Self-propelled platform for monitoring field crop phenotype

Patent metadata

Field	Value
Publication number	US-11711992-B2
Application number	US-202217669210-A
Country	US
Kind code	B2
Filing date	Feb 10, 2022
Priority date	Feb 18, 2021
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

A self-propelled platform for monitoring field crop phenotype is provided. The monitoring platform includes a traveling and steering mechanism, wheel track and ground clearance adjustment devices, damping devices, and a case. The traveling and steering mechanism includes wheel side motors, wheels, and torque motors. The wheels are connected to respective upright posts of the platform through respective rigid independent suspensions. Each upright post is of sleeve structure and includes an upper sleeve and a lower sleeve. A corresponding damping device is connected between the upper sleeve and the lower sleeve. The wheel track and ground clearance adjustment devices are configured for adjusting the height of the case and the tracks between the wheels. The lower ends of the wheel track and ground clearance adjustment devices are rotatably connected to respective upright posts, and the upper ends are rotatably connected to the case.

First claim

What is claimed is:

1. A self-propelled platform for monitoring field crop phenotype, comprising:
a traveling and steering mechanism;
wheel track and ground clearance adjustment devices;
damping devices;
and a case;
wherein the traveling and steering mechanism comprises:
a plurality of wheel-side motors;
a plurality of wheels; and
a plurality of torque motors;

wherein the plurality of wheels are driven to travel through respective ones of the plurality of wheel-side motors and are driven to steer through respective ones of the plurality of torque motors;
wherein the plurality of wheels are respectively connected to respective upright posts of the self-propelled platform through respective suspensions being rigid independent;
wherein each of the respective upright posts is of sleeve structures, and comprises an upper sleeve and a lower sleeve, between which a corresponding one of the damping devices is connected;
wherein the wheel track and ground clearance adjustment devices are configured for adjusting a height of the case and tracks between the plurality of wheels; and
wherein lower ends of the wheel track and ground clearance adjustment devices are rotatably connected to the respective upright posts, and upper ends of the wheel track and ground clearance adjustment devices are rotatably connected to the case.

2. The self-propelled platform according to claim 1 , wherein output shafts of the plurality of wheel-side motors are connected to respective speed reducers; output shafts of the respective speed reducers are coaxial with rotating shafts of respective ones of the plurality of wheels; wherein the plurality of wheel-side motors rotate forward or reversely to drive respective ones of the plurality of wheels to rotate forward or reversely, so as to drive the self-propelled platform to move forward or backward.

3. The self-propelled platform according to claim 2 , wherein
a number of the plurality of wheel-side motors, a number of the respective speed reducers, a number of the plurality of wheels and a number of the plurality of torque motors are four;
the plurality of wheel-side motors and the speed reducers are all located on inner sides of respective ones of the plurality of the wheels;
the plurality of wheel-side motors are located above the respective speed reducers; and
the plurality of wheel-side motors transfers power to the rotating shafts of the respective ones of the plurality of wheels through the respective speed reducers.

4. The self-propelled platform according to claim 1 , wherein,
each of the respective upright posts comprises the upper sleeve and the lower sleeve; the upper sleeve is connected to the lower sleeve through a spring damping device for reducing an impact of pavement vibration on the self-propelled platform;
the upper sleeve is connected to a corresponding one of the wheel track and ground clearance adjustment devices through a corresponding one of first revolute joints;
a corresponding one of the plurality of torque motors is built in the lower sleeve;
a base of the corresponding one of the plurality of torque motors is fixedly connected to a bottom end of the lower sleeve;
an output shaft of the corresponding one of the plurality of torque motors and a corresponding one of the respective suspensions are connected by a spline and are limited by a clamp spring; and
the corresponding one of the plurality of torque motors rotates to drive a corresponding one of the plurality of wheels to rotate to realize steering.

5. The self-propelled platform according to claim 1 , wherein each of the wheel track and ground clearance adjustment devices is of a double-rocker arm structure; the double-rocker arm structure comprises an upper rocker arm and a lower rocker arm; the upper rocker arm is of trapezoidal structure; and the lower rocker arm is of triangular structure.

6. The self-propelled platform according to claim 5 , wherein two ends of each of the upper rocker arm and the lower rocker arm are respectively connected to the case and an upper part of a corresponding upright post through respective third revolute joints; and rotation axes of the upper rocker arm and the lower rocker arm are all parallel.

7. The self-propelled platform according to claim 5 , wherein
lifting lugs are welded at a top of each said lower rocker arm and side surfaces of the case;
two ends of each electric hydraulic rod are respectively connected to a lifting lug of the lifting lugs at a top of a corresponding one of said lower rocker arm and another lifting lug of the lifting lugs at a corresponding side surface of the case through fourth revolute joints;
gaps at joints of the lifting lugs and the each electric hydraulic rod are filled with rubber gaskets;
and an adjustment of the wheel track and the ground clearance is realized through extending and retracting of the each electric hydraulic rod.

8. The self-propelled platform according to claim 1 , wherein
the self-propelled platform strides in such a way that: one of four electric hydraulic rods is shortened, and other three electric hydraulic rods are locked; the shortened hydraulic rod drives a double-rocker arm structure to rotate and get closer to the case, so as to drive a corresponding one of the respective upright posts, a corresponding one of the respective suspensions, and a corresponding one of the plurality of wheels to move upwards;
the corresponding one of the plurality of wheels is lifted away from the ground, then, the torque motor rotates the corresponding one of the plurality of wheels by 90 degrees, and the shortened electric hydraulic rod extends to an original position, so that the corresponding one of the plurality of wheels is in contact with the ground;
finally, by a same method, other three wheels of the plurality of wheels are lifted away from the ground in sequence by respective electric hydraulic rods, and are placed on the ground after being adjusted by 90 degrees in a same direction;
after four wheels of the plurality of wheels all are rotated by 90 degrees, the four wheels are driven to move in a same direction through the plurality of wheel-side motors, so as to perform transverse striding movement; and
after the self-propelled platform strides to a required position, the electric hydraulic rods are shortened in sequence such that double-rocker arm structures drive the plurality of wheels to leave the ground, then the plurality of torque motors drive respective ones of the plurality of wheels to rotate back to original positions, and the electric hydraulic rods extend, and the plurality of wheels land, so that a striding action is completed.

9. The self-propelled platform according to claim 1 , wherein a wheel track of the self-propelled platform is adjusted in such a way that: four electric hydraulic rods are shortened in sequence, such that the double-rocker arm structures are converged in sequence to lift respective ones of the plurality of wheels away from the ground, the respective ones of the plurality of wheels are steered by 90 degrees by respective ones of the plurality of torque motors, and then the electric hydraulic rods extend to original lengths, so that the respective ones of the plurality of wheels land;
after the wheels all complete abovementioned action, the electric hydraulic rods are adjusted to extend and retract according to a required wheel track, so that the double-rocker arm structures drive respective ones of the plurality of wheels on two sides of the case to roll in opposite directions to adjust the wheel track; and after the wheel track is adjusted, the wheels are lifted away from the ground, are recovered to original positions, and land.

10. The self-propelled platf

Assignees

• Univ Nanjing Agricultural
• Shennong Smart Agriculture Res Institute Nanjing Co Ltd

Inventors

• Ni Jun
• Yuan Huali
• Cao Weixing
• Zhu Yan
• Jiang Xiaoping
• Yao Lili
• Pang Fangrong
• Li Donghang

Classifications

• A01B51/023 Primary

  of the Gantry-type · CPC title

• B60K7/0007

  the motor being electric · CPC title

• B62D5/0418

  Electric motor acting on road wheel carriers · CPC title

• B62D21/14

  of adjustable length or width · CPC title

• B60K2007/0038

  the motor moving together with the wheel axle · CPC title