Multi-sensor modular navigation chassis structure suitable for blueberry greenhouse

Abstract

The utility model relates to the technical field of navigation chassis structures, in particular to a multi-sensor modularized navigation chassis structure suitable for a blueberry greenhouse, which comprises a bottom plate, wheel assemblies are fixed at four corners of the top end of the bottom plate, and a safety detection unit and a steering system are fixed in the middle of the top end of the bottom plate. The steering system is arranged on the wheel assembly located on the rear side, an electric control unit, a navigation obstacle avoidance unit and a frame structure arranged on the outer sides of the electric control unit and the navigation obstacle avoidance unit in a sleeving mode are arranged in the safety detection unit, and each wheel assembly comprises a driving motor fixed to the top end of the bottom plate, a universal joint in transmission connection with the output end of the driving motor and a wheel body fixedly arranged on the universal joint in a sleeving mode. The steering system comprises a rotating motor and a gear, automatic obstacle avoidance is carried out in the advancing process through the safety detection unit, a driving plate in the electric control unit and an internal structure of the driving plate, information collected by the navigation obstacle avoidance unit and the driving motor and the rotating motor controlled by the electric control unit, and the safety of the trolley is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of navigation chassis structure technology, specifically to a multi-sensor modular navigation chassis structure suitable for blueberry greenhouses. Background Technology

[0002] In recent years, my country's blueberry industry has developed rapidly. Greenhouse cultivation, due to its ability to effectively control the environment, extend the growth cycle, and improve fruit quality and yield, has become an important model for large-scale, industrialized blueberry production. However, traditional blueberry greenhouse operations, such as fertilization, irrigation, and harvesting, mainly rely on manual labor. This is not only inefficient and labor-intensive, but also suffers from inconsistent operating standards and low precision, making it difficult to meet the demands of modern, refined, and intelligent agriculture. With the continuous advancement of agricultural robot technology, navigation chassis, as a core component of agricultural robots, undertake the crucial function of mobile operations. In the complex environment of blueberry greenhouses, traditional single-sensor navigation chassis have many limitations.

[0003] Typical greenhouse vehicle chassis are characterized by complex structures and large size. Furthermore, most AMR navigation radars only have a 180-degree scanning area, which cannot scan in all directions. In addition, the internal circuit control of the vehicle chassis structure has low integration, resulting in complex internal structures and messy wiring. Utility Model Content

[0004] Technical problems to be solved

[0005] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a multi-sensor modular navigation chassis structure suitable for blueberry greenhouses, which can effectively solve the problems in the existing technology.

[0006] Technical solution

[0007] This utility model provides a multi-sensor modular navigation chassis structure suitable for blueberry greenhouses, including a base plate. Wheel assemblies are fixed to the four corners of the top of the base plate, and a safety detection unit and a steering system are fixed to the center of the top of the base plate. The steering system is mounted on the rear wheel assembly. The safety detection unit contains an electronic control unit, a navigation and obstacle avoidance unit, and a frame structure sleeved on the outside of both. The wheel assembly includes a drive motor fixed to the top of the base plate, a universal joint connected to its output end, and a wheel body connected to the universal joint via an output shaft. The steering system includes a rotating motor and a gear. The gear is sleeved and fixed to the center of the top cover assembly. The bottom end of the gear is coaxially fixed with the bottom teeth. Both sides of the bottom teeth mesh with driven teeth. The tops of both driven teeth are fixedly connected to a connecting arm. One end of the connecting arm is connected to a drive arm via a first adapter. One side of the drive arm is connected to a side arm via a second adapter. One end of the side arm is fixedly connected to a pipe clamp, and the pipe clamp is sleeved on the outside of the output shaft of the universal joint.

[0008] Furthermore, each of the four corners of the base plate is fixed with a side frame, and each side frame has a groove extending through its center.

[0009] Furthermore, one end of both the electronic control unit and the navigation and obstacle avoidance unit is electrically connected to the power supply unit, and the power supply unit, the drive motor, and the rotation motor are all electrically connected to the electronic control unit. The electronic control unit includes an electronic control mounting plate and a drive board, a network module, and an industrial computer integrated on the electronic control mounting plate. The bottom of the electronic control mounting plate is fixedly mounted on the base plate by shock-absorbing pads.

[0010] Furthermore, the first adapter and the second adapter have the same structure, and both the first adapter and the second adapter are two sets of opposing plate structures, and a round hole is opened on one side of the plate and the drive arm. The drive arm is inserted between the plates and passes through the round hole by bolts and nuts to achieve the effect of combination and fixation.

[0011] Furthermore, the pipe clamp is connected to the universal joint by bolts and nuts.

[0012] Furthermore, the top cover assembly includes a top cover plate, a triangular plate fixed to the top of the top cover plate, and a threaded cylinder disposed within the triangular plate.

[0013] Beneficial effects

[0014] This invention utilizes a safety detection unit, a drive board and its internal structure within the electronic control unit, and information collected by the navigation and obstacle avoidance unit. The electronic control unit then controls the drive motor and rotation motor to automatically avoid obstacles during forward movement, thus ensuring the safety of the vehicle.

[0015] The steering system structure installed in this device has an electronic control system that controls the rotation of a rotating motor. The rotating motor drives the gear-bottom gear to rotate, which in turn drives the driven gear structure to rotate on the outside of the bottom gear. This causes the outer connecting arm to move. The first adapter pulls the drive arm to move inward (outward), and the second adapter structure drives the outer side arm to pull (extend). Through the pipe clamp and universal joint, the wheel bodies on both sides are driven to deflect to the same side, realizing the function of rear wheel steering. Compared with the existing technology, this device occupies less space, saves installation space, and has clear wiring. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is an exploded view of the structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the safety detection unit and steering system in this utility model;

[0020] Figure 4 This is a schematic diagram of the steering system in this utility model.

[0021] The labels in the diagram represent: 1. Base plate; 11. Side frame; 2. Safety detection unit; 21. Electronic control unit; 22. Navigation and obstacle avoidance unit; 3. Steering system; 31. Rotary motor; 32. Gear; 321. Bottom gear; 33. Driven gear; 331. Connecting arm; 34. First adapter; 35. Second adapter; 36. Drive arm; 37. Side arm; 38. Pipe clamp; 4. Top cover assembly; 41. Top cover plate; 42. Triangular plate; 43. Threaded cylinder; 5. Wheel assembly; 51. Drive motor; 511. Universal joint; 52. Wheel body. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0023] The present invention will be further described below with reference to the embodiments.

[0024] Example: A multi-sensor modular navigation chassis structure suitable for blueberry greenhouses, see attached diagram. Figure 1 -Appendix Figure 4 The system includes a base plate 1, with wheel assemblies 5 fixed to each of the four corners of the top of the base plate 1. A safety detection unit 2 and a steering system 3 are fixed to the center of the top of the base plate 1. The steering system 3 is mounted on the rear wheel assemblies 5. The safety detection unit 2 contains an electronic control unit 21, a navigation and obstacle avoidance unit 22, and a frame structure fitted over both. The wheel assembly 5 includes a drive motor 51 fixed to the top of the base plate 1, a universal joint 511 connected to its output end, and a wheel body 52 connected to the universal joint 511 via an output shaft. The steering system 3 includes a rotary motor. 31 and gear 32, the gear 32 is sleeved and fixed in the middle of the top cover assembly 4, the bottom end of the gear 32 is coaxially fixed with the bottom tooth 321, the two sides of the bottom tooth 321 are engaged with the driven tooth 33, the top ends of the driven teeth 33 on both sides are fixedly connected to the connecting arm 331, one end of the connecting arm 331 is connected to the driving arm 36 through the first adapter 34, one side of the driving arm 36 is connected to the side arm 37 through the second adapter 35, one end of the side arm 37 is fixedly connected to the pipe clamp 38, the pipe clamp 38 is sleeved on the outside of the output shaft of the universal joint 511;

[0025] The four corners of the base plate 1 are each fixed with a side frame 11, and the middle of each side frame 11 is provided with a slot. One end of the electronic control unit 21 and the navigation and obstacle avoidance unit 22 are electrically connected to the power supply unit. The power supply unit, the drive motor 51 and the rotation motor 31 are also electrically connected to the electronic control unit 21. The electronic control unit 21 includes an electronic control mounting plate and a drive board, a network module and an industrial computer integrated on the electronic control mounting plate. The bottom of the electronic control mounting plate is fixed to the base plate 1 by shock-absorbing pads. Through the safety detection unit 2, the drive board and its internal structure in the electronic control unit 21, and the information collected by the navigation and obstacle avoidance unit 22, the electronic control unit 21 controls the drive motor 51 and the rotation motor 31 to automatically avoid obstacles during the forward movement, thus ensuring the safety of the vehicle.

[0026] The first adapter 34 and the second adapter 35 have the same structure, and both the first adapter 34 and the second adapter 35 are two sets of opposing plate structures. A round hole is provided on one side of both the plate and the drive arm 36. The drive arm 36 is inserted between the plates and passes through the round hole with bolts and nuts to achieve assembly and fixation. The pipe clamp 38 is connected to the universal joint 511 by bolts and nuts. The top cover assembly 4 includes a top cover plate 41, a triangular plate 42 fixed to the top of the top cover plate 41, and a threaded cylinder 43 disposed within the triangular plate 42. The device also includes a steering system 3 structure. The electronic control system can control the rotation of the rotating motor 31 to rotate. The rotating motor 31 drives the gear 32-bottom gear 321 to rotate, which in turn drives the driven gear 33 structure to rotate on the outside of the bottom gear 321, causing the outer connecting arm 331 to move. The first adapter 34 pulls the drive arm 36 to move inward (outward), and the second adapter 35 drives the outer side arm 37 to pull (extend). Through the pipe clamp 38 and universal joint, the wheel bodies 52 on both sides are driven to deflect to the same side, realizing the function of rear wheel steering. Compared with the prior art, this device occupies less space, saves installation space, and has clear wiring.

[0027] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multi-sensor modular navigation chassis structure suitable for blueberry greenhouses, characterized by, The system includes a base plate (1), with wheel assemblies (5) fixed at each of the four corners of the top of the base plate (1). A safety detection unit (2) and a steering system (3) are fixed at the center of the top of the base plate (1). The steering system (3) is mounted on the rear wheel assembly (5). The safety detection unit (2) contains an electronic control unit (21), a navigation and obstacle avoidance unit (22), and a frame structure fitted over both. The wheel assembly (5) includes a drive motor (51) fixed to the top of the base plate (1), a universal joint (511) connected to its output end, and a wheel body (52) connected to the universal joint (511) via an output shaft. The steering system (3) includes a rotary motor (31). The gear (32) is sleeved and fixed in the middle of the top cover assembly (4). The bottom end of the gear (32) is coaxially fixed with the bottom tooth (321). The two sides of the bottom tooth (321) are meshed with the driven tooth (33). The top ends of the driven teeth (33) on both sides are fixedly connected to the connecting arm (331). One end of the connecting arm (331) is connected to the drive arm (36) through the first adapter (34). One side of the drive arm (36) is connected to the side arm (37) through the second adapter (35). One end of the side arm (37) is fixedly connected to the pipe clamp (38), and the pipe clamp (38) is sleeved on the outside of the output shaft of the universal joint (511).

2. A multi-sensor modular navigational chassis structure suitable for blueberry greenhouses according to claim 1, characterized in that, The bottom plate (1) has side frames (11) fixed at the top of each of its four corners, and the middle of each side frame (11) has a groove through it.

3. A multi-sensor modular navigational chassis structure suitable for blueberry greenhouses according to claim 1, characterized in that, One end of the electronic control unit (21) and the navigation and obstacle avoidance unit (22) are electrically connected to the power supply unit, and the power supply unit, the drive motor (51) and the rotation motor (31) are electrically connected to the electronic control unit (21). The electronic control unit (21) includes an electronic control mounting plate and a drive board, a network module and an industrial computer integrated on the electronic control mounting plate. The bottom of the electronic control mounting plate is fixedly mounted on the base plate (1) by shock-absorbing pads.

4. A multi-sensor modular navigational chassis structure suitable for blueberry greenhouses according to claim 1, characterized in that, The first adapter (34) and the second adapter (35) have the same structure. Both the first adapter (34) and the second adapter (35) are two sets of opposing plate structures. Both the plate and the drive arm (36) have a round hole on one side. The drive arm (36) is inserted between the plates and passes through the round hole with bolts and nuts to achieve the effect of combination and fixation.

5. A multi-sensor modular navigational chassis structure suitable for use in a blueberry greenhouse according to claim 4, wherein, The pipe clamp (38) is connected to the universal joint (511) by bolts and nuts.

6. A multi-sensor modular navigation chassis structure suitable for blueberry greenhouses according to claim 1, characterized in that, The top cover assembly (4) includes a top cover plate (41), a triangular plate (42) fixed to the top of the top cover plate (41), and a threaded cylinder (43) disposed in the triangular plate (42).

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