All-terrain intelligent mobile platform capable of carrying various operation devices

Abstract

The utility model discloses an all-terrain intelligent mobile platform capable of carrying various operation devices. The all-terrain intelligent mobile platform comprises a chassis, a rocker arm suspension and a driving mechanism, a connecting rod is rotationally arranged on the chassis; the rocker arm suspension comprises two rocker arms and two suspension beams; each suspension beam comprises a front beam body and a rear beam body which are connected with each other and form an obtuse angle, the front ends of the two front beam bodies are hinged to the two suspension beams respectively, and the rear ends of the two front beam bodies are rotationally connected to the two ends of the connecting rod; the driving mechanism consists of six driving wheels with rotating and steering functions, and the six driving wheels are respectively assembled at the front ends of the two rocker arms, the rear ends of the two rocker arms and the rear ends of the two suspension beams; the mobile platform can replace manual work to safely and effectively execute operation tasks in dangerous or extreme environments, and through remote accurate control of operators, the intelligent mobile platform can stably move in various complex obstacle environments, and smooth proceeding of the tasks is ensured. Meanwhile, the mobile platform can flexibly carry different operation devices so as to complete different work.

Description

Technical Field

[0001] The utility model relates to the technical field of obstacle-crossing mobile devices, and in particular to an all-terrain intelligent mobile platform capable of carrying a variety of operating devices. Background Art

[0002] With the rapid development of science and technology, automation and intelligent technology are increasingly showing vigorous vitality in various fields. In particular, the application of all-terrain mobile platforms has been widely penetrated into mine detection, terrain analysis, safety inspections, production and life, and other aspects. The design of this mobile platform can not only significantly improve the execution of various tasks, but also greatly promote the leap-forward improvement of work efficiency, injecting strong impetus into the development of modern society. However, in order to drive smoothly, existing all-terrain vehicles usually have higher bodies and wider tires, which makes them prone to tilt or rollover when driving at high speeds or turning, and some vehicles have deficiencies in the suspension system and cannot adapt to more extreme roads; in addition, the current unmanned all-terrain vehicles are still cumbersome to operate. Based on this, it is necessary to develop an all-terrain intelligent mobile platform with excellent adaptability and convenient operation to replace manual work to safely and effectively perform tasks in dangerous or extreme environments and reduce the safety risks of operators. Utility Model Content

[0003] The purpose of the utility model is to provide an all-terrain intelligent mobile platform that can carry a variety of operating devices and solve the above-mentioned technical problems.

[0004] To this end, the technical solution of the utility model is as follows:

[0005] An all-terrain intelligent mobile platform capable of carrying a variety of working devices comprises a chassis, a rocker suspension and a driving mechanism; wherein the chassis is arranged horizontally, and a connecting rod is rotatably arranged on the chassis; the rocker suspension is arranged below the chassis, and comprises two rockers symmetrically arranged horizontally and two suspension beams symmetrically arranged at the rear side of the rockers; the suspension beam comprises a front beam body and a rear beam body connected to each other, and the angle between the two beams is an obtuse angle; the front beam bodies of the two suspension beams are respectively hingedly connected to the beam bodies of the two suspension beams at the front ends, and the rear ends are rotatably connected to the two ends of the connecting rod; the driving mechanism consists of six driving wheels, which are divided into a front driving wheel group, a middle driving wheel group, and a rear driving wheel group. The two driving wheels in the front driving wheel group are respectively mounted on the front ends of the two rocker arms, the two driving wheels in the middle driving wheel group are respectively mounted on the rear ends of the two rocker arms, and the two driving wheels in the rear driving wheel group are respectively mounted on the rear ends of the two suspension beams; each driving wheel comprises a vertically arranged support frame and a steering wheel horizontally fixed on the top of the support frame; a reduction motor is horizontally fixed to the bottom of the support frame, and a wheel is connected to the output shaft of the reduction motor; a steering wheel is fixed to the steering wheel, and the steering wheel is connected to the output shaft of the servo steering gear, so that the steering wheel can rotate freely on the horizontal plane under the rotation drive of the servo steering gear.

[0006] Furthermore, a mechanical arm is also arranged on the chassis; the mechanical arm includes a shoulder rotation joint, a shoulder pitch joint, an elbow rotation joint and a clamping joint which are connected in sequence.

[0007] Furthermore, in the rocker arm, the angle between the front beam body and the rear beam body is 100° to 120°.

[0008] Furthermore, a pivot is horizontally arranged at the lower rear side of the chassis; the center of the pivot axis is passed through a bolt vertically fixed to the bottom surface of the chassis, and can rotate freely around the bolt; both ends of the pivot are movably arranged on the suspension beam on the same side through a pull rod, so that when one side of the driving wheel of the rear driving wheel group is lifted alone, the pivot and the pull rod are used to drive the other side of the driving wheel to be lifted synchronously.

[0009] Furthermore, in the front driving wheel group and the middle driving wheel group, each driving wheel is fixed to the rocker arm through a rocker arm connecting bracket; the rocker arm connecting bracket includes a first pressure plate, a second pressure plate and a third pressure plate arranged vertically and parallelly at intervals; the first pressure plate and the second pressure plate are used to be clamped on both sides of the servo steering gear, and the two are connected by a connecting rod; the second pressure plate and the third pressure plate are used to be clamped on both sides of the rocker arm, and the bottom ends of the two are provided with limit plates supporting the rocker arm, and the three pressure plates are fixed by bolts.

[0010] Furthermore, in the rear drive wheel group, each drive wheel is fixed to the suspension beam through a suspension beam connecting bracket; the suspension beam bracket includes a pressure plate and a support tube, the support tube is composed of a horizontally arranged cross tube and an oblique tube obliquely fixed to one end of the cross tube, the pressure plate and the cross tube are clamped on both sides of the servo steering gear and fixed by bolts; the oblique angle of the oblique tube is the same as the oblique angle of the rear beam body of the suspension beam, so that the end of the rear beam body of the suspension beam can be inserted and fixed in the oblique tube by bolts.

[0011] Furthermore, the front driving wheel set, the middle driving wheel set and the rear driving wheel set are arranged at equal intervals from front to rear.

[0012] Furthermore, a plurality of mounting frames for arranging image acquisition equipment and various sensors are fixed on the chassis.

[0013] Compared with existing technologies, this all-terrain intelligent mobile platform that can carry a variety of operating devices can replace manual work to safely and effectively perform tasks in dangerous or extreme environments. Through the operator's remote and precise control, the intelligent mobile platform can move stably in various complex obstacle environments to ensure the smooth progress of the task. At the same time, the mobile platform can flexibly carry different operating devices to complete different tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a structural schematic diagram of the all-terrain intelligent mobile platform of the utility model that can carry a variety of working devices;

[0015] Figure 2 It is a schematic diagram of the single-side structure of the rocker arm suspension on the all-terrain intelligent mobile platform of the utility model that can carry a variety of working devices;

[0016] Figure 3 It is a schematic diagram of the structure of the driving wheel of the driving mechanism on the all-terrain intelligent mobile platform of the utility model that can carry a variety of working devices;

[0017] Figure 4 It is a schematic diagram of the structure of the mechanical arm of the all-terrain intelligent mobile platform of the utility model that can carry a variety of working devices;

[0018] Figure 5 It is a rear view of the all-terrain intelligent mobile platform of the present invention that can carry a variety of working devices. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention in any way.

[0020] See also Figure 1 The all-terrain intelligent mobile platform capable of carrying a variety of working devices includes a driving mechanism, a rocker arm suspension 3, a chassis 2 and a mechanical arm 1 which are arranged in sequence from bottom to top.

[0021] See also Figure 1 and Figure 2 The chassis 2 includes a horizontally arranged rectangular disk body, on which a connecting rod 201 is rotatably arranged; in this embodiment, the connecting rod 201 is rotatably arranged on the chassis 2 through a bearing seat centrally arranged on the disk body, and both ends of the connecting rod 201 extend to the outside of the disk body 2 to be connected to the rocker arm suspension 3.

[0022] The rocker suspension 3 includes two suspension beams 4 and two rocker arms 7; the two rocker arms 7 are horizontally arranged symmetrically at the lower front side of the chassis 2, and the two suspension beams 4 are symmetrically arranged at the lower rear side of the chassis 2; wherein the rocker arm 7 is specifically a horizontally arranged cross bar, and its two ends are respectively used to connect the driving mechanism; the suspension beam 4 is formed by connecting and fixing a front beam body and a rear beam body, and the angle between the two is 105°.

[0023] The front ends of the front beam bodies of the two suspension beams 4 are respectively hingedly connected to the beam bodies of the two suspension beams 4. In this embodiment, a connecting tube is sleeved on the front end of each front beam body, and two pressing plates are clamped on both sides of the connecting tube, so that the front beam body, the connecting tube and the two pressing plates are fixed as a whole through two bolts; the lower sides of the two pressing plates are clamped on both sides of the rocker arm 7 on the same side, so that the rocker arm 7 and the two pressing plates are fixed as a whole through two bolts; since the obstacle crossing ability of the rocker arm suspension 3 mainly depends on the lifting degree of the rocker arm 7, the size of the two pressing plates meets the following requirements: the front end of the front beam body is fixed above the rocker arm 7 at intervals, so that the rocker arm 7 can be turned upward by at least 60° to ensure that the mobile platform can cross common soil blocks and stones.

[0024] The rear ends of the front beam bodies of the two suspension beams 4 are rotatably connected to the two ends of the connecting rod 201 through bearings. In this embodiment, a connecting sleeve is sleeved and fixed at the connection between the front beam body and the rear beam body; a bearing seat 5 is provided on one side of the connecting sleeve (near the rear end of the front beam body), so that the end side of the connecting rod 201 is rotatably connected to the suspension beam 4 through the bearing seat 5.

[0025] Considering the processing cost and structural strength requirements, the rocker arm 7 and the suspension beam 4 are preferably made of aluminum alloy, and other components are made of glass fiber or nylon, so that the overall structure has a higher structural strength and ensures its load-bearing capacity and impact resistance.

[0026] The rocker suspension 3 of the present application has unique adaptability in motion through the cooperation of a pair of suspension beams 4 and a pair of rocker arms 7 in structural design; specifically, when the mobile platform needs to climb over an obstacle, the rocker suspension 3 will automatically adjust so that the tires will not lose power due to being suspended. At the same time, the rocker arm can ensure that the force point of the mobile platform is always at the center of the line connecting the front drive wheel set and the middle drive wheel set during driving on uneven roads, ensuring that the driving capacity and load capacity are evenly distributed; in addition, the flexible movement of the rocker arm 7 also keeps the mobile platform stable during driving on the road.

[0027] The driving mechanism 6 is composed of six driving wheels, which are divided into a front driving wheel group, a middle driving wheel group and a rear driving wheel group; wherein, the two driving wheels in the front driving wheel group are respectively mounted on the front ends of the two rocker arms 7, the two driving wheels in the middle driving wheel group are respectively mounted on the rear ends of the two rocker arms 7, and the two driving wheels in the rear driving wheel group are respectively mounted on the rear ends of the two suspension beams 4.

[0028] See also Figure 3 Each driving wheel includes a vertically arranged support frame 8 and a steering wheel 13 horizontally fixed on the top of the support frame 8; wherein,

[0029] A DC reduction motor 10 is horizontally fixed to the bottom of the support frame 8 through a motor bracket 9, and the output shaft of the DC reduction motor 10 is connected to a wheel 11 through a metal hexagonal coupling 12, and the wheel 11 has a rubber tire; wherein the driving core of this part is the DC reduction motor 10, which is composed of a DC motor and a reducer to achieve the effect of slowing down the motor output speed and increasing the torque;

[0030] A steering wheel 14 is fixed to the steering wheel 13 by bolts, and a servo steering gear 15 is arranged above the steering wheel 14. The servo steering gear 15 is arranged in a manner that the output shaft is vertically downward, and the shaft end of the output shaft is connected to the steering wheel 13 through the steering wheel 14, so that the steering wheel 13 can rotate freely on the horizontal plane under the rotation drive of the servo steering gear 15. Among them, since each driving wheel is equipped with a servo steering gear 15, and the servo steering gear 15 is a motor that can strictly control the rotation angle, it is only necessary to control the rotation angle of each steering gear to change the tangent direction of the driving wheel to achieve the purpose of controlling the running direction of the all-terrain intelligent mobile platform.

[0031] In the front driving wheel group and the middle driving wheel group, a rocker arm connecting bracket is fixed on the adjacent side of the servo servo motor 15 of each driving wheel, so that the driving wheel is connected and fixed to the end side of the rocker arm 7 through the rocker arm connecting bracket; specifically, the rocker arm connecting bracket includes a first pressure plate, a second pressure plate and a third pressure plate arranged vertically and parallelly at intervals, the first pressure plate and the second pressure plate are used to be clamped on both sides of the servo servo motor 15, the second pressure plate and the third pressure plate are used to be clamped on both sides of the rocker arm 7, and the first pressure plate and the second pressure plate are connected and fixed as a whole by two symmetrically arranged fixing rods, the bottom ends of the second pressure plate and the third pressure plate are relatively extended in the horizontal direction to form a limit plate supporting the rocker arm 7, and the three pressure plates are detachably connected and fixed by two pairs of long bolts arranged symmetrically; preferably, a pair of through holes are opened on the end side wall of the rocker arm 7, so that the three pressure plates and the rocker arm 7 are connected and fixed together by two pairs of long bolts.

[0032] In the rear drive wheel group, a suspension beam connecting bracket is fixed on the adjacent side of the servo servo 15 of each drive wheel, so that the drive wheel is connected and fixed to the rear end of the suspension beam 4 through the suspension beam connecting bracket; specifically, the suspension beam connecting bracket includes a pressure plate and a support tube, which are clamped on both sides of the servo servo 15 and are detachably connected and fixed by two pairs of symmetrically arranged long bolts; the support tube is composed of a horizontally arranged cross tube and an oblique tube obliquely fixed to one end of the cross tube, and the oblique angle of the oblique tube is the same as the oblique angle of the rear beam body of the suspension beam 4, so that the end of the rear beam body of the suspension beam 4 can be inserted and fixed in the oblique tube by at least two bolts; preferably, two pairs of through holes are also opened on the two side shells of the servo servo 15, so that the pressure plate, the servo servo 15 and the support tube are connected and fixed together by two pairs of long bolts.

[0033] As a preferred technical solution of this embodiment, a pivot 202 is horizontally arranged at the lower rear side of the chassis 2; wherein, the center of the axis of the pivot 202 is passed through a bolt vertically fixed on the bottom surface of the chassis 2, and can rotate freely around the bolt; both ends of the pivot are movably arranged on the suspension beam 4 on the same side through a pull rod 203, so that when one side of the driving wheel of the rear driving wheel group is lifted alone, the pivot and the pull rod are used to drive the other side of the driving wheel to be lifted synchronously.

[0034] In this embodiment, the pull rod 203 is composed of a first pull rod, a second pull rod and a third pull rod connected in sequence; wherein, the first pull rod is vertically fixed on the bottom surface of the end side of the pivot 202; a connecting sleeve is fixed to the front end of the rear beam body of the suspension beam 4, and the third pull rod is horizontally inserted into the strip opening on the connecting sleeve; when one side of the driving wheel of the rear driving wheel group is lifted up alone, the pull rod 203 will pull the pivot shaft end close to the lifted end to rotate forward, and the other side of the pivot shaft end will rotate backward, and the pull rod connected to the other side of the pivot shaft end will pull the other side of the driving wheel up accordingly.

[0035] In this embodiment, the six-drive wheel drive mechanism cooperates with the rocker arm suspension 3 structure to form a six-wheel rocker arm-steering suspension structure, which effectively ensures the flexibility, stability, obstacle crossing performance and grip performance of each wheel of the wheeled all-terrain mobile intelligent mobile platform.

[0036] The all-terrain intelligent mobile platform based on the present application is intended to be widely used in operating environments such as urban roads, gravel roads, sandy and muddy roads, and the rocker suspension 3 is the main influencing factor of the obstacle crossing ability. Therefore, in the design of the structural dimensions of this embodiment, the total height from the top side of the rocker suspension 3 to the ground is 290 mm, and the length of the rocker arm 7 in the horizontal direction is 300 mm; the spacing between the front drive wheel set and the middle drive wheel set, and the spacing between the middle drive wheel set and the rear drive wheel set are both set to 245 mm, and the tire diameter of the wheel 11 is 100 mm.

[0037] According to the actual simulation, the structure of the rocker suspension 3 can pass through the more common complex roads. Specifically, when the all-terrain intelligent mobile platform climbs over an obstacle, the front driving wheel group first contacts the obstacle. When it steps over the obstacle, under the action of the rocker arm, the middle driving wheel group and the rear driving wheel group still keep in contact with the ground to provide driving force and avoid being suspended in the air; when the front driving wheel group crosses the obstacle, the middle driving wheel group will step over the obstacle. At this time, the pressure of the suspension acts on the rocker arm, so that the front driving wheel group is pressed down to contact the ground, avoiding suspension and providing driving force; and when the mobile platform encounters uneven obstacles on the left and right, the rocker suspension 3 will automatically distribute the center of gravity of the vehicle body, give full play to the gripping ability of the wheels, so as to achieve the ability to climb over the obstacle. Specifically, when one side of the platform crosses the obstacle, the suspension beam on the side of the obstacle is lifted up, and under the action of the pivot, the pivot pulls the suspension beam on the other side to lift up, so that the center of gravity is shifted to the side of the obstacle, avoiding the slipping phenomenon caused by too little pressure on the side of the obstacle.

[0038] See also Figure 4 The robot arm 1 specifically adopts a serial robot arm 1, which includes a shoulder rotation joint, a shoulder pitch joint, an elbow rotation joint and a clamping joint connected in sequence; wherein,

[0039] The shoulder rotary joint includes a shoulder rotary steering gear 23 fixed on a support base 22, and the support base 22 is fixed on the chassis 2 by a plurality of support columns circumferentially arranged and fixed on the bottom surface of the support base 22; the shoulder rotary steering gear 23 is arranged with its output shaft vertically upward, and the upper output shaft end is fixed in the inner hole of a horizontally arranged bearing 25; the outer ring of the bearing 25 is clamped and fixed between two bearing chucks 21, and is fixed to the top of the plurality of support columns through the bearing chucks; a support plate is fixed on the top surface of the inner ring of the bearing 25, so that the support plate can be driven to rotate freely in the horizontal direction by the shoulder rotary steering gear 23;

[0040] The shoulder pitch joint includes a shoulder pitch servo 20 and an H-shaped shoulder connector. The shoulder pitch servo 20 is fixed on the support plate in a horizontal arrangement with its output shaft, and its output shaft is fixed to one side of the bottom end of the H-shaped shoulder connector through the steering plate. The other side of the bottom end of the H-shaped shoulder connector is rotatably inserted into an insertion shaft on the shoulder pitch servo 20 that is arranged opposite to the output shaft, so that the shoulder pitch servo 20 drives the H-shaped shoulder connector to perform up and down flipping motion.

[0041] The elbow rotary joint comprises a horizontally arranged elbow servo 19 and an elbow connector. The elbow servo 19 is fixed to the top of the H-shaped shoulder connector in such a way as to form an obtuse angle with the H-shaped shoulder connector. The output shaft end is fixed to the rear end surface of the elbow connector through a steering plate so as to control the rotation angle of the elbow connector through the elbow servo 19.

[0042] The clamping joint includes a clamping jaw 16 and a clamping servo 17. The rear end of the clamping jaw 16 is fixed to the front end face of the elbow connector. The clamping servo 17 is arranged with its output shaft vertically upward so that its output shaft is installed in a rotating mechanism for controlling the opening and closing of the clamping jaw, so as to control the opening and closing of the clamping jaw 16 through the clamping servo 17.

[0043] In this embodiment, in addition to the robotic arm 1, a plurality of mounting frames for setting image acquisition equipment and various sensors are fixed on the chassis 2, so that the mobile platform can be equipped with different auxiliary operation devices during actual operation, including advanced wireless image transmission equipment, specific sensors, etc., so as to perceive the surrounding environment in real time, provide comprehensive information support for the operator, and cooperate with the robotic arm carried by the mobile platform to complete various complex tasks.

Claims

1. An all-terrain intelligent mobile platform capable of carrying a variety of operating devices, characterized in that: The invention comprises a chassis (2), a rocker suspension (3) and a driving mechanism; wherein the chassis (2) is arranged horizontally and a connecting rod is rotatably arranged on the chassis (2); the rocker suspension (3) is arranged below the chassis (2) and comprises two rockers (7) arranged horizontally and symmetrically and two suspension beams (4) symmetrically arranged at the rear side of the rockers (7); the suspension beams (4) comprise a front beam body and a rear beam body connected to each other, and the angle between the two beams is an obtuse angle; the front beam bodies of the two suspension beams (4) are respectively hingedly connected to the beam bodies of the two suspension beams (4) at the front ends, and the rear ends are rotatably connected to the two ends of the connecting rod; the driving mechanism is composed of six driving wheels, which are divided into a front driving wheel group, a middle driving wheel group and a rear driving wheel group; the two driving wheels in the front driving wheel group are respectively The two driving wheels are mounted on the front ends of the two rocker arms (7), the two driving wheels in the middle driving wheel group are respectively mounted on the rear ends of the two rocker arms (7), and the two driving wheels in the rear driving wheel group are respectively mounted on the rear ends of the two suspension beams (4); each driving wheel comprises a vertically arranged support frame (8) and a steering wheel (13) horizontally fixed on the top of the support frame (8); a reduction motor (10) is horizontally fixed on the bottom of the support frame (8), and a wheel (11) is connected to the output shaft of the reduction motor (10); a steering wheel (14) is fixed on the steering wheel (13), and the steering wheel (14) is connected to the output shaft of a servo steering gear (15), so that the steering wheel (13) can rotate freely on a horizontal plane under the rotation driving action of the servo steering gear (15).

2. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: A mechanical arm (1) is also arranged on the chassis (2); the mechanical arm (1) comprises a shoulder rotation joint, a shoulder pitch joint, an elbow rotation joint and a clamping joint which are connected in sequence.

3. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: In the rocker arm (7), the angle between the front beam body and the rear beam body is 100° to 120°.

4. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: A pivot (202) is horizontally arranged below the rear side of the chassis (2); the center of the axis of the pivot (202) is passed through a bolt vertically fixed on the bottom surface of the chassis (2) and can rotate freely around the bolt; both ends of the pivot are movably arranged on the suspension beam (4) on the same side through a pull rod, so that when the driving wheel on one side of the rear driving wheel group is lifted alone, the driving wheel on the other side is driven to be lifted synchronously by using the pivot and the pull rod.

5. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: In the front driving wheel group and the middle driving wheel group, each driving wheel is fixed on the rocker arm (7) through a rocker arm connecting bracket; the rocker arm connecting bracket comprises a first pressing plate, a second pressing plate and a third pressing plate which are arranged vertically and parallelly at intervals; the first pressing plate and the second pressing plate are used to be clamped on both sides of a servo steering engine (15), and the two are connected by a connecting rod; the second pressing plate and the third pressing plate are used to be clamped on both sides of the rocker arm (7), and the bottom ends of the two are provided with a limit plate supporting the rocker arm (7), and the three pressing plates are connected and fixed by bolts.

6. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: In the rear drive wheel group, each drive wheel is fixed on the suspension beam through a suspension beam connecting bracket; the suspension beam bracket includes a pressure plate and a support tube, the support tube is composed of a horizontally arranged transverse tube and an inclined tube obliquely fixed to one end of the transverse tube, the pressure plate and the transverse tube are clamped on both sides of the servo steering engine (15) and fixed by bolt connection; the oblique angle of the inclined tube is the same as the oblique angle of the rear beam body of the suspension beam (4), so that the end of the rear beam body of the suspension beam (4) can be inserted and fixed in the inclined tube by bolts.

7. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: The front driving wheel set, the middle driving wheel set and the rear driving wheel set are arranged at equal intervals from front to rear.

8. The all-terrain intelligent mobile platform capable of carrying a variety of working devices according to claim 1, characterized in that: A plurality of mounting frames for arranging image acquisition equipment and various sensors are also fixed on the chassis (2).

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