All-terrain driverless tractor for mountainous areas

Abstract

The present invention relates to an all-terrain driverless tractor for mountainous areas, comprising a body, a control part and a wheel-track interchange part. Four wheels are connected beneath the body, the four wheels are controlled by means of drive motors, and steering is completed by means of an electronically controlled steering mechanism. When the power of batteries is consumed to a certain extent, an engine is started to provide energy to the batteries. The control part of the tractor uses an electronically controlled joystick with a plurality of buttons to control the start and stop of the motors of the tractor, as well as the start, stop, lifting and lowering of machine tools attached at the rear, and is provided with a control system having an unmanned driving mode and a manual driving mode. Two front wheels and two rear wheels are all provided with tread patterns on respective outer circumferences, and the tread patterns are matched with grooves on tracks. According to the present invention, the size of the tractor can be effectively reduced, improving the trafficability of the tractor in hilly terrain, a smaller turning radius allows for flexible steering of the tractor in narrow areas, an unmanned driving operation is achieved, and the use of a range-extender engine can effectively increase the range.

Description

A mountain all-terrain unmanned tractor Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and more particularly to an all-terrain unmanned mountain tractor. Background Art

[0002] A tractor is a self-propelled tractor designed to pull and drive machinery to perform various mobile tasks. It generally consists of an engine, transmission, travel, steering, hydraulic suspension, power take-off (PTO), electrical instruments, driving controls, and traction systems. Traditional tractors are the mainstay of agricultural machinery in plain areas due to their power output and excellent maneuverability. However, in hilly and mountainous areas, their bulky size makes them less capable of steering and maneuvering than in plain areas. Therefore, all-terrain tractors with interchangeable wheels and tracks are more suitable for hilly and mountainous areas due to their smaller size, flexible steering, reduced energy consumption, and strong terrain adaptability.

[0003] However, the tractors currently in public use are primarily wheeled or crawler transporters modified from walking tractors, which limits their application in various scenarios. Wheeled tractors are suitable for flexible agricultural operations, but they may face challenges with traction and soil conservation in certain terrain and conditions. Crawler tractors excel in harsh terrain and large-scale tillage, but their slower speed and poorer maneuverability limit their application in other scenarios.

[0004] Therefore, how to provide a mountain all-terrain unmanned tractor that is small in size, flexible in turning, easy to operate, and more suitable for hilly and mountainous areas is a problem that technical personnel in this field urgently need to solve.

[0005] Summary of the Invention

[0006] To this end, the purpose of the present invention is to provide an all-terrain unmanned mountain tractor to solve the problem of insufficient operating capacity of traditional tractors in hilly areas in the prior art.

[0007] The present invention provides an all-terrain unmanned mountain tractor, comprising:

[0008] The machine body has four wheels connected to the bottom of the machine body, and the four wheels are driven by a drive motor and steered by an electronically controlled steering mechanism;

[0009] The electronically controlled steering mechanism is connected to the steering linkage via an electronically controlled steering assembly, with both ends of the steering linkage located directly above the steering motor. The electronically controlled steering assembly receives a signal from the electronically controlled joystick and issues a command to the steering motor, causing the steering shaft to follow the steering motor to achieve four-wheel steering.

[0010] An electrically controlled rocker with multiple buttons allows one-touch starting and steering of the tractor, as well as starting and raising / lowering the device mounted behind the three-point hitch.

[0011] An engine, the engine charging the front-wheel drive motor to achieve range extension;

[0012] A control system, fixed to the lower part of the front hood, connected to the drive motor, the control end of the engine and the electronically controlled rocker, and having an unmanned driving mode and a manual driving mode;

[0013] The crawler tracks, the two front wheels and the two rear wheels are provided with at least cylindrical raised patterns on their outer circumferences, and the patterns cooperate with the circular grooves on the crawler tracks to achieve the coordinated positioning of the crawler tracks and the wheels.

[0014] Furthermore, a frustum-shaped pattern is provided between the wheel patterns, the circular groove shape of the track is adapted to the frustum, and the pattern further includes a herringbone pattern located on both sides of the frustum-shaped pattern.

[0015] Furthermore, there is at least one detachable position in the crawler track.

[0016] Furthermore, a round hole pull ring plunger is connected to the track pin rod corresponding to the detachable position, and the pin rod is pulled into the pin hole at the track connection through the round hole pull ring plunger to achieve the disassembly and connection of the track.

[0017] Furthermore, an integrated receiver and a touch screen are provided on the front cover of the machine body; a camera is installed in the mounting hole at the front end of the front cover, and the integrated receiver, the touch screen and the camera are all connected to the control system.

[0018] Furthermore, it also includes a remote controller, which is connected to the driving motor and the electric joystick.

[0019] It can be seen from the above technical solution that compared with the existing technology, the present invention discloses a mountain all-terrain unmanned tractor, in which both the front and rear wheels are driven by drive motors, and the engine charges the drive motor to extend the range, thereby ensuring the tractor's working mileage and making the tractor smaller in size and easier to turn.

[0020] In order to enable the tractor to move on complex terrains such as hills, the present invention adopts a detachable matching crawler track, with wheels as driving wheels, to drive the crawler track to move on complex terrain. When the electric steering mechanism is locked, the steering is realized by the motor to control the forward and reverse directions of the wheels. The crawler track can be removed on flat ground, and the electric steering mechanism is unlocked at the same time, and the wheels are used for moving, thereby improving the steering flexibility of the tractor to adapt to various working environments.

[0021] The present invention enables the tractor to be modified for unmanned control. A drive motor is used for driving to improve the tractor's controllability. To increase the tractor's endurance, an engine is used for range extension, ensuring the tractor's stable travel in hilly and mountainous areas.

[0022] At present, with the development of unmanned agricultural machinery, it is necessary to use electronic control to improve traditional agricultural machinery. Compared with traditional mechanical control, the use of electronic control can effectively reduce the difficulty of control and avoid the huge mechanical transmission structure. Considering that the power consumption of electric drive is faster, the use of extended-range tractor improvement can effectively solve the problem of insufficient endurance of electric drive.

[0023] The present invention controls the direction of travel of the tractor by using an integrated receiver and an electric control joystick, performs positioning through the GPS in the integrated receiver, enables the tractor to move in a straight line, and selects a route through a touch screen, thereby realizing the unmanned driving function of the tractor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] FIG1 is a schematic structural diagram of an all-terrain unmanned mountain tractor provided by the present invention from one perspective;

[0026] FIG2 is a schematic diagram of the structure of an all-terrain unmanned mountain tractor provided by the present invention (illustrating the location of the camera);

[0027] FIG3 is a schematic diagram of the structure of an all-terrain unmanned mountain tractor provided by the present invention (showing the location of the controller);

[0028] FIG4 is a schematic diagram of the structure of an all-terrain unmanned mountain tractor provided by the present invention (showing the location of the engine);

[0029] FIG5 is a schematic diagram of the structure of an all-terrain unmanned mountain tractor provided by the present invention (illustrating the location of the electronically controlled steering mechanism);

[0030] Figure 6 is a schematic diagram of the structure of the wheel and part of the track;

[0031] Figure 7 is a schematic diagram of the position of the circular hole pull ring plunger on the side of the crawler;

[0032] Figure 8 shows the installation position of the drive motor. DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0034] Wheeled tractors offer advantages such as fast movement and good maneuverability, making them suitable for efficient operations and frequent turning. However, they have limited carrying capacity and are prone to getting bogged down in wet or uneven terrain, and are also subject to soil influence. In contrast, crawler tractors excel in wet or large-scale agricultural production, offering superior traction and soil protection. However, they are slower, less maneuverable, and require higher maintenance costs. In light of this, embodiments of the present invention disclose an unmanned all-terrain mountain tractor.

[0035] See Figures 1-8, including: a body, a control part, and a wheel-track interchange part;

[0036] The machine body is connected to four wheels 3-2 below the machine body. The four wheels 3-2 are driven by a drive motor 3-1 and steered by an electronically controlled steering mechanism.

[0037] Control part: The electronically controlled steering mechanism is connected to the steering link 2-2 through the electronically controlled steering assembly 2-1. Both ends of the steering link 2-2 are located directly above the steering motor 2-3. After receiving the signal from the electronically controlled rocker 1-2, the electronically controlled steering assembly 2-1 sends a command to the steering motor 2-3, causing the steering shaft 2-4 to follow the steering motor 2-3 to achieve four-wheel steering.

[0038] The electric control rocker 1-2 has a multi-key operation, which can realize the one-button start and steering operation of the tractor, and the start and lifting of the device installed behind the three-point suspension;

[0039] Engine 1-6: Engine 1-6 charges the drive motor 3-1 to achieve range extension;

[0040] Control system 1-4, which is fixed to the lower part of the front hood, is connected to the control end of the drive motor 3-1, the engine 1-6 and the electronic control joystick 1-2. The control system 1-4 has an unmanned driving mode and a manual driving mode;

[0041] Wheel-track interchangeable part: Track 3-3, the outer circumferences of the two front wheels and the two rear wheels are provided with at least cylindrical raised patterns, which cooperate with the circular grooves on the track 3-3 to achieve the coordinated positioning of the track and the wheels.

[0042] In this technical solution, both the front and rear wheels are driven by drive motors. The engine's operation charges the four drive motors, extending the tractor's range and ensuring its mileage. This also makes the tractor smaller and easier to turn. To enable the tractor to maneuver over complex hilly and mountainous terrain, the present invention utilizes detachable, mating tracks, with wheels acting as driving wheels. On flat ground, the tracks can be removed, allowing the wheels to be used for travel, meeting the requirements of varying road surfaces.

[0043] At present, with the development of unmanned agricultural machinery, it is necessary to use electronic control to improve traditional agricultural machinery. Compared with traditional mechanical control, the use of electronic control can effectively reduce the control difficulty and avoid the huge mechanical transmission structure. The present invention takes into account the faster power loss of electric drive, and the use of tractor improvement can effectively solve the problem of insufficient battery life of electric drive.

[0044] The present invention enables the tractor to be modified for unmanned control, uses a drive motor to drive the tractor, improves the tractor's controllability, and uses an engine to extend the range to increase the tractor's endurance, ensuring the tractor's stable operation in hilly and mountainous areas.

[0045] Referring to Figure 6, a cone-shaped pattern is provided between the treads of the wheel 3-2, and the circular groove of the track 3-3 matches the cone shape. The cone is small at the top and large at the bottom, which is conducive to the initial engagement of the cone and the groove and is not easy to disengage.

[0046] The pattern also includes herringbone patterns located on both sides of the frustum-shaped pattern. The frustum-shaped pattern is higher than the herringbone pattern, and there is space between the herringbone patterns for the frustum-shaped pattern to cooperate with the track groove.

[0047] Referring to FIG. 7 , there is at least one detachable position in the crawler track. A circular hole pull ring plunger 3-5 is connected to the crawler pin rod corresponding to the detachable position. The circular hole pull ring plunger 3-5 is used to pull the pin rod into the pin hole at the crawler track connection to achieve the detachment and connection of the crawler track.

[0048] Referring to Figure 1-3, an integrated receiver 1-1 and a touch screen 1-3 are also provided on the front cover of the body; a camera 1-5 is installed in the mounting hole at the front end of the front cover, and the integrated receiver 1-1, touch screen 1-3 and camera 1-5 are all connected to the control system 1-4.

[0049] The integrated receiver 1-1 can be fixed on the front cover of the tractor by screws, and the touch screen 1-3 can be fixed on the front cover by screws, or an embedded groove can be set on the front cover for embedded installation.

[0050] The present invention controls the direction of travel of the tractor by using an integrated receiver and an electric control joystick. Positioning is performed through the GPS in the integrated receiver and the direction is adjusted through the electric control joystick, so that the tractor can move in a straight line. The route is selected through the touch screen, thereby realizing the unmanned driving function of the tractor.

[0051] In some other embodiments of the present invention, a remote controller is further included, which is connected to the front wheel drive motor 3-1 and the electric control joystick. It can be a handle-type remote controller that is controlled by buttons on the handle.

[0052] When passing through a flat road, the round hole pull ring plunger pulls out the pin rod, removes the crawler track, and changes the electronic steering mechanism through the electronic control joystick or the mode switching button on the remote controller, switching from crawler walking mode to wheeled walking mode. The wheels are used for walking, which improves the steering flexibility of the tractor and meets the needs of driving on different road surfaces.

[0053] When passing through complex roads, tracks are installed, and the wheels are used as driving wheels. The vehicle switches to track-type walking, drives the tracks to walk on complex terrain, and the steering is achieved by driving the motor to control the forward and reverse direction of the wheels.

[0054] When automatic unmanned driving is required, the route must be set on the touch screen, GPS signal positioning is performed through the integrated receiver, and the drive signal is transmitted to the control system. The control system sends a drive signal to the motor to move in a straight line. After receiving the GPS error signal from the integrated receiver, fine-tuning can be made left and right to achieve straight-line movement. When it reaches the end of the set path and needs to turn or make a U-turn, the integrated receiver sends a signal to control the drive motor to enable it to turn or make a U-turn.

[0055] When navigating over poor terrain, the vehicle uses crawler tracks for travel. When maneuvering using the tracks, the electronic steering mechanism switches modes, locking the wheel's directional control. Operation can now be performed via a remote control or in autonomous, unmanned mode. It's worth noting that the "locked" nature of the steering column is determined by the built-in motor in the wheel steering mechanism.

[0056] When manual driving is required, the remote control is used to control the drive motor to rotate forward and reverse. The wheels act as the drive wheels for the crawler tracks, and the crawler tracks work together to enable forward, left, right, and reverse travel. It is worth noting that when the remote control is used, the operator cannot directly control the electric joystick.

[0057] When automatic walking is required, it must be set on the touch screen. The control system uses the camera to identify obstacles and make judgments. Unlike the automatic driving of wheels, the crawler type uses visual recognition and path pre-planning for automatic walking. After the walking path is preset in advance, the control system controls the drive motor for walking control. When the camera identifies an obstacle, human assistance can be made, and the control system can be used to operate it to bypass the obstacle and continue automatic walking.

[0058] The technical solution of the present invention can effectively reduce the size of the tractor and improve the tractor's passability in hilly and mountainous areas. The smaller turning radius allows it to turn around in narrow areas. By adopting motor drive, it can be easier to achieve unmanned operation than mechanical type, and the use of extended-range engine can effectively increase the cruising range. The use of wheel-track interchangeability can enable the tractor to travel on different road surfaces, and the detachable wheel-matched track can be easily disassembled by the driver. The use of integrated receiver, electric steering mechanism and other electronic control equipment can realize unmanned driving of the tractor.

[0059] The four wheels of the present invention are controlled by a drive motor, and steering is accomplished through an electronically controlled steering mechanism. When the battery power is depleted to a certain level, the engine starts, but does not directly intervene in the motor. Instead, it provides energy to the battery and charges the motor's power battery. The tractor control unit uses an electronically controlled joystick with multiple buttons to control the start and stop of the tractor motor and the start, stop, and raise and lower the rear-mounted implements. The outer circumferences of the two front wheels and the two rear wheels are each provided with at least one cylindrical raised pattern, which mates with the grooves on the crawler track. This invention can effectively reduce the tractor's size, improve its maneuverability in hilly terrain, and its small turning radius allows for flexible steering in narrow areas. It also enables unmanned operation, and the use of a range-extended engine effectively increases the cruising range.

Claims

1. A mountain all-terrain unmanned tractor, characterized in that: include: A machine body, wherein four wheels (3-2) are connected to the lower portion of the machine body, wherein the four wheels (3-2) are driven by a drive motor (3-1) and steer by an electric-controlled steering mechanism; The electric steering mechanism is connected to the steering link (2-2) via the electric steering assembly (2-1), and both ends of the steering link (2-2) are located directly above the steering motor (2-3). After receiving the signal from the electric rocker (1-2), the electric steering assembly (2-1) sends a command to the steering motor (2-3), causing the steering shaft (2-4) to follow the steering motor (2-3) to achieve four-wheel steering. An electrically controlled rocker (1-2) having a multi-key operation function, which enables one-key starting and steering of the tractor, and starting and lifting of a device installed behind the three-point suspension; An engine (1-6), the engine (1-6) charges the drive motor (3-1) to achieve range extension; A control system (1-4), the control system (1-4) is fixed to the lower part of the front hood, the control system (1-4) is simultaneously connected to the drive motor (3-1), the control end of the engine (1-6) and the electric control joystick (1-2), and the control system (1-4) has an unmanned driving mode and a manual driving mode; The crawler (3-3) has at least cylindrical raised patterns on its outer circumferences of the two front wheels and the two rear wheels. The patterns cooperate with the circular grooves on the crawler (3-3) to achieve cooperative positioning of the crawler and the wheels.

2. The all-terrain unmanned mountain tractor according to claim 1, characterized in that: Cone-shaped patterns are provided between the patterns of the wheels (3-2), and the circular grooves of the crawler (3-3) are adapted to the cones.

3. The all-terrain unmanned mountain tractor according to claim 1, characterized in that: At least one removable location in the track.

4. The all-terrain unmanned mountain tractor according to claim 3, characterized in that: A circular hole pull ring plunger (3-5) is connected to the crawler pin rod corresponding to the detachable position, and the pin rod is pulled into the pin hole at the crawler connection through the circular hole pull ring plunger (3-5) to realize the detachment and connection of the crawler.

5. The all-terrain unmanned mountain tractor according to claim 1, characterized in that: An integrated receiver (1-1) and a touch screen (1-3) are also provided on the front cover of the machine body; a camera (1-5) is installed in a mounting hole at the front end of the front cover; the integrated receiver (1-1), the touch screen (1-3) and the camera (1-5) are all connected to the control system (1-4).

6. The all-terrain unmanned mountain tractor according to claim 5, characterized in that: It also includes a remote controller, which is connected to the drive motor (3-1) and the electric control joystick (1-2).

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