Multi-terrain environment automatic monitoring vehicle

Abstract

The utility model belongs to the technical field of environment monitoring vehicles, and particularly relates to a multi-terrain environment automatic monitoring vehicle which comprises a vehicle body, rocker arm suspension structures, rocker arm structures, connecting rod mechanisms and tires, the rocker arm suspension structures are connected to the two sides of the vehicle body respectively, and the rocker arm suspension structures are connected with the tires through the connecting rod mechanisms. The connecting rod mechanisms on the two sides of the vehicle body are connected through rocker structures, and the rocker structures have the transverse deviation adjusting allowance deviating from the advancing direction relative to the vehicle body. A laser radar module is connected to the vehicle body and comprises a laser radar, an elastic coupling and a radar base, the laser radar is connected with the radar base through the elastic coupling, and the radar base is connected with the vehicle body. The multi-terrain environment automatic monitoring vehicle can work under the conditions of uneven and rugged road surfaces and the like, and meanwhile, the imaging stability after the laser radar scans the surrounding environment can be improved.

Description

Technical Field

[0001] This application belongs to the field of environmental monitoring vehicle technology, specifically relating to an automatic environmental monitoring vehicle for multi-terrain environments. Background Technology

[0002] Environmental monitoring is a crucial means of preventing and detecting environmental pollution. To monitor environmental quality, environmental monitoring agencies often dispatch large, manned environmental monitoring vehicles to designated areas. Traditional terrain monitoring vehicles are mostly three- or four-wheeled. While this design is simple and relatively stable in specific working environments, its ability to cope with complex environments is limited. They primarily operate in areas with good road conditions and cannot perform detection under extreme conditions such as uneven, rugged roads or narrow passages. The scanning radar on the monitoring vehicle may become unstable during movement, resulting in the radar failing to clearly and accurately obtain images of the surrounding environment, thus affecting the accurate identification of environmental monitoring locations and potentially leading to misjudgments. Utility Model Content

[0003] The purpose of this application is to provide an automatic monitoring vehicle for multi-terrain environments to solve the above-mentioned problems.

[0004] The embodiments of this application can be implemented through the following technical solutions:

[0005] An automatic monitoring vehicle for multi-terrain environments includes a vehicle body, a rocker arm suspension structure, a rocker arm structure, a linkage mechanism, and tires. The rocker arm suspension structures are connected to both sides of the vehicle body, and each of the rocker arm suspension structures is connected to the tires through the linkage mechanism. The linkage mechanisms on both sides of the vehicle body are connected through the rocker arm structure, and the rocker arm structure has a lateral offset adjustment margin relative to the vehicle body that is offset from the direction of travel.

[0006] Furthermore, a lidar module is connected to the vehicle body. The lidar module includes a lidar, a flexible coupling, and a lidar base. The lidar is connected to the lidar base through the flexible coupling, and the lidar base is connected to the vehicle body.

[0007] Furthermore, the linkage mechanism includes a first connector, a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod; one end of the first connecting rod and one end of the second connecting rod are connected to the vehicle body through the rocker arm suspension structure, the other end of the second connecting rod is connected to the first connector through a ball bearing, and one end of the third connecting rod and one end of the fourth connecting rod are connected to the vehicle body through the first connector.

[0008] Furthermore, the tires are respectively connected to the ends of the first connecting rod and the second connecting rod away from the rocker arm suspension structure; the tires are respectively connected to the ends of the third connecting rod and the fourth connecting rod away from the first connecting member.

[0009] Furthermore, the vehicle body is provided with a differential connecting rod and a rocker arm differential mechanism. One end of the differential connecting rod is connected to the rocker arm suspension structure, and a bearing is provided between the rocker arm suspension structure and the differential connecting rod. The other end of the differential connecting rod is connected to the rocker arm differential mechanism, which is formed by at least three meshing differential gears.

[0010] Furthermore, the rocker structure includes an upper rocker, a fifth connecting rod, and a side rocker. The upper rocker is mounted on the top of the vehicle body, and the side rocker and the fifth connecting rod are located on both sides of the vehicle body and are on the same plane as the linkage mechanism.

[0011] Furthermore, the upper rocker arm is rotatably connected to the vehicle body at its middle part, and the upper rocker arm is connected to the fifth connecting rod at both ends. The upper rocker arm drives the fifth connecting rod to swing, and the fifth connecting rod has a lateral displacement relative to the vehicle body. The other end of the fifth connecting rod is connected to one end of the side rocker arm, and the other end of the side rocker arm is connected to the vehicle body through the rocker arm suspension structure.

[0012] Furthermore, the number of the flexible couplings is at least three, and they are arranged in an equilateral triangle.

[0013] Furthermore, a triangular bracket is provided between the radar base and the vehicle body. The triangular bracket is a right triangle, with its two right-angled sides connecting the vehicle body and the radar base respectively. The vertical distance between the radar base and the vehicle body is set between 10 cm and 20 cm.

[0014] Furthermore, folding rockers and solar panels are provided on both sides of the vehicle body along its length, and the solar panels are connected to both sides of the vehicle body through the folding rockers.

[0015] Furthermore, the vehicle body is also equipped with an antenna, which is connected to the upper rear of the vehicle body.

[0016] Furthermore, an environmental monitoring module is provided on the upper part of the vehicle body. The environmental monitoring module consists of a camera and an environmental monitoring device. The camera is located above the environmental monitoring device, which includes a carbon dioxide sensor and a PM2.5 sensor.

[0017] Furthermore, the vehicle body also includes a control center and a detection device, the detection device being located at the front end of the vehicle body, and the control center being electrically connected to the detection device.

[0018] The embodiments of this application provide an automatic multi-terrain environment monitoring vehicle with at least the following beneficial effects:

[0019] 1. Several flexible couplings are installed between the lidar and the lidar base. The flexible couplings have a good buffering and vibration reduction effect, which can reduce impact load. During the movement of the monitoring vehicle, even in extreme environments such as rough roads, the stability of lidar scanning imaging can be guaranteed to the greatest extent.

[0020] 2. The lidar and antenna work together in route planning. The lidar provides high-precision local environmental perception and positioning, while the antenna provides global position information, helping the multi-terrain environment monitoring vehicle to perceive the terrain and plan the monitoring route. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of an automatic monitoring vehicle for multi-terrain environments;

[0022] Figure 2 A three-dimensional partial view of an automatic monitoring vehicle for multi-terrain environments;

[0023] Figure 3 This is a three-dimensional structural diagram of a flexible coupling;

[0024] Figure 4 Right view of the multi-terrain environment automatic monitoring vehicle;

[0025] Figure 5 Right view of the first connecting rod and the second connecting rod;

[0026] Figure 6 A three-dimensional structural diagram of the interior of the automatic monitoring vehicle for multi-terrain environments;

[0027] Figure 7 A top view of an automatic monitoring vehicle for multi-terrain environments;

[0028] Figure 8 This is a top-down partial view of an automatic monitoring vehicle for multi-terrain environments.

[0029] Figure label:

[0030] 1-Body body, 11-Front compartment, 12-Rear compartment, 2-Rocker arm suspension structure, 201-First connecting rod, 202-Second connecting rod, 203-Third connecting rod, 204-Fourth connecting rod, 211 Connector 1, 212 Ball bearing, 3-Rocker arm structure, 31-Upper rocker arm, 311-Rotary bearing, 32-Fifth connecting rod, 33-Side rocker arm, 4-LiDAR module, 41-LiDAR, 42-Flexible coupling, 43-Radar base, 44-Triangular bracket, 51-Folding rocker arm, 52-Solar panel, 6-Environmental monitoring module, 61-Camera, 62-Environmental detection device, 63 Servo motor, 71-Differential connecting rod, 72-Rocker arm differential mechanism, 73-Bearing, 8-Antenna, 9-Detection device. Detailed Implementation

[0031] The present application will now be further described based on preferred embodiments and with reference to the accompanying drawings.

[0032] The vocabulary used in this specification is for illustrative purposes and is not intended to limit the scope of this application. Unless otherwise expressly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection via an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of these terms in this application.

[0033] Furthermore, in the description of the embodiments of this application, various components on the drawings have been enlarged or reduced for ease of understanding, but this is not intended to limit the scope of protection of this application.

[0034] Please see Figures 1 to 8 An automatic monitoring vehicle for multi-terrain environments includes a vehicle body 1, a rocker arm suspension structure 2, a rocker arm structure 3, a linkage mechanism, and tires. The rocker arm suspension structures 2 are connected to both sides of the vehicle body 1, and each of the rocker arm suspension structures 2 is connected to the tires through the linkage mechanism. The tires are also equipped with motors to ensure stable driving of the monitoring vehicle on different terrains.

[0035] Specifically, the linkage mechanisms on both sides of the vehicle body 1 are connected by the rocker structure 3. The rocker structure 3 has a lateral offset adjustment margin relative to the vehicle body 1, which allows the monitoring vehicle to flexibly adjust the attitude of the vehicle body 1 when facing complex and varied terrain, thereby maintaining the best driving stability and monitoring effect.

[0036] Furthermore, the vehicle body 1 is divided into a front compartment 11 and a rear compartment 12 to expand the internal storage space and facilitate assembly.

[0037] Specifically, the front compartment 11 is equipped with a differential connecting rod 71 and a rocker arm differential mechanism 72. One end of the differential connecting rod 71 is connected to the rocker arm suspension structure 2, and a bearing 73 is provided between the rocker arm suspension structure 2 and the differential connecting rod 71. The other end of the differential connecting rod 71 is connected to the rocker arm differential mechanism 72, which is composed of at least three meshing differential gears and is used to realize differential steering and obstacle crossing functions. When the monitoring vehicle encounters a rough road surface, the front tires pass the obstacle first, and the two rear wheels on each side will transmit the force to the ball bearing 212 first, and then the ball bearing 212 will transmit it to the bearing 73. The bearing 73 is connected to the differential connecting rod 71, and the differential connecting rod 71 will drive the rocker arm differential mechanism 72 to achieve torque balance of the left and right rocker arm suspension structures 2 of the monitoring vehicle.

[0038] Furthermore, the linkage structure includes a connector 211, a first connecting rod 201, a second connecting rod 202, a third connecting rod 203, and a fourth connecting rod 204; one end of the first connecting rod 201 and one end of the second connecting rod 202 are connected to the vehicle body 1 through the rocker arm suspension structure 2, the other end of the second connecting rod 202 is connected to the connector 211 through a ball bearing 212, and one end of the third connecting rod 203 and one end of the fourth connecting rod 204 are connected to the vehicle body 1 through the connector 211.

[0039] Furthermore, the first connecting rod 201 and the second connecting rod 202 are respectively connected to the tire at the ends away from the rocker arm suspension structure 2; the third connecting rod 203 and the fourth connecting rod 204 are respectively connected to the tire at the ends away from the connector 211.

[0040] Specifically, the rocker structure 3 includes an upper rocker 31, a fifth connecting rod 32, and a side rocker 33. The upper rocker 31 is installed above the vehicle body 1, and the side rocker 33 and the fifth connecting rod 32 are located on both sides of the vehicle body 1 and are on the same plane as the linkage mechanism.

[0041] Furthermore, the upper rocker arm 31 is rotatably connected to the vehicle body 1 via a rotary bearing 311. Both ends of the upper rocker arm 31 are connected to the fifth connecting rod 32, so that the upper rocker arm 31 can drive the fifth connecting rod 32 to swing, having a lateral displacement relative to the vehicle body 1. The other end of the fifth connecting rod 32 is connected to one end of the side rocker arm 33, and the other end of the side rocker arm 33 is connected to the vehicle body 1 via the rocker arm suspension structure 2. The upper rocker arm 31, the fifth connecting rod 32, and the side rocker arm 33 work together to form a rotating pair, further enhancing the stability of the monitoring vehicle when driving on rough roads.

[0042] Specifically, a lidar module 4 is connected above the rear compartment 12 to generate a high-precision 3D point cloud map of the surrounding environment in real time. This map can accurately depict information such as terrain, obstacles, and road boundaries, providing important information for the navigation and obstacle avoidance of the monitoring vehicle. The lidar module 4 includes a lidar 41 and a radar base 43. The lidar 41 is connected to the radar base 43, and the radar base 43 is connected to the rear compartment 12. A triangular bracket 44 is also provided between the radar base 43 and the vehicle body 1. The triangular bracket 44 is a right triangle, with its two right-angled sides connecting the vehicle body 1 and the radar base 43 respectively. The vertical distance between the radar base 43 and the vehicle body 1 is set between 10 cm and 20 cm. This avoids affecting the stability of the lidar 41 due to the triangular bracket 44 being too high, and also... This design prevents the lidar 41 from being obstructed by the vehicle body 1, thus ensuring that the lidar 41 can clearly and accurately obtain images of the surrounding environment. An antenna 8 is also provided above the rear compartment 12. Both the lidar module 4 and the antenna 8 are connected to the rear sides of the rear compartment 12. This avoids the vehicle's own structure from obstructing the sensor, which is crucial for the accurate scanning of the lidar 41 and the reception of satellite signals by the antenna 8. This ensures that the sensor can obtain complete environmental information and stable positioning data, while also balancing the vehicle's center of gravity, facilitating installation and maintenance.

[0043] Specifically, the lidar 41 can provide centimeter-level positioning accuracy. In environments with weak GPS signals, the lidar 41 can provide centimeter-level positioning accuracy, and its positioning capability is particularly outstanding. The lidar 41 can detect obstacles ahead in real time and identify the shape and position of obstacles through point cloud data, thereby helping the monitoring vehicle plan obstacle avoidance paths. The lidar 41 and the antenna 8 cooperate with each other in route planning. The lidar 41 provides high-precision local environmental perception and positioning, while the antenna 8 provides global position information. The lidar 41 updates the environmental map and determines the vehicle position in real time through synchronous positioning and mapping, while the antenna 8 provides a reference position, helping the monitoring vehicle maintain navigation accuracy during long-distance travel and helping the multi-terrain environment monitoring vehicle perceive terrain and autonomously plan monitoring routes.

[0044] Specifically, the lidar module 4 further includes a flexible coupling 42, which is located between the lidar 41 and the radar base 43. The lidar 41 is connected to the radar base 43 through the flexible coupling 42. There are at least three flexible couplings 42 arranged in an equilateral triangle. When the monitoring vehicle passes through rough and uneven terrain, the flexible couplings 42 absorb and compensate for the relative displacement between the shafts through the deformation of the elastic elements, which can buffer and reduce vibration, reduce impact load, and further maintain the stability of the lidar 41, so as to better obtain complete positioning data of the current area and form a high-precision three-dimensional point cloud map.

[0045] Specifically, an environmental monitoring module 6 is provided above the front compartment 11. The environmental monitoring module consists of a camera 61 and an environmental monitoring device 62. The camera 61 is located above the environmental monitoring device 62. A servo motor 63 is also provided below the environmental monitoring device 62. The servo motor 63 can drive the environmental monitoring device 62 to achieve 360-degree all-round monitoring. The environmental monitoring device 62 includes a carbon dioxide sensor and a PM2.5 sensor.

[0046] Specifically, the vehicle body 1 also includes a control center and a detection device 9. The detection device 9 is located at the front end of the front compartment 11, and the control center is electrically connected to the detection device 9. Folding rocker arms 51 and solar panels 52 are also provided on both sides of the vehicle body 1 along its length. The solar panels 52 are connected to both sides of the vehicle body 1 via the folding rocker arms 51. After obtaining the three-dimensional terrain data of the area through the lidar 41, based on the movement state of the monitoring vehicle and the terrain features, when the detection device 9 located in the front compartment 11 detects an obstacle or narrow area, it transmits a signal to the control center, controlling the folding rocker arms 51 to drive the solar panels 52 to move automatically. In the case of automatic folding, on flat terrain, the control center controls the folding rocker arm 51 to rotate outward, causing the solar panel 52 to fully unfold to maximize solar energy collection. In addition, an energy conversion module 53 is also installed inside the vehicle body 1. The energy conversion module 53 is connected to the control center and the solar panel 52, which can maximize the conversion of collected solar energy to provide sufficient energy supply for the monitoring vehicle. With the cooperation of the lidar 52 and the detection device 9, when detecting complex terrain or needing to pass through narrow spaces, the folding rocker arm 51 rotates inward, and the solar panel 52 automatically folds to reduce space occupation and avoid damage caused by collisions or scratches.

[0047] The specific embodiments of this application have been described in detail above. For those skilled in the art, several improvements and modifications can be made to this application without departing from the principle of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A multi-terrain environment automatic monitoring vehicle, comprising a body (1), a rocker arm suspension structure (2), a rocker arm structure (3), a linkage mechanism, and tires, characterized in that: The vehicle body (1) is connected to rocker arm suspension structures (2) on both sides respectively. Each rocker arm suspension structure (2) is connected to the tire through a linkage mechanism. The linkage mechanisms on both sides of the vehicle body (1) are connected through the rocker arm structure (3). The rocker arm structure (3) has a lateral offset adjustment margin relative to the vehicle body (1) to offset the direction of travel. A lidar module (4) is connected to the vehicle body (1). The lidar module (4) includes a lidar (41), a flexible coupling (42), and a lidar base (43). The lidar (41) is connected to the lidar base (43) through the flexible coupling (42), and the lidar base (43) is connected to the vehicle body (1).

2. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The linkage mechanism includes a first connector (211), a first connecting rod (201), a second connecting rod (202), a third connecting rod (203), and a fourth connecting rod (204); One end of the first connecting rod (201) and the second connecting rod (202) are connected to the vehicle body (1) through the rocker arm suspension structure (2), and the other end of the second connecting rod (202) is connected to the first connector (211) through a ball bearing (212). One end of the third connecting rod (203) and the fourth connecting rod (204) are connected to the vehicle body (1) through the first connector (211). The first connecting rod (201) and the second connecting rod (202) are respectively connected to the tire at the ends away from the rocker arm suspension structure (2); The tire is connected to the end of the third connecting rod (203) and the fourth connecting rod (204) away from the first connecting member (211).

3. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The vehicle body (1) is provided with a differential connecting rod (71) and a rocker arm differential mechanism (72). One end of the differential connecting rod (71) is connected to the rocker arm suspension structure (2), and a bearing (73) is provided between the rocker arm suspension structure (2) and the differential connecting rod (71). The other end of the differential connecting rod (71) is connected to the rocker arm differential mechanism (72), which is formed by at least three differential gears meshing.

4. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The rocker structure (3) includes an upper rocker (31), a fifth connecting rod (32) and a side rocker (33). The upper rocker (31) is installed above the vehicle body (1). The side rocker (33) and the fifth connecting rod (32) are located on both sides of the vehicle body (1) and are on the same plane as the linkage mechanism. The upper rocker arm (31) is rotatably connected to the vehicle body (1) at its middle part. The upper rocker arm (31) is connected to the fifth connecting rod (32) at both ends. The upper rocker arm (31) drives the fifth connecting rod (32) to swing. The fifth connecting rod (32) has a lateral displacement relative to the vehicle body (1). The other end of the fifth connecting rod (32) is connected to one end of the side rocker arm (33). The other end of the side rocker arm (33) is connected to the vehicle body (1) through the rocker arm suspension structure (2).

5. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The number of the flexible couplings (42) is at least three, and they are arranged in an equilateral triangle.

6. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: A triangular bracket (44) is also provided between the radar base (43) and the vehicle body (1). The triangular bracket (44) is a right triangle, with its two right-angled sides connecting the vehicle body (1) and the radar base (43) respectively. The vertical distance between the radar base (43) and the vehicle body is set between 10CM and 20CM.

7. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The vehicle body (1) is also provided with folding rocker arms (51) and solar panels (52) along its length on both sides. The solar panels (52) are connected to both sides of the vehicle body (1) through the folding rocker arms (51).

8. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The vehicle body (1) is also provided with an antenna (8), which is connected to the upper rear of the vehicle body (1).

9. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: An environmental detection module (6) is provided on the top of the vehicle body (1). The environmental detection module consists of a camera (61) and an environmental monitoring device (62). The camera (61) is located above the environmental monitoring device (62). The environmental monitoring device (62) includes a carbon dioxide sensor and a PM2.5 sensor.

10. The multi-terrain environment automatic monitoring vehicle according to claim 1, characterized in that: The vehicle body (1) also includes a control center and a detection device (9), the detection device (9) being located at the front end of the vehicle body (1), and the control center being electrically connected to the detection device (9).

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