CN115326105A - An unmanned vehicle navigation path trajectory marking device - Google Patents

Abstract

The invention relates to the field of navigation of unmanned vehicles. The device can provide a visual and accurate actual navigation track for manual measurement of navigation precision so as to meet the requirements of different working conditions. The technical scheme is that unmanned vehicle navigation path track mark device which characterized in that: the mechanism comprises a fixed end fixed on a cross beam at the front end of an external vehicle chassis, a parallelogram structure, a profile modeling land wheel and an electric funnel, wherein the axis of the four rod pieces forms a vertical plane, and the top end of a rotating rod in the parallelogram structure is hinged with the fixed end; the four rod pieces comprise a rotating rod, an upper pull rod, a support rod and a lower pull rod which are sequentially hinged to form a closed graph.

Description

An unmanned vehicle navigation path track marking device

technical field

The invention relates to the field of unmanned vehicle navigation, in particular to a navigation walking track marking device.

Background technique

Navigation technology is an extremely important part of realizing unmanned driving and precise operation of unmanned farms; in the navigation system, navigation accuracy is an extremely important indicator for the safety of unmanned driving and the precise operation of unmanned farms. At present, the navigation accuracy measurement methods mainly include machine measurement and manual measurement. Machine measurement uses the deviation between the mobile platform itself and the navigation planning path as the navigation accuracy, while manual measurement directly measures the deviation between the navigation walking track and the navigation planning path. Navigation accuracy; therefore, manual measurement is more direct and accurate than machine measurement. However, the premise of manual measurement is that there needs to be a clearly visible navigation track. A common practice is to use ruts as the navigation path track, but the clarity of the ruts is easily affected by factors such as ground conditions and the structure of walking parts. Another approach is to add a navigation walking track marking device, such as hanging a funnel on the vehicle, and marking the navigation track through the fine particles or fluid flowing out of the funnel. However, most of the above-mentioned trajectory marking devices adopt the principle of simple hourglass or hourglass, and the falling rate of the fine particles or fluids is uncontrollable and easily affected by the terrain, which leads to the problems of varying thickness and intermittent discontinuity of the navigation walking trajectory marking. Therefore, it is necessary to design a navigation walking trajectory marking device that can travel in complex road conditions and is easy to install and disassemble; ground spacing.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and provide a navigation path track marking device for unmanned vehicles. need.

The technical scheme provided by the invention is:

An unmanned vehicle navigation path track marking device is characterized in that: the mechanism includes a fixed end fixed to the front beam of the external vehicle chassis, a vertical plane is formed by four rod axes, and the top end of the rotating rod is connected to the A parallelogram structure with hinged fixed ends, a profiled ground wheel fixed at the bottom end of the support rod in the parallelogram structure, and an electric funnel fixed on the support rod; the four rods include rotating rods that are sequentially hinged to form a closed figure , upper rod, bracket rod and lower rod;

A tension spring is also set at one diagonal of the parallelogram structure, so that when the device is running, it can offset part of the pressure of the contoured ground wheel on the ground, effectively reducing the lateral resistance of the road to the contoured ground wheel.

A tension spring is arranged between the rotating rod and the fixed end, so that the rotating rod has a tendency to rotate around the hinge axis to maintain a vertical state.

The hinge axis of the pivot lever is perpendicular to the plane.

The electric funnel includes a motor and a funnel fixed on the support rod through the motor and the dragon bracket, a screw auger that is rotatably positioned in the funnel through the dragon support frame connected to the motor and the dragon bracket, and the motor power is transmitted to the screw auger. Dragon's wheeled assembly.

Flange bearings are arranged at the joints of each bar of the parallelogram structure, and stud bolts for fixing are arranged in the holes of the flange bearings.

The fixed end includes two fixed plates and U-bolts clamping and fixing the two fixed plates on the beam.

A support plate is also fixed at the bottom of the fixed end for limiting the rotation angle of the rotation rod.

The beneficial effects of the present invention are:

(1) The parallelogram structure and the spring provided in the present invention can ensure that the device meets various complicated road conditions, has good anti-turbulence performance, and has a longer overall service life;

(2) The electric funnel among the present invention is fixed on the support bar of parallelogram structure by U-shaped bolt, can drive parallelogram structure to move by profiling ground wheel walking; The ups and downs automatically maintain the distance between the funnel and the ground to ensure the best distance between the funnel and the ground;

(3) The controller in the present invention controls the motor speed on the auger by profiling the signal of the speed sensor on the ground wheel, thereby controlling the flow of the funnel in real time according to the speed of the vehicle, so that the marked navigation walking track is more refined Uniform, continuous and accurate;

The invention has the advantages of simple structure, low cost, convenient disassembly and maintenance, wider applicability and real-time control of the flow rate of the funnel according to the speed of the vehicle, ensuring that the device operates more stably and accurately.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the front view of the embodiment of the present invention.

Fig. 2 is a left view structural diagram of an embodiment of the present invention.

Fig. 3 is a schematic perspective view of the three-dimensional structure of the embodiment of the present invention.

Fig. 4 is a schematic diagram of the connection relationship between the fixed end and the external motion mechanism in the embodiment of the present invention.

Fig. 5 is a schematic diagram of the installation position of the tension spring in the embodiment of the present invention.

FIG. 6 is a schematic diagram of a three-dimensional structure of a parallelogram structure in an embodiment of the present invention.

Fig. 7 is a schematic diagram of the exploded structure of the electric funnel device in the embodiment of the present invention.

Fig. 8 is a schematic diagram (sectional view) of the positional relationship between the funnel and the auger in the embodiment of the present invention.

Figure number:

1. Fixed end; 1-1, External terminal; 1-2, Second fixed plate; 1-3, First fixed plate; 1-4, First U-shaped bolt; 1-5, Controller; 1-6 , hinge bolt; 1-7, support plate; 1-8, extension spring; 1-9, first cotter pin;

2. Parallelogram structure; 2-1, bracket rod; 2-2, pull-up rod; 2-3, rotating rod; 2-4, tension spring; 2-5, second cotter pin; 2-6, suspension shaft ;2-7, stud bolts; 2-8, pull rod; 2-9, flange bearings;

3. Electric funnel; 3-1, funnel; 3-2, screw auger; 3-3, jiaolong support frame; 3-4, motor and jiaolong bracket; 3-5, bearing; 3-6, synchronous pulley; 3-7, toothed belt; 3-8, second U-bolt; 3-9, fixed plate; 3-10 motor;

4. Profiled ground wheel; 5. Beam; 6. Speed sensor.

Detailed ways

In order to make the purpose, application and innovative points of the present invention clearer, further description will be given below in conjunction with the embodiments shown in the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The navigation walking track marking device shown in Fig. 1, Fig. 2 and Fig. 3 mainly includes a profiling ground wheel 4, an electric funnel 3, a parallelogram structure 2 and a fixed end 1; the profiling ground wheel 4 in the device can pass through The self-weight and the parallelogram structure 2 are in contact with the ground, and the height of the support or the rotating rod can be flexibly adjusted according to the distance between the beam at the front end of the vehicle chassis and the ground.

As shown in Figure 4, the fixed end includes a U-shaped bolt 1-4, two fixed plates (the first fixed plate 1-3, the second fixed plate 1-2), a spring 1-8, and a cotter pin 1-9 And the support plate 1-7 below the first fixed plate (the controller 1-5 is installed on the first fixed plate). When installing common simple devices, most of them are tied or punched, which is inflexible and not firm enough; U-shaped bolts 1-4 are fixed, the first U-shaped bolts 1-4 pass through the first fixed plate 1-3 and the second fixed plate 1-2 in turn, and then tightened with nuts, which can realize stable and reliable connection; and disassemble Simple, the size of the first U-bolt 1-4 and the first fixing plate 1-3 can be flexibly adjusted or changed according to the height of the chassis front beam 5. The bottom of the first fixed plate 1-3 is also connected to the support plate 1-7, a pair of hinged ears are arranged on the support plate, and the top of the rotating rod 2-4 is provided with a hinged hole, and by inserting the hinged bolts of the hinged ears and the hinged hole, Make the rotating rod and the support plate hinged. The bottom end of the support plate also extends downwards to form a downward protrusion, which is used to limit the rotation angle of the rotation rod 2-4 (this rotation rod is one of the four rods in the parallelogram structure 2) to the rear side of the beam, and the rotation The rotation angle of the rod is limited, that is, the rotation angle of the parallelogram structure is limited, so as to avoid the rearward deviation of the parallelogram structure 2 due to excessive resistance when the contoured ground wheel 4 advances. Simultaneously, first cotter pin 1-9 is also provided with the two ends of described hinged bolt (the two ends of hinged bolt are provided with the through hole that is used to install the first cotter pin) is used for the shackle of suspension extension spring 1-8 one end (two two extension springs are respectively located on both sides of the support plate), and the shackles at the other ends of the two extension springs respectively pass through the first cotter pins matched with the two ends of the suspension shaft 2-6 (the suspension shaft is fixed in the middle of the rotating rod). Hook on the two ends of the suspension shaft (the hole is drilled on the suspension shaft for installing the first cotter pin). Obviously, the tightness of the extension spring can be determined by adjusting the initial state of the spring; and the extension spring 1-8 can make the rotating rod 2-3 and the support plate 1-3 closely abut, which can alleviate the impact caused by inertia (when During emergency braking of the vehicle, due to inertia, the device can lean forward around the pivot joint, and extension spring 1-8 can effectively alleviate this situation).

When the device is working, it is often accompanied by relatively bad road conditions (such as farmland); in this embodiment, in order to adapt to various complicated paths, a parallelogram structure 2 is specially added to the device, and a tension spring is used to Offset part of the gravity of the profiling ground wheel and the electric funnel, so that the profiling ground wheel responds more quickly to the unevenness of the ground. As shown in Figures 5 and 6, the parallelogram structure 2 includes a sequentially hinged support rod 2-1, a lower rod 2-9, a rotating rod 2-3, and an upper rod 2-2, and four rod axes The plane that forms is vertically arranged, and this plane is parallel to advancing direction (in Fig. 2, advancing to the left); hinge axis. A stretch spring 2-4 is also set at a diagonal in the parallelogram structure, so that the rotating rod and the support rod have a tendency to move closer to each other; as can be seen from the figure: the diagonal is the connecting line of the two hinges ( the hinge of the support rod and the lower rod, and the hinge of the upper rod and the rotating rod); the tension spring arranged here can effectively offset part of the weight of the profiling ground wheel and the electric funnel, so that the profiling ground wheel and the ground The resistance pressure is significantly reduced, so that the response is more agile (when the profiling ground wheel hits a higher obstacle on the ground, the resistance becomes larger, prompting the support rod to drive the profiling ground wheel to move upwards, thereby realizing obstacle avoidance).

During operation, the profiling ground wheel also travels along the ground (advancing to the left among Fig. 2). When the mechanism is in bumpy or rough road conditions, the profiling ground wheel 4 will be subject to lateral resistance. At this time, the support rod 2-1 in the parallelogram structure 2 can move upwards to eliminate the lateral resistance, effectively improving the The anti-turbulence performance of the device enables the device to meet various complex road conditions and improves the service life of the device. Flange bearings 2-10 are also added to the mutual hinges of the bars in the parallelogram structure 2, and stud bolts 2-8 are used in the holes of the flange bearings to fasten them, so that the mutual rotation between the bars is more flexible and will not The flexibility of the entire mechanism is affected by the tightness of the bolts. During the operation of the device, the profiling ground wheel 4 and the support rod 2-1 are running in front, and are always parallel to the rotation rod 2-3; in order for the device to work stably, it is necessary to ensure The angle between them should be less than 90°. Therefore, it is necessary to adjust the two extension springs 2-5 suspended at the two ends of the stud bolts at the hinged place above the support bar 2-1 and the top of the turning bar. and the tension of the extension spring is used to make the included angle between the pull-down bar 2-9 and the rotation bar 2-3 in the parallelogram mechanism less than 90°. In addition, holes are drilled on the outer sides of the two ends of the stud bolts (as hinge pins) at the joints below the bracket bar 2-1 and above the turning bar 2-3 to install cotter pins 2-6 to prevent hooking at this position The tension spring falls off.

As shown in Figure 7, the electric funnel 3 can control the flow of the funnel in real time according to the speed of the vehicle, so as to effectively avoid the problem of missing or excessive fluid accumulation in the marked path due to the vehicle speed being too fast or too slow; the electric funnel 3 includes The support 3-4 of the fixed motor 3-10 and the funnel 2-1, the screw auger 3-2, the auger support 3-3, two pulleys 3-3 that are respectively fixed on the top of the motor shaft and the top of the rotating shaft of the auger 6 and the toothed belt 3-7 that transmits power between the two pulleys; bright-colored powder or particles are mostly used for path marking, but due to the high density of powder and easy formation of strong cohesion, Therefore, it often accumulates in the funnel and is not easy to flow out. In the present embodiment, in order to solve the above-mentioned problem and make this device have better universality, adopt screw auger 3-2 to solve this problem in this electric funnel 2 (the rotating shaft of screw auger is rotatable by bearing 3-5 The ground is positioned on the Jiaolong support frame 3-3, and the Jiaolong support frame is fixed on the motor and the Jiaolong support 3-4,). It can be seen from Fig. 8 that the bottom of the auger is located at the bottom of the funnel 3-1, which is equivalent to a control valve; if the auger does not rotate, the powder or particles in the funnel cannot flow. During the operation, after the auger 3-2 rotates, the powder or granular matter can be driven and output from the funnel; at the same time, the rotation speed of the auger can be controlled in combination with the driving speed of the current vehicle, so as to realize the convection flow control; in the present embodiment, the motor and the Jiaolong bracket are fixed on the bracket rod 2-1 of the parallelogram mechanism through the second U-shaped bolt 3-8. The distance between the funnel and the ground is an important factor for the accuracy of the path marking. When the distance is too large and the speed of the vehicle is fast, it will appear floating or even missing; therefore, the mechanism is fastened with U-shaped bolts, which is easy to disassemble and can be flexibly adjusted according to the actual road conditions. Adjust the distance between the funnel and the ground to improve the marking accuracy. When working, it is often accompanied by bumpy road conditions or vehicle vibrations. Therefore, the transmission of the electric funnel 2 uses toothed belts 3-7 and pulleys 3-6 for transmission, which can effectively alleviate the problems of vibration and transmission instability.

In addition, a speed sensor is installed on the profiled ground wheel (as shown in the figure, the express sensor is installed on the ground wheel bracket), and the controller is electrically connected to the speed sensor and the motor; the controller adjusts the motor through the signal of the speed sensor. The rotation speed of the engine realizes the matching of the flow rate with the vehicle speed.

The invention utilizes a simple structure to realize a multi-applicability and multi-function device, and the processing cost is low. It is suitable for various complex road conditions and particles or powders used in various marking paths. It is easy to disassemble and can be automatically adjusted according to the speed of the vehicle. The flow rate and the distance between the funnel and the ground can be adjusted in real time according to the road conditions to meet the needs of the experiment to the greatest extent. It has great market prospects and is suitable for popularization and application.

Finally, it should be noted that what is listed above are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and many modifications are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (7)

1. An unmanned vehicle navigation path track marking device, characterized by: the mechanism comprises a fixed end (1) fixed on a cross beam at the front end of an external vehicle chassis, a parallelogram structure (2) formed by the axes of four rod pieces into a vertical plane, wherein the top end of a rotating rod (2-3) is hinged with the fixed end, a profiling ground wheel (4) fixed at the bottom end of a support rod (2-1) in the parallelogram structure and an electric funnel (3) fixed on the support rod; the four rod pieces comprise rotating rods, upper pull rods (2-2), support rods and lower pull rods (2-8), which are sequentially hinged to form a closed graph;

an extension spring (2-4) is further arranged at one diagonal of the parallelogram structure, so that when the device runs, partial pressure of the profiling ground wheel on the ground can be counteracted, and the transverse resistance of a road surface to the profiling ground wheel is effectively reduced;

and a tension spring (1-8) is arranged between the rotating rod and the fixed end, so that the rotating rod has the tendency of rotating around the hinge axis to keep a vertical state.

2. The unmanned aerial vehicle navigation path trajectory marking device of claim 1, wherein: the hinge axis of the swivelling levers is perpendicular to the plane.

3. The unmanned aerial vehicle navigation path trajectory marking device of claim 2, wherein: the electric funnel comprises a motor (3-10) and a funnel (3-1) which are fixed on a support rod through a motor and a flood dragon support (3-4), a spiral auger (3-2) which is rotatably positioned in the funnel through a flood dragon support frame (3-3) connected to the motor and the flood dragon support, and a belt wheel assembly which transmits the power of the motor to the spiral auger.

4. The unmanned vehicle navigation path trajectory marking device of claim 3, wherein: and the hinged part of each rod piece of the parallelogram structure is provided with a flange bearing (2-9), and a stud bolt for fixing is arranged in a flange bearing hole.

5. The unmanned vehicle navigation path trajectory marking device of claim 4, wherein: the fixed end comprises two fixed plates and a first U-shaped bolt (1-4) for clamping and fixing the two fixed plates on the beam.

6. The unmanned aerial vehicle navigation path trajectory marking device of claim 5, wherein: and a supporting plate (1-7) is further fixed at the bottom end of the fixed end and used for limiting the rotation angle of the rotating rod.

7. The unmanned vehicle navigation path trajectory marking device of claim 6, wherein: a speed sensor (6) is installed on the profiling land wheel, a controller (1-5) is further installed at the fixed end, and the controller is electrically connected with the speed sensor on the profiling land wheel and the motor respectively so as to achieve flow control of the electric funnel.

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