阅读说明：本技术 一种无人机换电设备和无人机机巢 (Unmanned aerial vehicle trades electric equipment and unmanned aerial vehicle machine nest ) 是由 潘屹峰 杨骥 李勇 王汉桥 陈耿文 于 2020-03-31 设计创作，主要内容包括：本发明提供一种无人机换电设备,包括：机架、停机平台、电池仓、三轴移动平台和机械爪装置；所述停机平台、所述电池仓及所述三轴移动平台固定于机架上,所述机械爪装置设置于所述三轴移动平台上；所述三轴移动平台驱动所述机械爪装置分别移动至所述电池仓与所述停机平台,所述机械爪装置从所述电池仓或无人机中取出或放入无人机电池。本发明的无人机换电设备能够快速地对停机平台上的无人机进行更换电池的操作,不需要专业操作人员的干预,使得无人机使用门槛降低,提高了智能化程度,降低了人力物力的消耗,尤其适用在一些复杂环境下,降低了专业操作人员的工作风险。(The invention provides an unmanned aerial vehicle trades electric equipment, includes: the device comprises a rack, a shutdown platform, a battery bin, a three-axis moving platform and a mechanical claw device; the shutdown platform, the battery bin and the three-axis moving platform are fixed on a rack, and the mechanical claw device is arranged on the three-axis moving platform; the three-axis moving platform drives the mechanical claw device to move to the battery compartment and the shutdown platform respectively, and the mechanical claw device is taken out of the battery compartment or the unmanned aerial vehicle or an unmanned aerial vehicle battery is put in the battery compartment or the unmanned aerial vehicle. The unmanned aerial vehicle battery replacement equipment can rapidly replace the battery of the unmanned aerial vehicle on the shutdown platform without the intervention of professional operators, so that the use threshold of the unmanned aerial vehicle is reduced, the intelligent degree is improved, the consumption of manpower and material resources is reduced, and the unmanned aerial vehicle battery replacement equipment is particularly suitable for being used in some complex environments and reduces the working risk of the professional operators.)

1. The utility model provides an unmanned aerial vehicle trades electrical equipment which characterized in that includes: the device comprises a rack, a shutdown platform, a battery bin, a three-axis moving platform and a mechanical claw device;

the shutdown platform, the battery bin and the three-axis moving platform are fixed on a rack, and the mechanical claw device is arranged on the three-axis moving platform;

the three-axis mobile platform comprises a transverse guide rail, a sliding seat, a vertical guide rail, a mechanical arm, a longitudinal guide rail, a bearing seat and a power device, wherein the transverse guide rail is arranged on the rack and positioned on one side of the shutdown platform;

the mechanical claw device is arranged on the bearing seat;

the three-axis moving platform drives the mechanical claw device to move to the battery compartment and the shutdown platform respectively, and the mechanical claw device is taken out of the battery compartment or the unmanned aerial vehicle or an unmanned aerial vehicle battery is put in the battery compartment or the unmanned aerial vehicle.

2. The unmanned aerial vehicle trades electric equipment of claim 1, characterized in that: the transverse guide rail and the battery bin are respectively located on the adjacent sides of the shutdown platform, the shutdown platform is provided with a specified shutdown position, and two ends of the transverse guide rail respectively extend to the shutdown position and the battery bin.

3. The unmanned aerial vehicle trades electric equipment of claim 2, characterized in that: the battery taking-out opening of the battery compartment is right opposite to the transverse guide rail.

4. The unmanned aerial vehicle trades electric equipment of claim 1, characterized in that: the automatic shutdown device is characterized in that a support column is arranged on the rack, the battery bin is arranged on the support column, and the horizontal position of the bottom of the battery bin is higher than the top of the shutdown platform.

5. The unmanned aerial vehicle trades electric equipment of claim 4, characterized in that: the horizontal position of the transverse guide rail is lower than the bottom of the shutdown platform.

6. The unmanned aerial vehicle trades electric equipment of any one of claims 1 to 5, characterized in that: the mechanical claw device further comprises a clamping device and an unlocking device;

the clamping device comprises a fixed seat, two clamping arms and a driving module, wherein the fixed seat is arranged on the bearing seat, the middle of each clamping arm is hinged to the fixed seat, the two clamping arms are symmetrically arranged relative to the fixed seat, clamping parts are arranged at the front ends of the two clamping arms, the clamping parts extend out of the third sliding seat, and the driving module is arranged on the bearing seat and drives the clamping parts to open and close.

The unlocking device comprises a push rod seat, a push rod and a telescopic module, wherein the push rod seat is arranged on the fixed seat, the push rod is movably arranged on the push rod seat and is positioned between the two clamping arms, and the telescopic module is arranged on the bearing seat and drives the push rod to extend out of the bearing seat.

7. The unmanned aerial vehicle trades electric equipment of claim 6, characterized in that: the telescopic module comprises a driving motor, a rotating arm and a connecting rod, the motor is arranged on the bearing seat and is positioned on one side of the ejector rod seat, the rotating arm is in transmission connection with the output end of the motor, and two ends of the connecting rod are respectively hinged with the rotating arm and the ejector rod;

the rotation axis of the rotating arm is perpendicular to the axis of the ejector rod, and when the rotating arm rotates, the connecting rod drives the ejector rod to perform telescopic motion.

8. The unmanned aerial vehicle trades electric equipment of any one of claims 1 to 5, characterized in that: the battery compartment comprises a compartment body and a plurality of charging modules, wherein the compartment body is provided with a plurality of battery storage compartments for storing unmanned aerial vehicle batteries, and the plurality of charging modules are respectively arranged in the plurality of battery storage compartments.

9. The unmanned aerial vehicle trades electric equipment of claim 8, characterized in that: the battery storage cabin is provided with a battery fixing buckle, and the battery fixing buckle is arranged at a hatch of the battery storage cabin and protrudes out of the inner wall of the hatch of the battery storage cabin.

10. An unmanned aerial vehicle nest, comprising: an airfield cabin, a cabin door and the unmanned aerial vehicle battery replacement device as claimed in any one of claims 1 to 9, wherein the cabin door is disposed at a hatch of the airfield cabin, and the unmanned aerial vehicle battery replacement device is disposed in the airfield cabin.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle battery replacement device and an unmanned aerial vehicle nest.

Background

A drone is an unmanned aerial vehicle that is operated using a radio remote control device and a self-contained program control device. With the development of wireless communication technology, aerial remote sensing mapping technology, GPS navigation positioning technology and automatic control technology, the unmanned aerial vehicle develops rapidly and is widely applied to multiple fields such as infrastructure planning, line inspection, emergency response, topographic survey and the like.

During unmanned aerial vehicle development, because the validity problem of battery power, lead to duration to receive very big restriction, can't realize long distance flight and overlength standby flight, this just makes the timely change problem of unmanned aerial vehicle battery become for the first-line problem that relevant technical field needs faced. At present, batteries are manually disassembled to be replaced through a professional flyer manual mode, the batteries are manually inserted into a charger to be charged continuously, so that the unmanned aerial vehicle is high in use threshold due to the fact that the professional flyer is needed to intervene in the operation process, manpower and time cost are consumed in the mode, and unmanned and intelligent development of the unmanned aerial vehicle is not facilitated.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an unmanned aerial vehicle battery replacement device and an unmanned aerial vehicle nest.

One embodiment of the present invention provides an unmanned aerial vehicle battery replacement device, including: the device comprises a rack, a shutdown platform, a battery bin, a three-axis moving platform and a mechanical claw device;

the shutdown platform, the battery bin and the three-axis moving platform are fixed on a rack, and the mechanical claw device is arranged on the three-axis moving platform;

the three-axis mobile platform comprises a transverse guide rail, a sliding seat, a vertical guide rail, a mechanical arm, a longitudinal guide rail, a bearing seat and a power device, wherein the transverse guide rail is arranged on the rack and positioned on one side of the shutdown platform;

the mechanical claw device is arranged on the bearing seat;

the three-axis moving platform drives the mechanical claw device to move to the battery compartment and the shutdown platform respectively, and the mechanical claw device is taken out of the battery compartment or the unmanned aerial vehicle or an unmanned aerial vehicle battery is put in the battery compartment or the unmanned aerial vehicle.

Compared with the prior art, the unmanned aerial vehicle battery replacement equipment disclosed by the invention can be used for rapidly replacing the battery of the unmanned aerial vehicle on the shutdown platform without the intervention of professional operators, so that the use threshold of the unmanned aerial vehicle is reduced, the intelligent degree is improved, the consumption of manpower and material resources is reduced, and the unmanned aerial vehicle battery replacement equipment is especially suitable for being used in some complex environments and reduces the working risk of the professional operators.

Further, the transverse guide rail and the battery compartment are respectively located on the adjacent sides of the shutdown platform, the shutdown platform is provided with a specified shutdown position, and two ends of the transverse guide rail respectively extend to the shutdown position and the battery compartment. The battery replacement equipment is designed around the shutdown platform, so that the moving path of the mechanical arm is reduced, and the replacement speed is accelerated.

Further, the battery take-out port of the battery compartment is right opposite to the transverse guide rail. The battery removal opening of the battery compartment helps the robot arm to quickly remove the battery towards the transverse guide.

Furthermore, a support column is arranged on the rack, the battery bin is arranged on the support column, and the horizontal position of the bottom of the battery bin is higher than the top of the shutdown platform. Make and keep in a minizone between the horizontal position of battery compartment and unmanned aerial vehicle's the horizontal position, reduce the longitudinal movement of arm, reduce arm moving path for change speed.

Further, the horizontal position of the transverse guide rail is lower than the bottom of the shutdown platform. Because the horizontal position of the bottom of the battery compartment is higher than the top of the stopping platform, the transverse guide rail is abutted against the bottom of the stopping platform, so that the moving range of the mechanical claw device can cover the battery taking-out port of the whole battery compartment.

Further, the mechanical claw device also comprises a clamping device and an unlocking device;

the clamping device comprises a fixed seat, two clamping arms and a driving module, wherein the fixed seat is arranged on the bearing seat, the middle of each clamping arm is hinged to the fixed seat, the two clamping arms are symmetrically arranged relative to the fixed seat, clamping parts are arranged at the front ends of the two clamping arms, the clamping parts extend out of the third sliding seat, and the driving module is arranged on the bearing seat and drives the clamping parts to open and close.

The unlocking device comprises a push rod seat, a push rod and a telescopic module, wherein the push rod seat is arranged on the fixed seat, the push rod is movably arranged on the push rod seat and is positioned between the two clamping arms, and the telescopic module is arranged on the bearing seat and drives the push rod to extend out of the bearing seat. Can conveniently carry out the operation of battery unblock to specific unmanned aerial vehicle model through unlocking device, improve intelligent degree.

Furthermore, the telescopic module comprises a driving motor, a rotating arm and a connecting rod, the motor is arranged on the bearing seat and is positioned on one side of the ejector rod seat, the rotating arm is in transmission connection with the output end of the motor, and two ends of the connecting rod are respectively hinged with the rotating arm and the ejector rod;

the rotation axis of the rotating arm is perpendicular to the axis of the ejector rod, and when the rotating arm rotates, the connecting rod drives the ejector rod to perform telescopic motion. The ejector rod of the unlocking device is driven to perform unlocking operation more stably through the connecting rod.

Furthermore, the battery compartment comprises a compartment body and a plurality of charging modules, the compartment body is provided with a plurality of battery storage compartments for storing unmanned aerial vehicle batteries, and the plurality of charging modules are respectively arranged in the plurality of battery storage compartments. The battery that unmanned aerial vehicle can be changed the electric quantity enough in the very first time is guaranteed in a plurality of battery storage compartments.

Further, the battery storage cabin is provided with a battery fixing buckle, and the battery fixing buckle is arranged at the hatch of the battery storage cabin and protrudes out of the inner wall of the hatch of the battery storage cabin. The battery is stably maintained in the battery storage cabin through the battery fixing buckle, and the stable charging of the battery is guaranteed.

Compared with the prior art, the unmanned aerial vehicle battery replacement equipment can rapidly replace the battery of the unmanned aerial vehicle on the shutdown platform without the intervention of professional operators, so that the use threshold of the unmanned aerial vehicle is reduced, the intelligent degree is improved, the consumption of manpower and material resources is reduced, and the unmanned aerial vehicle battery replacement equipment is particularly suitable for being used in some complex environments and reduces the working risk of the professional operators; furthermore, the battery replacement equipment is designed around the shutdown platform, so that the moving path of the mechanical arm is reduced, and the replacement speed is accelerated; further, the battery removal port of the battery compartment is disposed toward the lateral guide rail to facilitate quick removal of the battery by the robot arm; furthermore, the horizontal position of the bottom of the battery bin is set to be higher than the top of the shutdown platform, so that the horizontal position of the battery bin and the horizontal position of the unmanned aerial vehicle are kept within a small range, the longitudinal movement of the mechanical arm is reduced, the moving path of the mechanical arm is reduced, and the replacement speed is accelerated; furthermore, as the horizontal position of the bottom of the battery compartment is higher than the top of the stopping platform, the transverse guide rail abuts against the bottom of the stopping platform, so that the moving range of the mechanical claw device can cover the whole battery taking-out port of the battery compartment; furthermore, the battery unlocking operation of a specific unmanned aerial vehicle model can be conveniently carried out through the unlocking device, so that the intelligent degree is improved; furthermore, the ejector rod of the unlocking device is more stably driven by the connecting rod to perform unlocking operation; furthermore, the unmanned aerial vehicle can be ensured to be replaced with a battery with sufficient electric quantity in the first time through the plurality of battery storage cabins; furthermore, the battery is stably maintained in the battery storage cabin through the battery fixing buckle, and the stable charging of the battery is ensured.

Another embodiment of the present invention provides an unmanned aerial vehicle nest, comprising: the unmanned aerial vehicle trades electrical equipment as above, the hatch door sets up the hatch of the aircraft cabin body, unmanned aerial vehicle trades electrical equipment and sets up in the aircraft cabin is internal.

In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle battery swapping device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a sliding seat and a mechanical arm of the unmanned aerial vehicle battery replacement device shown in fig. 1;

fig. 3 is a schematic structural diagram of a gripper device of the unmanned aerial vehicle battery replacement device shown in fig. 1;

fig. 4 is a schematic structural diagram of a battery compartment of the unmanned aerial vehicle battery replacement device shown in fig. 1.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Please refer to fig. 1, which is a schematic structural diagram of an unmanned aerial vehicle battery replacement device according to an embodiment of the present invention. This unmanned aerial vehicle trades electrical equipment includes: frame 10, shutdown platform 20, battery compartment 30, triaxial moving platform and gripper device 50.

Please refer to fig. 2 in conjunction with fig. 1, which is a schematic structural diagram of a sliding seat and a mechanical arm of the unmanned aerial vehicle battery replacement device shown in fig. 1. The parking platform 20, the battery compartment 30 reaches the triaxial moving platform is fixed in on the frame 10, the triaxial moving platform includes transverse guide 41, sliding seat 42, vertical guide 43, arm 44, longitudinal rail 45, bears seat 46 and power device 47, transverse guide 41 sets up in the frame 10 and is located one side of parking platform 20, sliding seat 42 slidable mounting in transverse guide 41, vertical guide 43 set up in sliding seat 42 one side, arm 44 slidable mounting in vertical guide 43, set up along longitudinal extension, longitudinal rail 45 set up in on the arm 44, bear seat 46 slidable mounting in longitudinal rail 45, power device 47 drives respectively sliding seat 42, arm 44 with bear the seat 46 and slide. In this embodiment, the power device 47 includes three servo motors, the three servo motors are respectively disposed on the rack 10, the sliding seat 42 and the mechanical arm 44, the three servo motors respectively drive the sliding seat 42, the mechanical arm 44 and the bearing seat 46 to move on the transverse guide rail 41, the vertical guide rail 43 and the longitudinal guide rail 45, of course, the specific structure of the power device 47 can be designed according to actual needs, for example, the power device 47 can be a screw rod driving module, a rotary motor translation driving module 515, a belt translation module, an air cylinder translation driving module or a linear motor translation driving module, etc.

In some embodiments, the cross rail 41 and the battery compartment 30 are located on adjacent sides of the parking platform 20, the parking platform 20 is provided with a designated parking position 21, two ends of the cross rail 41 extend to the parking position 21 and the battery compartment 30, respectively, in this embodiment, the parking platform 20 is a rectangular platform, and the cross rail 41 is parallel to one side of the parking platform 20.

The gripper device 50 is arranged on the bearing seat 46 of the three-axis moving platform, the three-axis moving platform drives the gripper device 50 to move to the battery compartment 30 and the shutdown platform 20 respectively, and the gripper device 50 is taken out of the battery compartment 30 or the unmanned aerial vehicle or put in an unmanned aerial vehicle battery. It should be noted that, in order to avoid the unmanned aerial vehicle moving when changing the battery, the shutdown platform 20 may be further provided with a device for fixing the unmanned aerial vehicle.

In some embodiments, the battery removal opening of the battery compartment 30 is aligned with the transverse rail 41 and the gripper moves along the longitudinal rail 45 of the robotic arm 44. in this embodiment, the battery removal opening of the battery compartment 30 aligned with the transverse rail 41 is aligned with the end of the robotic arm 44, and the gripper device 50 moves to the end of the robotic arm 44 and then picks up the battery from the battery removal opening of the battery compartment 30.

In some embodiments, be provided with support column 11 in the frame 10, battery compartment 30 sets up on the support column 11, the horizontal position of battery compartment 30 bottom is higher than the top of shutting down platform 20, because of battery take-out mouth of battery compartment 30 and the horizontal position difference of the unmanned aerial vehicle on the shutting down platform 20 are in a small range, has reduced the removal stroke of arm 44 in the vertical direction, especially when battery take-out mouth of battery compartment 30 and the unmanned aerial vehicle on the shutting down platform 20 are parallel and level on the horizontal position, arm 44 can not drive the gripper and carry out the change operation of battery in the vertical direction with removing. In this embodiment, the cross rails 41 should be below the horizontal position of the battery compartment 30 and the parking platform 20 so that the adjustable position of the gripper encompasses the position of the parking platform 20 as well as the position of the battery compartment 30, and therefore, preferably, the horizontal position of the cross rails 41 should be below the bottom of the parking platform 20. Of course, in other embodiments, the transverse guide rail 41 may be located at other positions, for example, the horizontal position of the transverse guide rail 41 is higher than the horizontal position of the parking platform 20, the vertical guide rail 43 on the sliding seat 42 should extend downward to the extent of abutting against the horizontal position of the parking platform 20, and the position design and the mutual angle of the transverse guide rail 41, the sliding vertical guide rail 43 and the longitudinal guide rail 45 may be designed according to the actual situation, and the principle is the same as that described above, and will not be described herein again.

Please refer to fig. 3, which is a schematic structural diagram of a gripper device of the unmanned aerial vehicle battery replacement device shown in fig. 1. Additionally, in some embodiments, the gripper device 50 further comprises a gripping device and an unlocking device; clamping device includes fixing base 511, two clamping arms 512 and drive module 515, fixing base 511 set up in bear seat 46, two the middle part of clamping arm 512 with fixing base 511 is articulated, two clamping arm 512 for fixing base 511 symmetrical arrangement, two the front end of clamping arm 512 is provided with the clamping part, the clamping part to third sliding seat 42 stretches out outward, drive module 515 set up in bear seat 46, its drive the clamping part opens and shuts. The unlocking device comprises a top rod seat 521, a top rod 522 and a telescopic module, wherein the top rod seat 521 is arranged on the fixed seat 511, the top rod 522 is movably arranged on the top rod seat 521 and is positioned between the two clamping arms 512, and the telescopic module is arranged on the bearing seat 46 and drives the top rod 522 to extend out of the bearing seat 46. This unlocking device can carry out battery unlocking operation to specific unmanned aerial vehicle, for example RTK eidolon 4 model unmanned aerial vehicle.

In some embodiments, the telescopic module includes a driving motor 523, a rotating arm 524, and a connecting rod 525, the motor is disposed on the bearing seat 46 and located at one side of the ejector rod seat 521, the rotating arm 524 is in transmission connection with an output end of the motor, and two ends of the connecting rod 525 are respectively hinged to the rotating arm 524 and the ejector rod 522; the rotation axis of the rotating arm 524 is perpendicular to the axis of the top rod 522, and when the rotating arm 524 rotates, the connecting rod 525 drives the top rod 522 to perform telescopic motion.

In this embodiment, a slide rail is further disposed on the bearing seat 46, the clamping device includes a fixed seat 511, two clamping arms 512, a sliding block 513, two connecting rods 514, and a driving module 515, the fixed seat 511 is disposed on the bearing seat 46, the middle portions of the two clamping arms 512 are hinged to the fixed seat 511, the two clamping arms 512 are symmetrically disposed with respect to the fixed seat 511, the front ends of the two clamping arms 512 are provided with clamping portions, the clamping portions extend out of the bearing seat 46, the sliding block 513 is slidably disposed on the slide rail, one end of each of the two connecting rods 514 is hinged to the sliding block 513, the other end of each of the two connecting rods 514 is hinged to the rear end of the corresponding clamping arm 512, and the driving module 515 is disposed on the bearing seat 46 and drives the sliding block 513 to slide; along with the sliding of the sliding block 513, the two connecting rods 514 drive the clamping portions of the two clamping arms 512 to open and close, and certainly, there are many devices for driving the two clamping arms 512 to rotate so as to open and close the clamping portions, for example, a gear mechanism and the like drive the clamping arms 512 to rotate, and there are various structures for realizing the clamping function of the existing gripper, which is not described herein again.

Since the gripper device is designed according to the actual battery configuration and the configuration of the battery outlet of the battery compartment 30, the gripper device 50 is not necessarily the same as the gripper, but is described only for the purpose of enabling gripping of the battery, and the gripper device 50 may be a vacuum chuck gripper device or a magnet gripper device. The vacuum chuck grabbing device is used for sucking the battery of the unmanned aerial vehicle through a vacuum chuck, when the battery of the unmanned aerial vehicle is grabbed, the cylinder communicated with the vacuum chuck starts to work, so that the vacuum chuck is vacuumized, and when the battery of the unmanned aerial vehicle is put down, the cylinder communicated with the vacuum chuck stops working, so that the vacuum chuck is inflated; magnet grabbing device removes the iron spare on attracting unmanned aerial vehicle's the battery through the electro-magnet promptly, when magnet grabbing mechanism snatchs unmanned aerial vehicle's battery, the electro-magnet circular telegram, when magnet grabbing mechanism put down unmanned aerial vehicle's battery, the electro-magnet outage.

Please refer to fig. 4, which is a schematic structural diagram of a battery compartment of the unmanned aerial vehicle battery replacement device shown in fig. 1. The specific structure of the battery compartment 30 may be designed according to different needs, in some embodiments, the battery compartment 30 includes a compartment body 31 and a plurality of charging modules, the compartment body 31 is provided with a plurality of battery storage compartments 32 for storing batteries of the unmanned aerial vehicle, and the plurality of charging modules are respectively disposed in the plurality of battery storage compartments 32.

In some embodiments, the battery storage compartment 32 is provided with a battery fixing buckle 33, the battery fixing buckle 33 is disposed at a hatch opening of the battery storage compartment 32, and protrudes from an inner wall of the hatch opening of the battery storage compartment 32, in this embodiment, the battery storage compartment 32 has two battery fixing buckles 33, and the two battery fixing buckles 33 are symmetrically disposed at the hatch opening of the battery storage compartment 32.

Foretell unmanned aerial vehicle trades electric equipment and can be used in unmanned aerial vehicle machine nest, this unmanned aerial vehicle machine nest includes: the unmanned aerial vehicle trades electrical equipment as above, the hatch door sets up the hatch of the aircraft cabin body, unmanned aerial vehicle trades electrical equipment and sets up in the aircraft cabin is internal.

Compared with the prior art, the unmanned aerial vehicle battery replacing equipment can accurately position the battery position of the unmanned aerial vehicle, automatically takes out the used battery through the mechanical arm 44, automatically inserts the fully charged battery, realizes automatic battery replacement, does not need the intervention of professional operators, reduces the use threshold of the unmanned aerial vehicle, improves the intelligent degree, reduces the consumption of manpower and material resources, and is particularly suitable for being used in some complex environments, and reduces the working risk of the professional operators.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.