Electric crawler-type orchard intelligent transportation robot

Abstract

The utility model relates to the technical field of agricultural robots, discloses an electric crawler-type orchard intelligent transportation robot, and aims to overcome the defects of the traditional orchard transportation equipment in the aspects of complex terrain adaptability, shock absorption performance, navigation precision, maintenance convenience and the like. The robot comprises an intelligent transportation chassis and a six-degree-of-freedom self-adaptive platform; the chassis adopts the design of a double-track driving system and a gas-liquid spring damper, so that the terrain adaptive capacity and the damping effect are remarkably improved; the posture of the six-degree-of-freedom platform is adjusted in real time through an electric cylinder assembly, it is ensured that the transportation platform is always kept horizontal and stable, and vulnerable goods are protected. The battery box adopts a slide rail design, is convenient to replace, and reduces the maintenance cost. In addition, the modular structure is convenient to assemble and overhaul, and the operation efficiency is improved. The device is suitable for complex orchard environments such as mountains and hills, the fruit transportation breakage rate can be effectively reduced, the mechanization level and economic benefits are improved, and important technical support is provided for modern orchard production.

Description

Technical Field

[0001] This utility model relates to the field of agricultural robot technology, and in particular to an electric tracked intelligent orchard transport robot. Background Technology

[0002] With the continuous expansion of fruit planting areas in my country, the demand for mechanized harvesting and transportation in orchards is becoming increasingly urgent. However, traditional orchard transportation equipment has many shortcomings in terms of adaptability to complex terrain environments, shock absorption performance, navigation accuracy, and ease of maintenance, which seriously affect orchard transportation efficiency and economic benefits. The following are the main problems with existing technologies and the technical difficulties that urgently need to be solved:

[0003] 1. Poor adaptability to terrain:

[0004] Traditional orchard transport equipment has a simple chassis structure, mostly using independent spring suspension systems. When traveling on complex terrain such as hills and mountains, its ability to follow the terrain and its shock absorption are poor. This causes the robot to walk unsteadily on rough roads, making it prone to tipping over or overturning, which in turn increases the damage rate of goods, especially fresh fruits, and affects economic efficiency.

[0005] 2. Poor shock absorption:

[0006] Traditional transport platforms are mostly rigidly connected structures, lacking effective shock absorption measures when operating on rough terrain. This can easily lead to increased cargo vibration, and even tipping or overturning. This not only increases the damage rate of fresh fruits but also reduces the safety and reliability of transportation.

[0007] 3. Inconvenient maintenance:

[0008] Traditional transport robots typically have their battery packs fixed inside the chassis. Replacing the batteries requires extensive disassembly and reassembly of the chassis, a cumbersome and time-consuming process. This design not only increases maintenance difficulty but also reduces the efficiency of the equipment. Utility Model Content

[0009] To address the aforementioned issues, this utility model provides an electric tracked intelligent orchard transport robot. Through innovative chassis design, a six-degree-of-freedom adaptive platform, a visual dynamic target following navigation system, and a convenient battery replacement method, it comprehensively enhances the intelligence level and practical application value of orchard transport equipment.

[0010] The technical solution adopted in this utility model is as follows:

[0011] An electric tracked intelligent transport robot for orchards includes: an intelligent transport chassis for walking and steering, and a six-degree-of-freedom adaptive platform mounted on the intelligent transport chassis.

[0012] The intelligent transport chassis includes a tracked chassis main frame, single-sided track mechanisms mounted on both sides of the tracked chassis main frame, a track drive assembly mounted on the tracked chassis main frame and drivenly connected to the single-sided track mechanisms on both sides, a control box mounted on the tracked chassis main frame and controlledly connected to the track drive assembly, and a battery box slidably mounted on the tracked chassis main frame and electrically connected to the control box.

[0013] The six-degree-of-freedom adaptive platform includes a platform base plate, the bottom of which is fixedly connected to the intelligent transport chassis via six sets of platform quick-assembly brackets; six sets of electric cylinder assemblies electrically connected to the control box are installed on the platform base plate, which are connected to the upper bracket for placing goods via the six sets of electric cylinder assemblies.

[0014] Furthermore, the tracked chassis main frame includes three sets of spaced frame crossbeams, a set of frame longitudinal beams symmetrically installed on the frame crossbeams, and two sets of U-shaped fixed beams installed on both sides of the three sets of frame crossbeams.

[0015] The track drive assembly is fixedly installed at the front end of the first set of frame beams, the control box is fixedly installed between the first set of frame beams and the second set of frame beams, and the battery box is slidably installed on the second set of frame beams and the third set of frame beams through a set of battery slide rail assemblies.

[0016] The front, top, and rear sides of the tracked chassis main frame are all fixedly equipped with closed covers; the frame longitudinal beam passes through the top closed cover and is fixedly connected to the six-degree-of-freedom adaptive platform; the rear closed cover is equipped with a hinged door that slides out to cooperate with the battery box, as well as a status display screen, a manual button with indicator lights, and an emergency stop button that are electrically connected to the control box.

[0017] Furthermore, the battery slide rail assembly includes a set of ball bearing slides fixedly installed on the second set of frame beams and the third set of frame beams. Several horizontally sliding slides are installed on the ball bearing slides. The slides are fixedly connected to the two side boxes of the battery box. A damping pad for buffering the battery box is fixedly installed on the front side of the set of ball bearing slides.

[0018] Furthermore, a handle is installed on the hinged door, and a battery box lock is provided between the hinged door and the battery box body.

[0019] Furthermore, the single-sided track mechanism includes a track body, a drive wheel, a load-bearing wheel assembly, and a driven wheel assembly; the inner wall of the track is provided with a grooved rack, which forms an isosceles trapezoidal structure after being supported by the drive wheel, the load-bearing wheel assembly, and the driven wheel assembly.

[0020] The drive wheel is rotatably mounted on the front end of the U-shaped fixed beam via a bearing and is connected to the track drive assembly. The outer edge of the drive wheel is provided with teeth that mesh with the grooved rack.

[0021] The load-bearing wheel assembly consists of several groups, which are located between the drive wheel and the driven wheel assembly. Each load-bearing wheel assembly includes an L-shaped bearing seat. One end of the L-shaped bearing seat is rotatably mounted on the U-shaped fixed beam via a support shaft, bearing, and a hole using an elastic retaining ring. The other end of the L-shaped bearing seat is rotatably mounted on a set of load-bearing wheels via a load-bearing wheel bracket. A pneumatic-hydraulic spring damper is installed at the inflection point of the L-shaped bearing seat via a pin, a ferrule-type locking plate, and bolts. The top of the pneumatic-hydraulic spring damper is mounted on the U-shaped fixed beam via a shaft and a fixed plate.

[0022] The driven wheel assembly includes a set of bent plate brackets fixedly installed on both sides of the rear end of the U-shaped fixed beam. Tensioning shafts are installed on the bent plate brackets by locking nuts and adjusting nuts. Adjusting springs are fitted on the tensioning shafts. A driven wheel shaft is installed at the end of the set of tensioning shafts away from the bent plate brackets. A grooved driven wheel is installed on the driven wheel shaft.

[0023] Furthermore, the track drive assembly includes a set of drive motors fixedly installed at the front end of the first set of frame beams. A reducer is installed at the output end of the drive motor. The housing of the reducer is fixedly connected to the first set of frame beams. The output end of the reducer is connected to the drive wheel through a coupling.

[0024] Furthermore, the electric cylinder assembly includes an electric cylinder; the bottom cylinder body of the electric cylinder is mounted on the platform base plate via a Hooke hinge, and the cylinder body and the Hooke hinge are hinged together by a fixed pin; the telescopic rod of the electric cylinder is hinged to the bottom of the upper bracket via an upper connector of the electric cylinder.

[0025] Furthermore, the platform quick-assembly bracket includes a fixing sleeve that is movably fitted onto the top of the frame longitudinal beam. The top of the fixing sleeve is an upper connecting plate that is bolted to the platform base plate. After the fixing sleeve is fitted onto the top of the frame longitudinal beam, its position is fixed by a fixing pin that passes through the fixing sleeve and the frame longitudinal beam.

[0026] Furthermore, a vision tracking component electrically connected to the control box is installed on the front side of the intelligent transport chassis. The vision tracking component includes a bracket fixedly installed on the intelligent transport chassis, an electric push rod mounted on the bracket, a depth camera and a digital servo slidably mounted on the bracket via a slide rail and a depth camera mounting base, and a radar fixedly mounted on the top of the bracket via a radar mounting plate; the telescopic rod of the electric push rod is fixedly connected to one side of the depth camera mounting base via a sliding bracket connecting plate.

[0027] Furthermore, a navigation antenna and an ultrasonic radar electrically connected to the control box are installed on the rear side of the intelligent transport chassis; an IMU dynamic attitude sensor electrically connected to the control box is installed at the bottom of the platform base plate.

[0028] The beneficial effects of this utility model are:

[0029] This utility model provides an electric tracked intelligent orchard transport robot. Through innovative structural design and the application of intelligent technology, it possesses significant technical advantages and practical application value in orchard transport tasks in complex terrain environments. Its main beneficial effects are as follows:

[0030] 1. Enhanced Terrain Adaptability: The intelligent transport chassis employs a dual-track drive system, combined with a load-bearing wheel assembly and a pneumatic-hydraulic spring damper design, significantly enhancing traction, obstacle-crossing ability, and shock absorption performance on complex terrains such as mountains and hills. The track body has an isosceles trapezoidal structure, which better conforms to the terrain, ensuring the robot moves smoothly on rough roads and preventing tipping or overturning due to uneven ground.

[0031] 2. Enhanced shock absorption and cargo safety: The six-degree-of-freedom adaptive platform uses six sets of electric cylinder components to adjust the bracket's attitude in real time, combined with an IMU dynamic attitude sensor to monitor the chassis's movement, ensuring the transport platform remains level and stable at all times. This design effectively reduces vibration and impact on goods during transportation, providing better protection for fragile goods such as fresh fruits, significantly reducing breakage rates and increasing economic benefits.

[0032] 3. Achieving Precise Navigation and Efficient Following: The visual following component, based on depth camera and radar technology, can accurately identify and track pickers or specific targets in real time, adapting to scenarios with multiple pickers and dynamic path changes. Combined with a navigation antenna and ultrasonic radar, the robot can achieve high-precision positioning and navigation in densely canopied orchards where RTK-GNSS positioning signals are limited, overcoming the limitations of traditional single navigation technologies in complex environments.

[0033] 4. Convenient battery replacement, reducing maintenance costs: The battery box is mounted on the chassis frame via a slide rail assembly. Replacement is simple: just open the rear hinged door and pull the battery out along the slide rail. This design simplifies the battery maintenance process, significantly reduces labor intensity, and improves equipment efficiency, making it particularly suitable for long-term operation.

[0034] 5. Wide Applicability and Economic Value: This utility model is applicable to various complex orchard environments, especially suitable for non-standardized orchards in mountainous and hilly areas. By reducing the damage rate and labor input during fruit transportation, it significantly improves the level of orchard mechanization and economic benefits, providing strong technical support for the implementation of modern orchard production and the rural revitalization strategy.

[0035] In summary, the electric tracked intelligent orchard transport robot of this invention has achieved breakthrough improvements in terrain adaptability, shock absorption performance, navigation accuracy, maintenance convenience, and intelligence level, and has significant technological innovation significance and broad application prospects. Attached Figure Description

[0036] Figure 1 A schematic diagram of the overall structure of an electric tracked intelligent orchard transport robot.

[0037] Figure 2 A structural breakdown diagram of an electric tracked intelligent orchard transport robot.

[0038] Figure 3 This is a structural schematic diagram of the tracked chassis main frame;

[0039] Figure 4 This is a schematic diagram of the battery slide rail assembly.

[0040] Figure 5 This is a schematic diagram of a single-sided track mechanism;

[0041] Figure 6 This is a structural schematic diagram of the load-bearing wheel assembly;

[0042] Figure 7 This is a schematic diagram of the structure of a six-degree-of-freedom adaptive platform;

[0043] Figure 8 This is a structural diagram of the platform quick-install bracket;

[0044] Figure 9 This is a schematic diagram of the structure of the visual following component;

[0045] In the picture:

[0046] 1. Intelligent transport chassis; 2. Six-DOF adaptive platform; 3. Status display screen; 4. Manual button with indicator light; 5. Emergency stop button; 6. Visual tracking component; 7. Navigation antenna; 8. Ultrasonic radar; 9. IMU dynamic attitude sensor;

[0047] 11. Tracked chassis main frame; 12. Single-sided track mechanism; 13. Track drive assembly; 14. Control box; 15. Battery box;

[0048] 111. Frame crossbeam; 112. Frame longitudinal beam; 113. U-shaped fixed beam; 114. Battery slide rail assembly; 115. Enclosure cover; 116. Hinged door;

[0049] 1141. Ball bearing slide; 1142. Slide plate; 1143. Damping pad;

[0050] 1161. Handle; 1162. Battery compartment lock;

[0051] 121. Track body; 122. Drive wheel; 123. Load-bearing wheel assembly; 124. Driven wheel assembly;

[0052] 1211. Groove rack;

[0053] 1231, L-shaped bearing housing; 1232, support shaft; 1233, load-bearing wheel bracket; 1234, load-bearing wheel; 1235, pin shaft; 1236, hydraulic spring damper;

[0054] 1241. Bend plate bracket; 1242. Locking nut; 1243. Adjusting nut; 1244. Tensioning shaft; 1245. Adjusting spring; 1246. Driven wheel shaft; 1247. Grooved driven wheel;

[0055] 131. Drive motor; 132. Reducer; 133. Coupling;

[0056] 21. Platform base plate; 22. Platform quick-install bracket; 23. Electric cylinder assembly; 24. Upper bracket;

[0057] 221. Fixing sleeve; 222. Upper connecting plate;

[0058] 231. Electric cylinder; 232. Hooke hinge; 233. Fixed pin; 234. Upper connector of electric cylinder;

[0059] 61. Bracket; 62. Electric actuator; 63. Slide rail; 64. Depth camera mount; 65. Depth camera; 66. Digital servo; 67. Radar mounting plate; 68. Radar; 69. Sliding bracket connecting plate. Detailed Implementation

[0060] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0061] To address the shortcomings of traditional orchard transportation equipment in terms of adaptability to complex terrain, shock absorption performance, navigation accuracy, and ease of maintenance, this embodiment provides an electric tracked intelligent orchard transportation robot. For example... Figure 1 As shown, the electric tracked intelligent orchard transport robot comprises two parts: an intelligent transport chassis 1 for walking and steering, and a six-degree-of-freedom adaptive platform 2 mounted on the intelligent transport chassis 1. The intelligent transport chassis 1 provides the robot with walking and steering capabilities, adapting to complex terrain environments. It enhances grip, obstacle-crossing ability, and shock absorption performance through a dual-track drive system, a pneumatic-hydraulic spring damper 1236, and a load-bearing wheel assembly 123, ensuring stable operation on complex terrains such as mountains and hills. The six-degree-of-freedom adaptive platform 2 adjusts the posture of the transport platform in real time to maintain the horizontal stability of the goods, reduce the risk of goods vibration and tipping, protect fragile goods, and reduce the damage rate.

[0062] To facilitate understanding of this electric tracked intelligent orchard transport robot, its detailed structure, operating principle, and functions are explained in the following detailed description:

[0063] I. Intelligent Transportation Chassis 1:

[0064] The intelligent transport chassis 1 in this embodiment includes a tracked chassis main frame 11, a single-sided track mechanism 12 installed on both sides of the tracked chassis main frame 11, a track drive assembly 13 installed on the tracked chassis main frame 11 and connected to the single-sided track mechanism 12 on both sides, a control box 14 installed on the tracked chassis main frame 11 and connected to the track drive assembly 13, and a battery box 15 slidably installed on the tracked chassis main frame 11 and electrically connected to the control box 14.

[0065] The structure of the tracked chassis main frame 11 is as follows:

[0066] like Figure 3 As shown, the tracked chassis main frame 11 includes three sets of spaced-apart frame beams 111, with a set of frame longitudinal beams 112 symmetrically mounted on the frame beams 111; serving as the supporting frame for the robot's main structure, it carries various functional modules. The track drive assembly 13 is fixedly mounted at the front end of the first set of frame beams 111; the control box 14 is fixedly mounted between the first and second sets of frame beams 111; and the battery box 15 is slidably mounted on the second and third sets of frame beams 111 via a set of battery slide rail assemblies 114. The track drive assembly 13 provides power output to the track mechanism. The control box 14 serves as the robot's core control unit, coordinating the operation of each module; the control box 14 integrates a Raspberry Pi 5 main control board, a Mean Well LRS-350-24 power management module, sensor interfaces, and a Roboteq AX3500 driver, among other components. The battery box 15 uses lithium-ion batteries or lithium iron phosphate batteries to provide the power required for robot operation. It can be quickly replaced through the slide rail assembly, reducing maintenance costs and improving equipment efficiency.

[0067] like Figure 4 As shown, the battery slide rail assembly 114 includes a set of ball bearing slides 1141 fixedly mounted on the second set of frame crossbeams 111 and the third set of frame crossbeams 111. Two horizontally sliding slide plates 1142 are mounted on the ball bearing slides 1141. The slide plates 1142 are fixedly connected to the two side panels of the battery box 15. A damping pad 1143 for cushioning the battery box 15 is fixedly mounted on the front side of the ball bearing slides 1141. The battery slide rail assembly 114 facilitates the installation and removal of the battery box 15, allowing the battery box 15 to slide smoothly along the slide rails and simplifying replacement operations.

[0068] In addition, to protect the internal functional modules, such as Figure 2 As shown, in this embodiment, closed covers 115 are fixedly installed on the front, top, and rear sides of the chassis main frame; the closed covers 115 are bolted to the tracked chassis main frame. Considering the installation of the six-degree-of-freedom adaptive platform 2, the installation of the single-sided track mechanism 12, and the sliding out of the battery box 15, in this embodiment, the frame longitudinal beam 112 is designed to pass through the top closed cover 115, so that it can be fixedly connected to the six-degree-of-freedom adaptive platform 2. In this embodiment, a hinged door 116 is provided on the rear closed cover 115 to facilitate the rearward sliding out of the battery box 15; a handle 1161 is installed on the hinged door 116, and a battery box lock 1162 is provided between the hinged door 116 and the battery box 15. Figure 4 As shown, in this embodiment, two sets of U-shaped fixed beams 113 are installed on both sides of the three sets of frame crossbeams 111 to facilitate the installation of the single-sided track mechanism 12. Meanwhile, considering ease of control, this embodiment also includes a status display screen 3 electrically connected to the control box 14, a manual button 4 with indicator lights, and an emergency stop button 5 on the hinged door 116.

[0069] The single-sided track mechanism 12 is as follows:

[0070] like Figure 5 As shown, the single-sided track mechanism 12 includes a track body 121, a drive wheel 122, a load-bearing wheel assembly 123, and a driven wheel assembly 124. The single-sided track mechanism 12 enables the robot to move and turn. A grooved rack 1211 is provided on the inner wall of the track, which forms an isosceles trapezoidal structure after being supported by the drive wheel 122, the load-bearing wheel assembly 123, and the driven wheel assembly 124. The drive wheel 122 is rotatably mounted on the front end of the U-shaped fixed beam 113 via bearings and is connected to the track drive assembly 13. Teeth that mesh with the grooved rack 1211 are provided on the outer edge of the drive wheel 122. Driven wheel assembly 124 includes a set of bent plate brackets 1241 fixedly installed on both sides of the rear end of U-shaped fixed beam 113. Tensioning shafts 1244 are mounted on the bent plate brackets 1241 via locking nuts 1242 and adjusting nuts 1243. Adjusting springs 1245 are fitted onto the tensioning shafts 1244. A driven wheel shaft 1246 is mounted at the end of the tensioning shaft 1244 away from the bent plate brackets 1241, and a grooved driven wheel 1247 is mounted on the driven wheel shaft 1246. Figure 5 and Figure 6As shown, there are four sets of load-bearing wheel assemblies 123, which are located between the drive wheel 122 and the driven wheel assembly 124. Each set of load-bearing wheel assemblies 123 includes an L-shaped bearing seat 1231. One end of the L-shaped bearing seat 1231 is rotatably mounted on the U-shaped fixed beam 113 via a support shaft 1232, a bearing, and a retaining ring. The other end of the L-shaped bearing seat 1231 is rotatably mounted on a set of load-bearing wheels 1234 via a load-bearing wheel bracket 1233. At the inflection point of the L-shaped bearing seat 1231, a pneumatic-hydraulic spring damper 1236 is mounted via a pin 1235, a clamping plate, and bolts. The top of the pneumatic-hydraulic spring damper 1236 is mounted on the U-shaped fixed beam 113 via a shaft and a fixing plate.

[0071] Based on the aforementioned single-sided track mechanism 12, such as Figure 3 and Figure 4 As shown, the track drive assembly 13 in this embodiment includes a set of drive motors 131 fixedly installed at the front end of the first set of frame beams 111. A reducer 132 is installed at the output end of the drive motors 131. The housing of the reducer 132 is fixedly connected to the first set of frame beams 111, and the output end of the reducer 132 is connected to the drive wheel 122 through a coupling 133. The track drive assembly 13 provides power output to the track mechanism, transmitting the motor power to the drive wheel 122 to drive the track to rotate.

[0072] The working principle of the intelligent transport chassis 1 in this embodiment is as follows:

[0073] First, the control box 14 receives manual control commands from the backend to control a set of drive motors 131. After the drive motors 131 start running, they drive the drive wheel 122 to rotate on the U-shaped fixed beam 113 through the reducer 132 and coupling 133. Since the teeth on the outer edge of the drive wheel 122 mesh with the grooved rack 1211 on the inner wall of the track body 121, the track body 121 is driven to rotate. During the rotation of the track body 121, the load-bearing wheels 1234 of each set of load-bearing wheel assemblies 123 and the grooved driven wheels 1247 of each driven wheel assembly 124 are in rolling contact with the inner wall of the track body 121, while limiting the grooved rack 1211.

[0074] Furthermore, when a group of drive motors 131 run at the same speed and in the same direction, the intelligent transport chassis 1 can move forward or backward; when a group of drive motors 131 run at different speeds in the same direction, the intelligent transport chassis 1 can turn left or right. During the movement of the intelligent transport chassis 1, when the ground is uneven, the load-bearing wheel assembly 123 is buffered by the deformation of the pneumatic-hydraulic spring damper 1236, thereby reducing the bumps of the intelligent transport chassis 1 during operation.

[0075] When the battery needs to be replaced, the battery box lock 1162 on the quick hinge door 116 can be used to flip the hinge door 116 upwards by using the handle 1161, thereby sliding the battery box 15 out from inside the intelligent transport chassis 1 for battery replacement.

[0076] II. Six-DOF Adaptive Platform 2:

[0077] like Figure 1 and Figure 2 As shown, the six-degree-of-freedom adaptive platform 2 in this embodiment includes a platform base plate 21; the bottom of the platform base plate 21 is fixedly connected to the intelligent transport chassis 1 via six sets of platform quick-assembly brackets 22; the bottom of the platform base plate 21 is equipped with an IMU dynamic attitude sensor 9 electrically connected to the control box 14, and the IMU dynamic attitude sensor 9 adopts the Xsens MTi-670 high-performance IMU sensor. Six sets of electric cylinder assemblies 23 electrically connected to the control box 14 are installed on the platform base plate 21, and are connected to the upper bracket 24 for placing goods through the six sets of electric cylinder assemblies 23.

[0078] like Figure 2 and Figure 7 As shown, the electric cylinder assembly 23 includes an electric cylinder 231; the bottom cylinder body of the electric cylinder 231 is mounted on the platform base plate 21 via a Hooke hinge 232, and the cylinder body and the Hooke hinge 232 are hinged together by a fixed pin 233; the telescopic rod of the electric cylinder 231 is hinged to the bottom of the upper bracket 24 via an upper connector 234. The electric cylinder assembly 23 drives the attitude adjustment of the six-degree-of-freedom platform. It adjusts the angle of the upper bracket 24 through the movement of the telescopic rod of the electric cylinder 231, and achieves flexible adjustment in conjunction with the Hooke hinge 232 to ensure stable transportation of goods.

[0079] Considering the ease of assembly and disassembly of the six-degree-of-freedom adaptive platform 2 compared to the intelligent transportation chassis 1, such as Figure 1 and Figure 8 As shown, the platform quick-install bracket 22 includes a fixing sleeve 221 that is movably fitted onto the top of the frame longitudinal beam 112. The top of the fixing sleeve 221 is an upper connecting plate 222 that is bolted to the platform base plate 21. After the fixing sleeve 221 is fitted onto the top of the frame longitudinal beam 112, its position is fixed by fixing pins passing through the fixing sleeve 221 and the frame longitudinal beam 112. The platform quick-install bracket 22 connects the six-degree-of-freedom platform to the chassis main frame. It enables quick installation and disassembly of the platform through the movable sleeve and fixing pins, facilitating maintenance and adjustment.

[0080] The working principle of the six-degree-of-freedom adaptive platform 2 in this embodiment is as follows:

[0081] During the movement of the intelligent transport chassis 1, the IMU dynamic attitude sensor 9 monitors the chassis attitude changes in real time and transmits them to the back-end through the control box 14. The back-end operator uses the IMU dynamic attitude sensor 9 to provide real-time feedback on the robot's attitude information, and then transmits control commands to the corresponding electric cylinder assembly 23 through the control box 14, so as to adjust the extension and retraction length of the six sets of electric cylinder assemblies 23 in a timely manner to ensure that the upper bracket 24 always remains horizontal and stable.

[0082] Furthermore, as a preferred technical solution in this embodiment, to facilitate accurate navigation and efficient following by back-end operators of the electric tracked orchard intelligent transport robot, such as... Figure 1 and Figure 2 As shown, a navigation antenna 7 and an ultrasonic radar 8, electrically connected to the control box 14, are installed on the rear side of the intelligent transport chassis 1. The navigation antenna 7 is a Trimble Zephyr3 high-performance GNSS antenna, mainly used to receive RTK-GNSS signals and provide high-precision positioning services. The ultrasonic radar 8 is a SICK UM18-181110A ultrasonic radar, used for near-range obstacle detection and obstacle avoidance, suitable for dynamic target recognition and path planning in complex orchard environments. Furthermore, as... Figure 1 and Figure 9 As shown, in this embodiment, a visual tracking component 6 electrically connected to the control box 14 is installed on the front side of the intelligent transport chassis 1. The visual tracking component 6 includes a bracket 61 fixedly installed on the intelligent transport chassis 1, an electric push rod 62 mounted on the bracket 61, a depth camera 65 and a digital servo 66 slidably mounted on the bracket 61 via a slide rail 63 and a depth camera mounting base 64, and a radar 68 fixedly mounted on the top of the bracket 61 via a radar mounting plate 67. The telescopic rod of the electric push rod 62 is fixedly connected to one side of the depth camera mounting base 64 via a sliding bracket connecting plate 69. Among them, the depth camera 65 is an Intel RealSense D455 high-performance depth camera, used for target recognition, dynamic tracking, and environmental perception; the digital servo 66 is a Hitec HS-7955TG high-performance digital servo, used to control the angle adjustment of the depth camera 65 to achieve flexible target tracking; the radar 68 is a MaxBotix MB7389 HRXL-MaxSonar-WR ultrasonic radar, used for long-range obstacle detection and navigation assistance, which plays an important role, especially in complex environments.

[0083] Based on the depth camera 65 and radar 68, the robot can accurately identify and track pickers or specific targets in real time, adapting to scenarios with multiple pickers and dynamic path changes. Combined with the navigation antenna 7 and ultrasonic radar 8, the robot can achieve high-precision positioning and navigation in densely canopied orchards where RTK-GNSS positioning signals are limited, overcoming the limitations of traditional single navigation technologies in complex environments.

[0084] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An electric tracked intelligent orchard transport robot, characterized in that, include: Intelligent transport chassis for walking and steering, and a six-degree-of-freedom adaptive platform mounted on the intelligent transport chassis; The intelligent transport chassis includes a tracked chassis main frame, single-sided track mechanisms mounted on both sides of the tracked chassis main frame, a track drive assembly mounted on the tracked chassis main frame and drivenly connected to the single-sided track mechanisms on both sides, a control box mounted on the tracked chassis main frame and controlledly connected to the track drive assembly, and a battery box slidably mounted on the tracked chassis main frame and electrically connected to the control box. The six-degree-of-freedom adaptive platform includes a platform base plate, the bottom of which is fixedly connected to the intelligent transport chassis via six sets of platform quick-assembly brackets; six sets of electric cylinder assemblies electrically connected to the control box are installed on the platform base plate, which are connected to the upper bracket for placing goods via the six sets of electric cylinder assemblies.

2. The electric tracked intelligent orchard transport robot according to claim 1, characterized in that: The tracked chassis main frame includes three sets of spaced frame crossbeams, a set of frame longitudinal beams symmetrically installed on the frame crossbeams, and two sets of U-shaped fixed beams installed on both sides of the three sets of frame crossbeams. The track drive assembly is fixedly installed at the front end of the first set of frame beams, the control box is fixedly installed between the first set of frame beams and the second set of frame beams, and the battery box is slidably installed on the second set of frame beams and the third set of frame beams through a set of battery slide rail assemblies. The front, top, and rear sides of the tracked chassis main frame are all fixedly equipped with closed covers; the frame longitudinal beam passes through the top closed cover and is fixedly connected to the six-degree-of-freedom adaptive platform; the rear closed cover is equipped with a hinged door that slides out to cooperate with the battery box, as well as a status display screen, a manual button with indicator lights, and an emergency stop button that are electrically connected to the control box.

3. The electric tracked intelligent orchard transport robot according to claim 2, characterized in that: The battery slide rail assembly includes a set of ball bearing slides fixedly installed on the second set of frame beams and the third set of frame beams. Several horizontally sliding slides are installed on the ball bearing slides. The slides are fixedly connected to the two side boxes of the battery box. A damping pad for buffering the battery box is fixedly installed on the front side of the set of ball bearing slides.

4. The electric tracked intelligent orchard transport robot according to claim 2, characterized in that: The hinged door is equipped with a handle, and a battery box lock is provided between the hinged door and the battery box body.

5. The electric tracked intelligent orchard transport robot according to claim 2, characterized in that: The single-sided track mechanism includes a track body, a drive wheel, a load-bearing wheel assembly, and a driven wheel assembly; the inner wall of the track is provided with a grooved rack, which forms an isosceles trapezoidal structure after being supported by the drive wheel, the load-bearing wheel assembly, and the driven wheel assembly; The drive wheel is rotatably mounted on the front end of the U-shaped fixed beam via a bearing and is connected to the track drive assembly. The outer edge of the drive wheel is provided with teeth that mesh with the grooved rack. The load-bearing wheel assembly consists of several groups, which are located between the drive wheel and the driven wheel assembly. Each load-bearing wheel assembly includes an L-shaped bearing seat. One end of the L-shaped bearing seat is rotatably mounted on the U-shaped fixed beam via a support shaft, bearing, and a hole using an elastic retaining ring. The other end of the L-shaped bearing seat is rotatably mounted on a set of load-bearing wheels via a load-bearing wheel bracket. A pneumatic-hydraulic spring damper is installed at the inflection point of the L-shaped bearing seat via a pin, a ferrule-type locking plate, and bolts. The top of the pneumatic-hydraulic spring damper is mounted on the U-shaped fixed beam via a shaft and a fixed plate. The driven wheel assembly includes a set of bent plate brackets fixedly installed on both sides of the rear end of the U-shaped fixed beam. Tensioning shafts are installed on the bent plate brackets by locking nuts and adjusting nuts. Adjusting springs are fitted on the tensioning shafts. A driven wheel shaft is installed at the end of the set of tensioning shafts away from the bent plate brackets. A grooved driven wheel is installed on the driven wheel shaft.

6. The electric tracked intelligent orchard transport robot according to claim 5, characterized in that: The track drive assembly includes a set of drive motors fixedly installed at the front end of the first set of frame beams. A reducer is installed at the output end of the drive motor. The housing of the reducer is fixedly connected to the first set of frame beams. The output end of the reducer is connected to the drive wheel through a coupling.

7. The electric tracked intelligent orchard transport robot according to claim 1, characterized in that: The electric cylinder assembly includes an electric cylinder; the bottom cylinder body of the electric cylinder is mounted on the platform base plate via a Hooke hinge, and the cylinder body and the Hooke hinge are hinged together by a fixed pin; the telescopic rod of the electric cylinder is hinged to the bottom of the upper bracket via an upper connector of the electric cylinder.

8. The electric tracked intelligent orchard transport robot according to claim 1, characterized in that: The platform quick-assembly bracket includes a fixing sleeve that is movably fitted onto the top of the frame longitudinal beam. The top of the fixing sleeve is an upper connecting plate that is bolted to the platform base plate. After the fixing sleeve is fitted onto the top of the frame longitudinal beam, its position is fixed by a fixing pin that passes through the fixing sleeve and the frame longitudinal beam.

9. The electric tracked intelligent orchard transport robot according to claim 1, characterized in that: The front side of the intelligent transport chassis is equipped with a vision tracking component electrically connected to the control box. The vision tracking component includes a bracket fixedly mounted on the intelligent transport chassis, an electric push rod mounted on the bracket, a depth camera and a digital servo motor slidably mounted on the bracket via a slide rail and a depth camera mounting base, and a radar fixedly mounted on the top of the bracket via a radar mounting plate. The telescopic rod of the electric push rod is fixedly connected to one side of the depth camera mounting base via a sliding bracket connecting plate.

10. The electric tracked intelligent orchard transport robot according to claim 1, characterized in that: The rear of the intelligent transport chassis is equipped with a navigation antenna and an ultrasonic radar that are electrically connected to the control box; the bottom of the platform base plate is equipped with an IMU dynamic attitude sensor that is electrically connected to the control box.

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