All - direction drive ecological plant protection vehicle

Abstract

This utility model relates to the field of agricultural machinery technology, and provides an omnidirectional drive ecological plant protection vehicle, including a vehicle body and multiple omnidirectional drive mechanisms, all located below the vehicle body. Each omnidirectional drive mechanism includes wheels and a lifting rod. The wheels are located below and connected to the lifting rod, and the top of the lifting rod is connected to the vehicle body. A brushless hub motor is mounted on each wheel, and a steering servo is mounted on the lifting rod. The lifting rod enables the vertical movement of the entire vehicle body, and the steering servo drives the lifting rod to rotate, achieving omnidirectional movement of the vehicle body. The brushless hub motors on the wheels easily achieve various drive modes such as front-wheel drive, rear-wheel drive, or four-wheel drive, providing excellent mobility and maneuverability, realizing omnidirectional movement of the plant protection vehicle, and making it suitable for various complex agricultural operation scenarios.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and more specifically, to an omnidirectional drive ecological plant protection vehicle. Background Technology

[0002] With the development of technology, people have increasingly higher requirements for the quality and safety of agricultural products such as vegetables, fruits, and grains. In order to improve the efficiency of agricultural operations, plant protection vehicles have emerged. A plant protection vehicle is a vehicle equipped with instruments and workbenches for monitoring plant diseases and pests, pest control devices, medicine cabinets, and informational facilities. However, current technologies for pest control in farmland mainly use fixed electrical equipment. Fixed electrical equipment is very inconvenient to move or adjust its position and direction, and has a technical problem of poor mobility. Utility Model Content

[0003] The purpose of this utility model is to provide an omnidirectional drive ecological plant protection vehicle to solve the technical problem of poor mobility in the existing technology of mainly using fixed electric equipment for the control of agricultural pests.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] This utility model provides an omnidirectional drive ecological plant protection vehicle, including a vehicle body and multiple omnidirectional drive mechanisms, all of which are located below the vehicle body;

[0006] The omnidirectional drive mechanism includes wheels and a lifting rod. The wheels are located below the lifting rod and connected to it. The top end of the lifting rod is connected to the vehicle body.

[0007] The wheels are equipped with brushless hub motors, and the lifting rods are equipped with steering servos.

[0008] According to the above-described omnidirectional drive ecological plant protection vehicle, the omnidirectional drive mechanism further includes a shock-absorbing fork, which is located at the bottom end of the lifting rod and connected to the lifting rod. The shock-absorbing fork includes two fork arms, each fork arm is provided with a shock-absorbing spring, and the two fork arms are respectively located on both sides of the wheel and connected to the wheel.

[0009] According to the above-described omnidirectional drive ecological plant protection vehicle, the plant protection vehicle includes four omnidirectional drive mechanisms, and the four omnidirectional drive mechanisms are respectively located below the four corners of the vehicle body.

[0010] According to the above-described omnidirectional drive ecological plant protection vehicle, the vehicle body includes a chassis frame and a vehicle frame. The chassis frame has multiple interconnected cavities. The vehicle frame is located above the cavities and connected to the chassis frame. The top end of the lifting rod is connected to the chassis frame.

[0011] According to the omnidirectional drive ecological plant protection vehicle described above, the chassis frame is equipped with a motor controller, a servo controller and a main controller. The motor controller is electrically connected to the brushless hub motor and the main controller. The servo controller is electrically connected to the steering servo and the main controller. The servo controller is located near the connection between the lifting rod and the chassis frame.

[0012] According to the omnidirectional drive ecological plant protection vehicle described above, the vehicle frame is equipped with a lidar, an ultrasonic radar, and a camera, and the chassis frame is equipped with an inertial measurement unit. The main controller is electrically connected to the lidar, the ultrasonic radar, the camera, and the inertial measurement unit.

[0013] According to the omnidirectional drive ecological plant protection vehicle described above, the vehicle frame is equipped with a gimbal, the gimbal is equipped with a laser emitter, and the main controller is electrically connected to both the gimbal and the laser emitter.

[0014] According to the omnidirectional drive ecological plant protection vehicle described above, multiple gimbals and multiple laser emitters are installed on both the upper and lower sides of the chassis frame.

[0015] According to the omnidirectional drive ecological plant protection vehicle described above, the chassis frame is also equipped with a power supply, a first step-down transformer, and a second step-down transformer.

[0016] The power supply is electrically connected to the motor controller;

[0017] The power supply is electrically connected to the first step-down transformer, and the first step-down transformer is electrically connected to the servo controller and the main controller.

[0018] The power supply is electrically connected to the second step-down transformer, and the second step-down transformer is electrically connected to the lidar, the camera, the inertial measurement unit, the ultrasonic radar, the gimbal, and the laser emitter.

[0019] According to the omnidirectional drive ecological plant protection vehicle described above, the chassis frame is also equipped with a power charging port, a power switch, a power monitoring switch, an emergency stop switch, and a USB interface. The power charging port, the power switch, the power monitoring switch, the emergency stop switch, and the USB interface are all electrically connected to the main controller.

[0020] The beneficial effects of the omnidirectional drive ecological plant protection vehicle provided by this utility model are at least as follows:

[0021] The omnidirectional drive ecological plant protection vehicle provided by this utility model achieves the up-and-down movement of the entire vehicle body by setting up a lifting rod, and a steering servo is set on the lifting rod. The steering servo drives the lifting rod to rotate, so as to achieve the omnidirectional movement of the vehicle body. At the same time, a brushless hub motor is set on the wheel, which drives the wheel to easily achieve multiple drive modes such as front drive, rear drive or four drive. It has excellent mobility and strong maneuverability, realizing the omnidirectional movement of the plant protection vehicle, and is suitable for various complex agricultural operation scenarios. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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.

[0023] Figure 1 This is a schematic diagram of the structure of an agricultural vehicle.

[0024] Figure 2 This is a schematic diagram of a shock-absorbing lifting structure;

[0025] Figure 3 A top view of the agricultural vehicle after the frame has been removed;

[0026] Figure 4 A 3D view of the agricultural vehicle after its frame has been removed;

[0027] Figure 5 A side view of the agricultural vehicle after the frame has been removed;

[0028] Figure 6 This is a block diagram of the hardware structure of an agricultural vehicle.

[0029] The following are the labeling elements in the figure:

[0030] 100. Plant protection vehicle; 10. Vehicle body; 110. Chassis frame; 111. Cavity; 112. Motor controller; 113. Servo controller; 114. Main controller; 115. CAN communication relay; 116. Power supply; 117. First step-down transformer; 118. Second step-down transformer; 1191. Power charging port; 1192. Power switch; 1193. Power monitoring switch; 1194. Emergency stop switch; 1195. USB interface; 120. Frame; 121. LiDAR; 122. Camera; 123. Gimbal; 124. Laser emitter; 20. Omnidirectional drive mechanism; 210. Wheel; 211. Brushless hub motor; 220. Lifting rod; 221. Steering servo; 230. Shock absorber fork; 231. Fork arm. Detailed Implementation

[0031] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0032] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0033] Please see Figure 1 This embodiment provides an omnidirectional drive ecological plant protection vehicle 100, including a vehicle body 10 and multiple omnidirectional drive mechanisms 20, all of which are located below the vehicle body 10. Each omnidirectional drive mechanism 20 includes a wheel 210 and a lifting rod 220. The wheel 210 is located below and connected to the lifting rod 220, and the top end of the lifting rod 220 is connected to the vehicle body 10. A brushless hub motor 211 is mounted on the wheel 210, and a steering servo 221 is mounted on the lifting rod 220.

[0034] The omnidirectional drive ecological plant protection vehicle 100 provided in this embodiment achieves the vertical movement of the entire vehicle body 10 by setting up a lifting rod 220, and a steering servo 221 is set on the lifting rod 220. The steering servo 221 drives the lifting rod 220 to rotate, so as to achieve omnidirectional movement of the vehicle body 10. At the same time, a brushless hub motor 211 is set on the wheel 210. The brushless hub motor 211 drives the wheel 210 to easily achieve multiple driving modes such as front drive, rear drive or four drive, with excellent mobility and strong maneuverability, realizing the omnidirectional movement of the plant protection vehicle 100, which is suitable for various complex agricultural operation scenarios.

[0035] In one embodiment, see Figure 2The omnidirectional drive mechanism 20 further includes a shock-absorbing fork 230, which is located at the bottom end of the lifting rod 220 and connected to it. The shock-absorbing fork 230 includes two fork arms 231, each containing a shock-absorbing spring. The two fork arms 231 are respectively located on both sides of the wheel 210 and connected to it. The shock-absorbing fork 230 makes the plant protection vehicle 100 move more smoothly, especially in complex agricultural terrain, allowing it to travel steadily.

[0036] In one embodiment, see Figure 1 The plant protection vehicle 100 includes four omnidirectional drive mechanisms 20, which are respectively located below the four corners of the vehicle body 10. The placement of four omnidirectional drive mechanisms 20 at the four corners of the vehicle body 10 allows for more stable movement and makes it suitable for more complex agricultural terrain. It should be understood that the plant protection vehicle 100 is not limited to having only four omnidirectional drive mechanisms 20; other numbers and arrangements are also possible and are not limited here.

[0037] In one embodiment, see Figure 1 The vehicle body 10 includes a chassis frame 110 and a chassis 120. The chassis frame 110 has multiple interconnected cavities 111. The chassis 120 is located above the cavities 111 and connected to the chassis frame 110. The top end of the lifting rod 220 is connected to the chassis frame 110. The vehicle body 10 with the above-described configuration has a simple structure. Multiple cavities 111 are provided on the chassis frame 110 for housing various components, and these cavities are interconnected, facilitating electrical connections between the components.

[0038] In one embodiment, see Figure 3 The chassis frame 110 has multiple cavities 111, including nine interconnected cavities 111 arranged in a 3x3 grid. The nine cavities 111 may be the same or different in size. Four steering servos 221 are located in the four cavities 111 at the four corners. It should be understood that the number of cavities 111 on the chassis frame 110 is not limited to the aforementioned nine cavities 111, nor is it limited to the aforementioned arrangement.

[0039] In one embodiment, see Figure 1 , Figure 3 and Figure 6The chassis frame 110 is equipped with a motor controller 112, a servo controller 113, and a main controller 114. The motor controller 112 is electrically connected to the brushless hub motor 211 and the main controller 114. The servo controller 113 is electrically connected to the steering servo 221 and the main controller 114. The servo controller 113 is located near the connection between the lifting rod 220 and the chassis frame 110. The main controller 114 is electrically connected to the motor controller 112, which in turn is electrically connected to the brushless hub motor 211, thus controlling the wheels 210. The main controller 114 is also electrically connected to the servo controller 113, which in turn is electrically connected to the steering servo 221, thus controlling the steering of the lifting rod 220. By precisely controlling the motor controller 112 and the servo controller 113, the plant protection vehicle 100 can achieve stable driving and flexible steering, and the moving speed of the plant protection vehicle 100 can be no less than 0.5m / s.

[0040] In one embodiment, see Figure 6 The main controller 114 is electrically connected to the CAN transceiver, which is electrically connected to the CAN communication relay 115. The CAN communication relay 115 is electrically connected to the motor controller 112 and the servo controller 113.

[0041] In one embodiment, see Figure 1 and Figure 6 The vehicle frame 120 is equipped with a lidar 121, an ultrasonic radar, and a camera 122. An inertial measurement unit (IMU) is mounted on the chassis frame 110. The main controller 114 is electrically connected to the lidar 121, the ultrasonic radar, the camera 122, and the IMU. The lidar 121 scans the farmland environment to acquire terrain and obstacle information, providing data support for autonomous navigation. The ultrasonic radar is used for close-range obstacle detection and avoidance by the plant protection vehicle 100. The camera 122 collects images of crops, providing image data for pest and disease identification. The IMU monitors the vehicle's attitude and motion in real time, assisting in navigation and motion control.

[0042] Optionally, the LiDAR 121 adopts a multi-line scanning scheme (such as 16 / 32 lines) to provide high-precision three-dimensional point cloud data, with a detection range covering the near field (0.1m) to the far field (200m), constructing a 3D map of the surrounding environment for SLAM navigation and enabling autonomous walking.

[0043] Optionally, the inertial measurement unit integrates a three-axis accelerometer, gyroscope, and magnetometer to output real-time six-degree-of-freedom (6-DoF) pose data (position, attitude angle, and angular velocity) for the attitude positioning of the plant protection vehicle 100. Based on data acquired from the lidar 121 and the inertial measurement unit, the plant protection vehicle 100 autonomously plans its route. Taking into account factors such as farmland boundaries, obstacle distribution, and crop location, it selects the optimal path to ensure that the plant protection vehicle 100 can efficiently cover farmland for pest and disease control operations.

[0044] In one embodiment, see Figure 1 and Figure 6 The vehicle frame 120 is equipped with a gimbal 123, and the gimbal 123 is equipped with a laser emitter 124. The main controller 114 is electrically connected to both the gimbal 123 and the laser emitter 124. The camera 122 captures images of crops, provides image data for pest and disease identification, and transmits it to the main controller 114. After training, the model identifies pests, determines their location coordinates, and precisely controls the position and orientation of the gimbal 123 and the laser emitter 124 to point at the location of the pests, thereby achieving rapid location and laser killing of the pests.

[0045] In one embodiment, see Figure 5 The chassis frame 110 is equipped with multiple gimbals 123 and multiple laser emitters 124 on both its upper and lower sides. The use of multiple gimbals 123 and laser emitters 124 enables more efficient and rapid positioning and pest control.

[0046] In one embodiment, see Figure 6 The chassis frame 110 is also equipped with a power supply 116, a first step-down transformer 117 and a second step-down transformer 118.

[0047] The power supply 116 is electrically connected to the motor controller 112. The power supply 116 is powered by a lithium battery and has a voltage of 48V.

[0048] The power supply 116 is electrically connected to the first step-down transformer 117, and the first step-down transformer 117 is electrically connected to the servo controller 113 and the main controller 114. The first step-down module steps down the voltage to 24V.

[0049] The power supply 116 is electrically connected to the second step-down converter 118. The second step-down converter 118 is electrically connected to the lidar 121, the camera 122, the inertial measurement device, the ultrasonic radar, the gimbal 123, and the laser emitter 124. The second step-down module steps down the voltage to 12V.

[0050] In one embodiment, see Figure 4The chassis frame 110 is also provided with a power charging port 1191, a power switch 1192, a power monitoring switch 1193, an emergency stop switch 1194, and a USB interface 1195. The power charging port 1191, the power switch 1192, the power monitoring switch 1193, the emergency stop switch 1194, and the USB interface 1195 are all electrically connected to the main controller 114.

[0051] In one embodiment, the chassis frame 110 is provided with four steering servos 221, four servo controllers 113, and four CAN communication relays. The four steering servos 221 are respectively located in the cavities 111 at the four corners, the four servo controllers 113 are respectively located in the cavities 111 at the four corners, and the four CAN communication relays are respectively located in the cavities 111 at the four corners. One servo controller 113, one steering servo 221, and one CAN communication relay share one cavity 111.

[0052] In one embodiment, the chassis frame 110 is provided with four motor controllers 112, and the four motor controllers 112 are located in two cavities 111 at the front and rear ends of the vehicle body 10, with two motor controllers 112 located in each cavity 111.

[0053] In one embodiment, the main controller 114, the first step-down transformer 117, and the second step-down transformer 118 are all located in the intermediate cavity 111.

[0054] In one embodiment, the power charging port 1191, power switch 1192, power monitoring switch 1193, emergency stop switch 1194, and USB interface 1195 are all located on the outer wall of the chassis frame 110.

[0055] In summary, this embodiment provides an omnidirectional drive ecological plant protection vehicle 100, including a vehicle body 10 and multiple omnidirectional drive mechanisms 20, all of which are located below the vehicle body 10. Each omnidirectional drive mechanism 20 includes a wheel 210 and a lifting rod 220. The wheel 210 is located below and connected to the lifting rod 220, and the top end of the lifting rod 220 is connected to the vehicle body 10. A brushless hub motor 211 is mounted on the wheel 210, and a steering servo motor 221 is mounted on the lifting rod 220. The omnidirectional drive ecological plant protection vehicle 100 provided in this embodiment achieves the vertical movement of the entire vehicle body 10 by setting up a lifting rod 220, and a steering servo 221 is set on the lifting rod 220. The steering servo 221 drives the lifting rod 220 to rotate, so as to achieve omnidirectional movement of the vehicle body 10. At the same time, a brushless hub motor 211 is set on the wheel 210. The brushless hub motor 211 drives the wheel 210 to easily achieve multiple driving modes such as front drive, rear drive or four drive, with excellent mobility and strong maneuverability, realizing the omnidirectional movement of the plant protection vehicle 100, which is suitable for various complex agricultural operation scenarios.

[0056] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An omnidirectional drive ecological plant protection vehicle, characterized in that, It includes a vehicle body and multiple omnidirectional drive mechanisms, all of which are located below the vehicle body; The omnidirectional drive mechanism includes wheels and a lifting rod. The wheels are located below the lifting rod and connected to it. The top end of the lifting rod is connected to the vehicle body. The wheels are equipped with brushless hub motors, and the lifting rods are equipped with steering servos. The omnidirectional drive mechanism also includes a shock-absorbing fork, which is located at the bottom end of the lifting rod and connected to the lifting rod. The shock-absorbing fork includes two fork arms, each of which is provided with a shock-absorbing spring. The two fork arms are respectively located on both sides of the wheel and connected to the wheel. The vehicle body includes a chassis frame and a vehicle frame. The chassis frame has multiple interconnected cavities. The vehicle frame is located above the cavities and connected to the chassis frame. The top end of the lifting rod is connected to the chassis frame. The chassis frame is equipped with a motor controller, a servo controller, and a main controller. The motor controller is electrically connected to the brushless hub motor and the main controller. The servo controller is electrically connected to the steering servo and the main controller. The servo controller is located near the connection between the lifting rod and the chassis frame. The vehicle frame is equipped with a lidar, an ultrasonic radar, and a camera. The chassis frame is equipped with an inertial measurement unit. The main controller is electrically connected to the lidar, the ultrasonic radar, the camera, and the inertial measurement unit. The vehicle frame is equipped with a gimbal, and the gimbal is equipped with a laser emitter. The main controller is electrically connected to both the gimbal and the laser emitter. The laser emitter enables laser killing of pests.

2. The omnidirectional drive ecological plant protection vehicle according to claim 1, characterized in that, The plant protection vehicle includes four omnidirectional drive mechanisms, and the four omnidirectional drive mechanisms are respectively located below the four corners of the vehicle body.

3. The omnidirectional drive ecological plant protection vehicle according to claim 1, characterized in that, Multiple gimbals and multiple laser emitters are installed on both the upper and lower sides of the chassis frame.

4. The omnidirectional drive ecological plant protection vehicle according to claim 1, characterized in that, The chassis frame is also equipped with a power supply, a first step-down transformer, and a second step-down transformer; The power supply is electrically connected to the motor controller; The power supply is electrically connected to the first step-down transformer, and the first step-down transformer is electrically connected to the servo controller and the main controller. The power supply is electrically connected to the second step-down transformer, and the second step-down transformer is electrically connected to the lidar, the camera, the inertial measurement unit, the ultrasonic radar, the gimbal, and the laser emitter.

5. The omnidirectional drive ecological plant protection vehicle according to claim 1, characterized in that, The chassis frame is also equipped with a power charging port, a power switch, a power monitoring switch, an emergency stop switch, and a USB interface. The power charging port, the power switch, the power monitoring switch, the emergency stop switch, and the USB interface are all electrically connected to the main controller.

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