the cab assembly (2); The carriage (4) is the load-bearing base and is located above the middle part of the tracked walking mechanism (1); The truck bed (5) is made of corrosion-resistant metal material and is located inside the truck body (4). It includes a fixed side plate (51), at least one movable baffle (52), a bottom plate (53), and an actuator (54). The fixed side plate (51) is arranged along the driving direction. The movable baffle (52) cooperates with the fixed side plate (51) and the bottom plate (53) through the actuator (54). The actuator (54) can drive the movable baffle (52) to slide along the surface of the bottom plate (53) and keep it parallel to the fixed side plate (51), so that the movable baffle (52) can be smoothly translated along the perpendicular direction of travel to separate and constrain the load area. The surface of the bottom plate (53) is covered with a rubber friction pad layer. The pressure sensor array (6) is located below the base plate (53) perpendicular to the driving direction; The control integration box (7) is located behind the cab and includes an inclination sensor (71), an acceleration measurement unit (72), a processor (73), and a controller (74). The processor (73) is electrically connected to the pressure sensor array (6), the inclination sensor (71), the acceleration measurement unit (72), and the controller (74), respectively. The controller (74) is electrically connected to the actuator (54).

2. The tracked birch sap transport vehicle based on a movable baffle and a pressure sensor according to claim 1, characterized in that, The pressure sensor array (6) consists of multiple single-point weighing sensors distributed below the base plate (53), and is externally equipped with a waterproof and dustproof sealing structure adapted to the rainwater and soil environment of the forest area and the corrosion resistance requirements of the truck bed.

3. The tracked birch sap transport vehicle based on a movable baffle and a pressure sensor according to claim 1, characterized in that, The processor (73) is configured to receive pressure data measured by the pressure sensor array (6) and acceleration data measured by the acceleration measurement unit (72), and calculate the real-time center of gravity coordinates of the bagged birch sap stack; when the tilt sensor (71) detects that the vehicle body tilt angle is greater than or equal to a preset tilt threshold (which is determined based on the ratio of the height of the truck bed (5) to the width of the track (11), the processor (73) first combines the tilt angle data to correct the center of gravity coordinates; when the tilt angle is less than the preset tilt threshold, the center of gravity coordinates are calculated only based on the pressure and acceleration data; when the center of gravity coordinates deviate from the preset stable area, the processor (73) sends an adjustment signal.

4. The tracked birch sap transport vehicle based on a movable baffle and a pressure sensor according to claim 3, characterized in that, The preset stable area is a circular area with the geometric center as the origin within the horizontal projection plane of the truck bed (5). The ratio of the radius of the circular area to the width of the truck bed (5) is a preset proportional coefficient. This coefficient is determined based on the width structural characteristics of the truck bed (5) and the safety redundancy required for the stability of the vehicle's center of gravity, so as to ensure that the center of gravity of the bagged birch sap stack can still fall within the stable area when the vehicle body tilts slightly. When the center of gravity coordinates exceed this area, the processor (73) calculates the offset and generates a graded adjustment command based on the relative distance between the offset and the boundary of the preset stable area, combined with the stability requirements of the load stack. The controller (74) is configured to receive the graded adjustment command and send a control command to the actuator (54). The actuator (54) controls the movable baffle (52) to move towards the offset side according to the control command sent by the controller (74). The movement amplitude of the baffle is positively correlated with the degree of center of gravity offset, so as to gradually pull the center of gravity back to the preset stable area.

5. The tracked birch sap transport vehicle based on a movable baffle and a pressure sensor according to claim 1, characterized in that, The controller (74) is also electrically connected to the power system (3). When the vehicle body tilt angle exceeds the set threshold (which is determined based on the ground pressure of the tracked walking mechanism (1), the width of the truck bed (5) and the maximum common slope in the forest area) and the center of gravity offset exceeds the set threshold (which is determined based on the radius of the preset stable area and the maximum allowable offset of the stack), the controller (74) sends a speed limit signal to the power system (3) to limit the driving speed to a safe range that dynamically adapts to the undulation degree, slope level and real-time stability state (tilt angle, center of gravity offset direction) of the current forest terrain, so as to ensure that the load has no risk of tipping over during driving.

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