Adjustable chassis and laser head of laser weeding robot

Abstract

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

Description

Technical Field

[0001] This utility model provides an adjustable chassis and laser head for a laser weeding robot, belonging to the field of agricultural equipment, and is mainly used to remove weeds growing around crops. Background Technology

[0002] In modern agricultural production, weed control is a crucial step in ensuring healthy crop growth and improving yield and quality. However, traditional weeding methods are facing increasingly severe technological bottlenecks and environmental challenges. Manual weeding relies on high labor intensity, which is costly and inefficient under the trend of large-scale planting. Mechanical weeding removes weeds through physical tillage, but it is difficult to accurately distinguish between crops and weeds and easily damages soil structure, resulting in a 25% omission rate in complex terrains such as orchards and slopes. Although chemical weeding is efficient in the short term, the problems it brings, such as pesticide residue pollution and increased weed resistance, are seriously contrary to the current concept of green agriculture development. The EU and China have introduced policies to strictly limit the use of highly toxic pesticides. Therefore, there is an urgent need for more environmentally friendly and efficient weeding technologies.

[0003] In recent years, although the research and development of intelligent weeding equipment has made some progress, significant technical shortcomings still exist. For example, robotic arm weeding robots are limited by the large inertia of the actuator, resulting in high maintenance costs and a single-plant processing time exceeding 2 seconds, making them difficult to adapt to the agronomic requirements of high-density planting. Flame weeding equipment relies on propane fuel, posing a fire hazard, and the heat damage range can reach more than 5cm, easily causing irreversible damage to crops. The patent technology "omnidirectional agricultural robot" with publication number CN115465358A is flexible in steering, low in cost, simple in structure, and has a long battery life, but the wheel track cannot be adjusted, causing the wheels to crush crops and cause some damage when operating in fields with different row spacings; the laser head has a fixed height and cannot adapt to changes in crop height, and the laser is prone to accidentally hitting crop stems and causing damage.

[0004] Looking at the current state of the agricultural equipment industry, there is an urgent need for a laser weeding robot with an adjustable chassis and laser head that is precise in weeding, adjustable in wheel track and laser head, saves energy and labor, and poses no risk of environmental pollution. Utility Model Content

[0005] The purpose of this invention is to provide a laser weeding robot with an adjustable chassis and laser head that can overcome the problems existing in the current agricultural equipment industry, and is not only accurate and fast in weeding, but also adaptable to crops, saves energy and labor, and is pollution-free.

[0006] The technical solution includes a chassis, an image acquisition camera, a navigation camera, a laser component, and an energy harvesting component. The chassis includes a frame, a steering component, and a drive unit. The frame includes a mounting bracket, a lateral adjustment drive, a lateral adjustment bar, a U-shaped frame, a vertical adjustment drive, and a vertical adjustment bracket. The mounting bracket has a planar rectangular frame structure. A plane perpendicular to the short side of the rectangular frame plane and perpendicular to the rectangular frame plane is defined as the longitudinal symmetry plane of the mounting bracket. A plane perpendicular to the long side of the rectangular frame plane and perpendicular to the rectangular frame plane is defined as the lateral symmetry plane of the mounting bracket. Two lateral adjustment drives are installed close to each other on the rectangular frame plane of the mounting bracket. At the longitudinal symmetry plane of the mounting frame, the output shafts of two lateral adjustment drives extend away from the longitudinal symmetry plane of the mounting frame, with coaxial output shaft axes and symmetrical arrangement relative to the longitudinal symmetry plane of the mounting frame. Two additional lateral adjustment drives are installed on the rectangular frame plane of the mounting frame near the longitudinal symmetry plane of the mounting frame, with their output shafts extending away from the longitudinal symmetry plane of the mounting frame, coaxial axes, and symmetrical arrangement relative to the longitudinal symmetry plane of the mounting frame, and also symmetrical with the previous two lateral adjustment drives relative to the transverse symmetry plane of the mounting frame. One end of each of the four lateral adjustment rods is connected to the output shaft of one of the four lateral adjustment drives, and the other ends of two lateral adjustment rods extending in the same direction are respectively installed on the U-shaped plane of the two U-shaped frames. The U-shaped openings of the U-shaped brackets all face the same direction away from the mounting frame, and the U-shaped planes are all parallel to the longitudinal symmetry plane of the mounting frame and symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame. Two vertical adjustment drives are respectively installed at the same end of the two long side frames of the mounting frame. The vertical adjustment frame, which has a planar frame structure and is equipped with a ring guide rail, is installed at the end of the output shaft of the two vertical adjustment drives, and the frame plane of the vertical adjustment frame is parallel to the frame plane of the mounting frame. The steering assembly includes a T-shaped shaft, a tire, a steering rod, a rocker arm, a steering linkage, and a steering drive. The T-shaped vertical shaft end of the T-shaped shaft is equipped with a tire. One end of the steering rod is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft, and the other end is fixed to a rocker arm. One end of the steering linkage is hinged to the rocker arm. The other end, away from the end of the steering lever, is hinged to the output shaft of the steering drive; the two steering assemblies are respectively mounted on the frame plane of the mounting bracket on the side of the U-shaped bracket of the vehicle frame via the steering drive. The two steering assemblies are located at the same end of the long side of the mounting bracket, and the output shaft of the steering drive is parallel to the short side of the mounting bracket. The output shafts of the two steering drives extend in a direction away from the longitudinal symmetry plane of the mounting bracket, and the output shaft axes are coaxial; the two ends of the T-shaped transverse shafts of the two steering assemblies are respectively hinged to the outside of the U-shaped side of the two U-shaped brackets of the vehicle frame. The axis of the T-shaped transverse shaft of the T-shaped shaft is parallel to the U-shaped side of the U-shaped bracket, and the two steering drives are arranged symmetrically with respect to the longitudinal symmetry plane of the mounting bracket;The drive unit includes a travel drive, differential, half-shafts, chain drives, tires, and protective covers. The differential, housing the travel drive, is mounted on the frame plane of the chassis mounting bracket on the side away from the lateral adjustment drive, located at the end of the long edge of the mounting bracket away from the steering assembly. One half-shaft is mounted on each side of the differential in a direction perpendicular to the longitudinal symmetry plane of the mounting bracket. Two chain drives have one end mounted on the two half-shafts, respectively, away from the differential. The other ends of the two chain drives are hinged to the outer sides of the U-shaped sides of two U-shaped frames on the side away from the T-shaped axle of the chassis. Tires are mounted on the outer sides of both chain drives away from the U-shaped frames, and protective covers are mounted on the outer sides of both chain drives. The chassis is supported on the ground by the steering assembly and two tires of each drive unit. Two image acquisition cameras are mounted on the frame plane of the chassis chassis on the side where the lateral adjustment drive is mounted. Two image acquisition cameras are located on the chassis near the steering drive and are arranged symmetrically with respect to the longitudinal direction of the mounting bracket. A navigation camera is mounted on the outer side of the short frame of the chassis chassis away from the steering drive end. The laser assembly includes a laser mount, an adjustment block, and a laser head. The adjustment block is hinged to one side of the laser mount, and the laser head is hinged to the other side of the adjustment block. The two laser assemblies are mounted on the vertical adjustment bracket of the chassis chassis frame via the laser mount. The energy harvesting assembly includes a bracket, solar panels, and a battery. An arched bracket with a centrally protruding section is mounted on the frame plane of the chassis chassis frame on the side away from the lateral adjustment drive, with the central arch protruding upwards. Multiple solar panels are mounted above the central arch of the bracket, and the battery is mounted on the frame plane of the mounting bracket and located within the arch of the bracket.

[0007] Compared with the existing technology, this invention employs a navigation camera to collect direction and position information, an image acquisition camera to collect weed location and growth status information, laser weeding, and solar power for the machine. Therefore, it achieves accurate and rapid weeding, high weed removal rate, good adaptability to crops, energy and labor savings, automatic navigation, and no environmental pollution. Furthermore, the chassis frame is equipped with a lateral adjustment drive and lateral adjustment lever, allowing for wheel track adjustment according to different crops and planting row spacing during field operations, thus improving adaptability to crops and planting techniques. Finally, the chassis frame is equipped with a vertical adjustment drive and vertical adjustment frame, allowing for adjustments based on the height of different crops and growth stages. Adjusting the ground clearance of the laser assembly based on weed growth conditions further enhances its adaptability to crops and planting techniques. Because the chassis frame has a circular guide rail, the laser mount of the laser assembly can be adjusted relative to the vertical frame along this rail. Simultaneously, the laser head can quickly adjust its relative angle with the laser mount in two directions, ensuring the laser beam is applied quickly and accurately to weeds while protecting crops from damage. Furthermore, the energy harvesting assembly includes solar panels and batteries, ensuring clean and convenient energy supply, reducing operational energy consumption and costs, and minimizing the impact of weather conditions on machine operation, thus improving the machine's adaptability to the farmland environment. Attached Figure Description

[0008] Figure 1 This is a partial axonometric sectional view of an embodiment of the present invention with the four solar panels concealed.

[0009] Figure 2 This is a utility model Figure 1 Axonometric view of the embodiment shown in another direction;

[0010] Figure 3 This is a utility model Figure 1 Axonometric view of the chassis in the embodiment shown;

[0011] Figure 4 This is a utility model Figure 3 The axonometric view of the vehicle frame in the illustrated embodiment;

[0012] Figure 5 This is a utility model Figure 3 Axonometric view of the steering assembly in the illustrated embodiment;

[0013] Figure 6 This is a utility model Figure 3 Axonometric view of the drive device in the embodiment shown;

[0014] Figure 7 This is a utility model Figure 1 The image acquisition camera shown in the embodiment is an isometric view.

[0015] Figure 8 This is a utility model Figure 1 Axonometric view of the laser component in the embodiment shown;

[0016] Figure 9 This is a utility model Figure 1 The illustrated embodiment shows a partial axonometric sectional view of the energy harvesting assembly with four solar panels concealed. Detailed Implementation

[0017] 1. Chassis 11. Frame 111. Mounting bracket 112. Lateral adjustment drive 113. Lateral adjustment bar 114. U-shaped frame 115. Vertical adjustment drive 116. Vertical adjustment bracket 12. Steering assembly 121. T-shaft 122. Tire 123. Steering rod 124. Rocker arm 125. Steering linkage 126. Steering drive 13. Drive unit 131. Travel drive 132. Differential 133. Half shaft 134. Chain drive 135. Protective cover 2. Image acquisition camera 3. Navigation camera 4. Laser assembly 41. Laser mount 42. Adjustment block 43. Laser head 5. Energy harvesting assembly 51. Bracket 52. Solar panel 53. Battery.

[0018] exist Figures 1-9In the embodiment shown: the mounting bracket 111 of the chassis 1 frame 11 has a planar rectangular frame structure. The plane that passes through the center of the short side of the rectangular frame plane of the mounting bracket 111, is perpendicular to the short side and perpendicular to the rectangular frame plane, is defined as the longitudinal symmetry plane of the mounting bracket 111. The plane that passes through the center of the long side of the rectangular frame plane of the mounting bracket 111, is perpendicular to the long side and perpendicular to the rectangular frame plane, is defined as the transverse symmetry plane of the mounting bracket 111. Two horizontal adjustment drives 112 are installed on the rectangular frame plane of the mounting bracket 111 near the longitudinal symmetry plane of the mounting bracket 111. The output shafts of the two horizontal adjustment drives 112 extend away from the longitudinal symmetry plane of the mounting bracket 111, the output shaft axes are coaxial, and they are arranged symmetrically with respect to the longitudinal symmetry plane of the mounting bracket 111. Two other horizontal adjustment drives 112 are installed on the rectangular frame plane of the mounting bracket 111 near the longitudinal symmetry plane of the mounting bracket 111. The output shafts extend away from the longitudinal symmetry plane of the mounting bracket 111, the axes are coaxial, and they are arranged symmetrically with respect to the longitudinal symmetry plane of the mounting bracket 111. They are also arranged symmetrically with respect to the transverse symmetry plane of the mounting bracket 111 as the two previous horizontal adjustment drives 112 are. One end of each of the four horizontal adjustment rods 113 is connected to the output shaft of one of the four horizontal adjustment drives 112. The other ends of the two horizontal adjustment rods 113 extending in the same direction are respectively mounted on the U-shaped planes of the two U-shaped frames 114. The U-shaped openings of the two U-shaped frames 114 are all facing the same direction away from the mounting frame 111, and the U-shaped planes are parallel to the longitudinal symmetry plane of the mounting frame 111 and are symmetrically arranged with respect to the longitudinal symmetry plane of the mounting frame 111. The two vertical adjustment drives 115 are respectively mounted on the same end of the two long side frames of the mounting frame 111. The vertical adjustment frame 116, which has a planar frame structure and is equipped with a ring guide rail, is mounted on the end of the output shaft of the two vertical adjustment drives 115. The frame plane of the vertical adjustment frame 116 is parallel to the frame plane of the mounting frame 111. Therefore, the laser head assembly can move quickly along the ring guide rail of the vertical adjustment frame. The T-shaped vertical shaft end of the T-shaped shaft 121 of the steering assembly 12 is fitted with a tire 122. One end of the steering rod 123 is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft 121, and the other end is fixed with a rocker arm 124. One end of the steering linkage 125 is hinged to the end of the rocker arm 124 away from the steering rod 123, and the other end is hinged to the output shaft of the steering drive 126.Two steering assemblies 12 are respectively mounted on the frame plane of the mounting bracket 111 of the vehicle frame 11, on the side where the U-shaped bracket 114 is mounted, via steering drive 126. The two steering assemblies 12 are located at the same end of the long sidewall of the mounting bracket 111, and the output shaft of the steering drive 126 is parallel to the short sidewall of the mounting bracket 111. The output shafts of the two steering drives 126 extend in a direction away from the longitudinal symmetry plane of the mounting bracket 111, and the output shaft axes are coaxial. The two ends of the T-shaped horizontal shafts 121 of the two steering assemblies 12 are respectively hinged to the outside of the U-shaped side of the two U-shaped brackets 114 of the vehicle frame 11. The axis of the T-shaped horizontal shaft of the T-shaped shaft 121 is parallel to the U-shaped side of the U-shaped bracket 114, and the two steering drives 126 are arranged symmetrically with respect to the longitudinal symmetry plane of the mounting bracket 111, so as to ensure that the two tires 122 mounted on the two steering assemblies 12 are arranged symmetrically with respect to the longitudinal symmetry plane of the mounting bracket 111. The drive unit 13, equipped with a differential 132 of the travel drive 131, is mounted on the frame plane of the mounting bracket 111 of the chassis 11 on the side away from the lateral adjustment drive 112, and located at the end of the long sidewall of the mounting bracket 111 away from the steering assembly 12. A half-shaft 133 is fitted on each side of the differential 132 in a direction perpendicular to the longitudinal symmetry plane of the mounting bracket 111 to facilitate track adjustment. One end of each of the two chain drives 134 is mounted on the end of the two half-shafts 133 away from the differential 132. The other ends of the two chain drives 134 are respectively hinged to the outside of the U-shaped side of the two U-shaped frames 114 of the chassis 11 on the side away from the T-shaped axle 121. Tires 122 are mounted on the outside of each of the two chain drives 134 away from the U-shaped frame 114, and protective covers 135 are mounted on the outside of each of the two chain drives 134 to prevent entanglement with weeds, etc. The chassis 1 is supported on the ground by the steering assembly 12 and each of the two tires 122 of the drive unit 13. Two image acquisition cameras 2 are mounted on the frame plane of the chassis 1 frame 11 on the side where the lateral adjustment drive 112 is mounted. The two image acquisition cameras 2 are located on the chassis 11 near the steering drive 126 and are arranged symmetrically with respect to the mounting bracket 111 in the longitudinal direction. The navigation camera 3 is mounted on the outer side of the middle of the short frame of the chassis 1 frame 11 away from the steering drive 126. The laser assembly 4 has an adjustment block 42 hinged to one side of the laser base 41, and a laser head 43 hinged to the other side of the adjustment block 42. The two laser assemblies 4 are respectively mounted on the vertical adjustment bracket 116 of the chassis 1 frame 11 through the laser base 41. The two laser assemblies 4 can adjust their lateral relative position with the chassis 11 according to the growth status of crops and weeds, and can also adjust their height relative to the chassis 11 through the vertical adjustment drive 115. Moreover, the laser head 43 can adjust the relative angle between itself and the laser base 41 in two directions, and can also adjust the relative position between the laser assembly 4 and the vertical adjustment bracket 116 of the chassis 1 frame 11.The bracket 51 of the energy harvesting assembly 5 protrudes to one side in an arched shape. The bracket 51 is mounted on the frame plane of the mounting bracket 111 of the chassis 1 on the side away from the lateral adjustment drive 112, and the arch in the middle of the bracket 51 protrudes upward. Nine solar panels 52 are mounted on the outer surface of the arch in the middle of the bracket 51 to provide energy for the machine. The battery 53 is mounted on the frame plane of the mounting bracket 111 and is located inside the arch of the bracket 51 to store the energy collected by the solar panels 52.

[0019] Its working principle is as follows: When the machine is powered on, it adjusts the distance between the left and right tires through the lateral adjustment drive of the chassis frame, and adjusts the ground clearance of the laser component through the vertical adjustment drive, based on the characteristics of different crops and weeds and the terrain features of the field to be weeded. After the machine is moved to the field to be weeded, the weeding operation begins.

[0020] A navigation camera mounted at the front of the implement, on the outer side of the short frame of the chassis, guides the implement in the predetermined direction. The steering drive of the implement's chassis can adjust the deflection angle of the two tires in real time to guide the implement in the correct direction; while the drive unit propels the implement forward through the two tires, it also adjusts the speed of the two tires in real time through the differential according to the deflection angle of the steering component's tires to ensure the implement's accurate running direction.

[0021] Once the image acquisition camera detects weeds, confirms their location and growth status, the laser assembly quickly adjusts the laser head angle. The laser mount can also move along the circular guide rail of the vertical adjustment frame to adjust the precise position of the laser head relative to the vertical adjustment frame, emitting a laser beam in real time to kill the weeds.

[0022] After the implement reaches the end of the field, the navigation camera guides it back to the predetermined direction. The steering drive of the implement's chassis adjusts the deflection angle of the tires on both sides in real time, guiding the implement to turn around in the set manner; the travel drive of the drive unit adjusts the speed of the tires on both sides of the drive unit in real time through the differential according to the deflection angle of the tires of the steering component, ensuring that the implement can turn around smoothly and move forward again in the predetermined direction.

[0023] After completing the weeding task for the entire plot, the equipment is moved to other plots awaiting weeding to continue the weeding operation, or returned to the hangar.

Claims

1. Laser weeding robot adjustable chassis and laser head, including chassis (1), image acquisition camera (2), navigation camera (3), laser assembly (4) and energy collection assembly (5), characterized in that: The chassis (1) comprises a frame (11), a steering assembly (12) and a driving device (13), wherein the frame (11) comprises a mounting frame (111), horizontal adjustment drives (112), horizontal adjustment rods (113), U-shaped frames (114), vertical adjustment drives (115) and vertical adjustment frames (116), the mounting frame (111) is in a planar rectangular frame structure, the center of the short side frame of the rectangular frame plane passing through the mounting frame (111) is defined as the longitudinal symmetry plane of the mounting frame (111), the plane perpendicular to the short side frame and perpendicular to the rectangular frame plane is the longitudinal symmetry plane of the mounting frame (111), the center of the long side frame of the rectangular frame plane passing through the mounting frame (111) is defined as the transverse symmetry plane of the mounting frame (111), the plane perpendicular to the long side frame and perpendicular to the rectangular frame plane is the transverse symmetry plane of the mounting frame (111); two horizontal adjustment drives (112) are installed on the rectangular frame plane of the mounting frame (111) near the longitudinal symmetry plane of the mounting frame (111), the output shafts of the two horizontal adjustment drives (112) are coaxial and symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111) and extend away from the longitudinal symmetry plane of the mounting frame (111); another two horizontal adjustment drives (112) are installed on the rectangular frame plane of the mounting frame (111) near the longitudinal symmetry plane of the mounting frame (111), the output shafts of the two horizontal adjustment drives (112) are coaxial and symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111) and extend away from the longitudinal symmetry plane of the mounting frame (111) and symmetrically arranged relative to the transverse symmetry plane of the mounting frame (111); four horizontal adjustment rods (113) are connected to the output shafts of the four horizontal adjustment drives (112) at one end, the other ends of two horizontal adjustment rods (113) extending in the same direction are respectively installed on the U-shaped planes of two U-shaped frames (114), the U-shaped openings of the two U-shaped frames (114) are directed away from the same direction of the mounting frame (111), the U-shaped planes are parallel to the longitudinal symmetry plane of the mounting frame (111) and symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111); two vertical adjustment drives (115) are respectively installed on the same end of the two long side frames of the mounting frame (111), the vertical adjustment frame (116) in a planar frame structure and provided with an annular guide rail is installed on the output shaft ends of the two vertical adjustment drives (115) and the frame plane of the vertical adjustment frame (116) is parallel to the frame plane of the mounting frame (111); the steering assembly (12) comprises a T-shaped shaft (121), a tire (122), a steering rod (123), a rocker arm (124), a steering connecting rod (125) and a steering drive (126), wherein the tire (122) is mounted at the T-shaped vertical shaft end of the T-shaped shaft (121), one end of the steering rod (123) is connected to one end of the T-shaped horizontal shaft of the T-shaped shaft (121), the other end is fixed with the rocker arm (124), one end of the steering connecting rod (125) is hingedly connected to the end of the rocker arm (124) away from the steering rod (123), and the other end is hingedly connected with the output shaft of the steering drive (126).2 steering assemblies (12) are respectively installed on the frame plane of the mounting frame (111) of the vehicle frame (11) on the side of the U-shaped frame (114) away from the horizontal adjustment drive (112), the two steering assemblies (12) are located at the same end of the long side frame of the mounting frame (111), the output shafts of the two steering drives (126) are parallel to the short side frame of the mounting frame (111), the output shafts of the two steering drives (126) are respectively extended away from the longitudinal symmetry plane of the mounting frame (111), and the output shaft axes are coaxial; the two ends of the T-shaped horizontal shaft of the T-shaped shaft (121) of the two steering assemblies (12) are respectively hinged outside the U-shaped side of the two U-shaped frames (114) of the vehicle frame (11), the T-shaped horizontal shaft axis of the T-shaped shaft (121) is parallel to the U-shaped side of the U-shaped frame (114), and the two steering drives (126) are symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111); the drive device (13) comprises a travel drive (131), a differential (132), a half shaft (133), a chain transmission (134), a tire (122) and a protective cover (135), wherein the differential (132) comprising the travel drive (131) is installed on the frame plane of the mounting frame (111) of the vehicle frame (11) on the side away from the horizontal adjustment drive (112), and is located at the end of the long side frame of the mounting frame (111) away from the steering assembly (12), the differential (132) is sleeved with a half shaft (133) on both sides away from the longitudinal symmetry plane of the mounting frame (111); one end of the two chain transmissions (134) is respectively installed at the end of the two half shafts (133) away from the differential (132), the other end of the two chain transmissions (134) is respectively hinged outside the U-shaped side of the two U-shaped frames (114) of the vehicle frame (11) on the side away from the T-shaped shaft (121), the two chain transmissions (134) are respectively provided with a tire (122) on the outside of the two U-shaped frames (114), and the two chain transmissions (134) are respectively provided with a protective cover (135) on the outside; the chassis (1) is supported on the ground by the two tires (122) of the steering assembly (12) and the drive device (13); the two image acquisition cameras (2) are installed on the frame plane of the mounting frame (111) of the vehicle frame (11) on the side comprising the horizontal adjustment drive (112), the two image acquisition cameras (2) are located near the steering drive (126) of the vehicle frame (11), and are symmetrically arranged relative to the longitudinal symmetry plane of the mounting frame (111); the navigation camera (3) is installed on the outside of the middle of the short side frame of the vehicle frame (11) of the chassis (1) away from the steering drive (126); the laser assembly (4) comprises a laser seat (41), an adjusting block (42) and a laser head (43), one side of the laser seat (41) is hinged with the adjusting block (42), the other side of the adjusting block (42) is hinged with the laser head (43), and the two laser assemblies (4) are respectively installed on the vertical adjustment frame (116) of the vehicle frame (11) of the chassis (1) through the laser seat (41).The energy collection assembly (5) comprises a bracket (51), solar panels (52) and a storage battery (53), wherein the bracket (51) with a convex arch in the middle is installed on the frame plane of the mounting frame (111) of the vehicle frame (11) of the chassis (1) away from the horizontal adjusting drive (112) and the arch in the middle of the bracket (51) is convex upward; a plurality of solar panels (52) are installed above the arch in the middle of the bracket (51), and the storage battery (53) is installed on the frame plane of the mounting frame (111) and located in the arch of the bracket (51).

Images