CN114394167B - Unmanned cruiser of adaptable stair and different topography - Google Patents
Unmanned cruiser of adaptable stair and different topography Download PDFInfo
- Publication number
- CN114394167B CN114394167B CN202111668833.1A CN202111668833A CN114394167B CN 114394167 B CN114394167 B CN 114394167B CN 202111668833 A CN202111668833 A CN 202111668833A CN 114394167 B CN114394167 B CN 114394167B
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- transfer
- main frame
- push
- assembly
- translation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
Abstract
The invention relates to the field of unmanned vehicles, and discloses an unmanned patrol vehicle suitable for stairs and different terrains, which comprises at least two groups of transplanting assemblies, wherein each transplanting assembly comprises: the advancing and retreating transfer is used for driving the transfer component to advance and retreat; the translation shifting is used for driving the shifting assembly to translate; the main frame is used for connecting advancing and retreating transfer and translation transfer, the main frame is connected with a telescopic assembly, the translation transfer is connected with the telescopic assembly, when the advancing and retreating transfer drives the patrol car to advance and retreat, the telescopic assembly is in a retraction state, the advancing and retreating transfer is abutted against the ground, and the translation transfer is in a separation state with the ground; when the cruiser translation is ordered about to need, flexible subassembly is the state of stretching out, orders about the translation and moves and carry and ground butt, and orders about to advance and retreat and carry and push away from ground, moves the body frame that carries the subassembly and adjacent body frame pin joint that carries the subassembly and sets up, and both pin joint departments are connected with rotary actuator, and rotary actuator can order about to carry the subassembly and adjacent move and carry the subassembly relative rotation.
Description
Technical Field
The invention relates to the field of unmanned vehicles, in particular to an unmanned patrol vehicle capable of adapting to stairs and different terrains.
Background
Along with automatic popularization, can be provided with unmanned patrol car in some places such as some scientific and technological gardens, can form certain protection strength to some these places through unmanned patrol car, unmanned patrol has also reduced the risk that receives danger when the people patrol, still can replace artifical patrol through unmanned patrol car.
The patrol types on the market are more at present, the current common number is CN201930489151.1, and the intelligent security patrol car is related to an intelligent security patrol car, the chassis of the patrol car adopts a carrying chassis the same as that of the car, the steering chassis of the car can be limited by road conditions, the patrol car can only run on common roads, and under narrow road conditions, the patrol car on the chassis can not turn around the road conditions and can not adapt to different terrains.
Disclosure of Invention
Aiming at the defect that the unmanned patrol car in the prior art cannot pass through a narrow road section, the invention provides the unmanned patrol car which can adapt to stairs and different terrains.
In order to solve the technical problem, the invention is solved by the following technical scheme: the utility model provides an unmanned cruiser of adaptable stair and different topography, includes that at least two sets of move and carry the subassembly, transplants the subassembly and includes: the advancing and retreating transfer is used for driving the transfer component to advance and retreat; the translation shifting is used for driving the shifting assembly to translate; the main frame is used for connecting advancing and retreating transfer and translation transfer, the main frame is connected with a telescopic assembly, the translation transfer is connected with the telescopic assembly, when the advancing and retreating transfer drives the patrol car to advance and retreat, the telescopic assembly is in a retraction state, the advancing and retreating transfer is abutted against the ground, and the translation transfer is in a separation state with the ground; when the cruiser translation is ordered about to needs, flexible subassembly is the state of stretching out, orders about the translation and moves and carry and ground butt, and orders about to advance and retreat and carry and leave ground, moves the body frame that carries the subassembly and the adjacent body frame pin joint that carries the subassembly and sets up, and both pin joints department are connected with the rotary actuator, and the rotary actuator can order about to carry and carry the subassembly and adjacent move and carry the subassembly relative rotation.
The shift assembly comprises an advance and retreat shift assembly and a translation shift assembly, the advance and retreat shift assembly and the translation shift assembly can respectively drive the cruiser to move forwards and backwards and the cruiser to move in parallel, the two shift assemblies ensure that the cruiser can move in four directions, in order to drive only one of the advance and retreat shift assembly to contact the ground, the telescopic assembly is arranged on the main frame and can drive the translation shift assembly to extend or retract, the advance and retreat shift assembly can be abutted against the ground in an undriven state of the telescopic shift assembly and can drive the cruiser to move forwards or backwards, when the telescopic assembly drives the translation assembly to extend, the translation assembly can be driven to abut against the ground and drive the advance and retreat shift assembly to be separated from the ground, so that the shift assembly can drive the cruiser to move in a translation mode, the shift assembly can be driven to rotate at a certain angle on the moving assembly through a rotary driver, and the shift assembly can be suitable for different terrains.
Preferably, the forward and backward transfer includes a first driving wheel and a first driver for driving the first driving wheel to rotate, each transfer unit is provided with at least two sets or more of forward and backward transfer, and the main frame is provided with at least one set of forward and backward transfer on both sides.
By adopting the scheme, two or more sets of advancing and retreating transfer ways are arranged on each transfer way, and the patrol car can be driven to turn or turn around by controlling the different speeds or steering of the two sets of transfer ways.
As the preferred, flexible subassembly includes pivot pole, sliding connection in the push-and-pull piece of body frame and orders about the third driver that push-and-pull piece slided along the body frame, and the pivot pole moves simultaneously and carries with the translation and carry with the body frame pin joint, and the pivot pole is provided with two at least and equal parallel arrangement, and push-and-pull piece just moves the pin joint with the translation, and the third driver orders about push-and-pull piece when the body frame slides, and the translation moves and carries and be kept away from or be close to the state with the body frame.
By adopting the scheme, the third driver is matched with the pivot joint piece to complete the movement of the translation transfer.
Preferably, the push-pull member comprises a push-pull seat and a push-pull rod, the main frame is provided with a sliding hole for sliding of the push-pull seat along the length direction, and two ends of the push-pull rod are respectively pivoted with the push-pull seat and the translation shifting.
By adopting the scheme, the push-pull piece comprises the push-pull seat and the push-pull rod, and the limit and guide effects can be ensured during pushing and pulling.
Preferably, the push-pull rod comprises a sleeve body and a rod body connected in the sleeve body in a sliding mode, the rod body and the sleeve body are respectively pivoted with the push-pull seat and the translation shifting device, the rod body is sleeved with a damping spring, and the damping spring can drive the rod body to move in the direction away from the sleeve body all the time.
Adopt above-mentioned scheme, when the translation subassembly lands to travel, when touchhing the hollow topography, can form effectual shock attenuation to the body frame through damping spring.
Preferably, the transfer unit and the adjacent transfer unit are connected by a pivot, the pivot is provided with two rotary drivers, and the adjacent transfer units can be rotated relative to the pivot by the rotary drivers.
By adopting the scheme, the two rotary drivers can respectively drive the two transfer components to rotate relatively, and the rotating angle between the transfer components is effectively increased through the pivot parts.
Preferably, the pivot joint is convexly provided with a limit positioning section, and when the transferring component rotates to the limit position, the transferring component is abutted against the limit positioning section.
By adopting the scheme, the limit positioning section has the function of limiting the excessive rotation of the transfer assembly, so that the limiting function is achieved.
Preferably, the patrol car further comprises a cabin, at least two groups of shifting assemblies are connected to one side or two opposite sides of the airport, and the cabin is connected with a power supply assembly, a sensing assembly and a control assembly for supplying power.
By adopting the scheme, the stable type can be increased by respectively arranging at least two groups of shifting assemblies at two sides of the cabin, and the shifting mechanism can also adapt to different routes.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that: the shift assembly includes one shift driving assembly for driving the shift car to move forwards and backwards and one shift driving assembly for driving the shift car to move parallelly, and the shift driving assembly can drive the shift car to move forwards and backwards.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an unmanned patrol car capable of adapting to stairs and different terrains in the embodiment;
FIG. 2 is a schematic structural view of a single transfer unit in the embodiment;
FIG. 3 is an exploded view of a single transfer assembly in an embodiment, partially assembled;
FIG. 4 is a schematic view of an embodiment of a single transfer assembly extendable and retractable assembly driven translational transfer;
FIG. 5 is a schematic view of an embodiment of a single telescopic element of the transfer unit not actuated to translate, transfer, and extend;
fig. 6 is a schematic structural diagram of a transfer assembly in the unmanned cruiser rotating by a certain angle in the embodiment;
fig. 7 is a schematic structural diagram illustrating a structure in which the transfer components on both sides of the unmanned patrol car rotate by a certain angle in the embodiment.
The names of the parts indicated by the numerical references in the above figures are as follows: (ii) a 1. A nacelle; 2. a transfer component; 3. a sensing component; 4. a main frame; 5. advancing and retreating and transferring; 6. carrying out translation transfer; 7. a first drive wheel; 8. a first driver; 9. a carrier moving frame; 10. a second drive wheel; 11. a second driver; 12. a driven wheel; 13. a crawler; 14. a pivoting lever; 15. a third driver; 16. a sliding hole; 17. a push-pull seat; 18. a push-pull rod; 19. a sleeve body; 20. a rod body; 21. a damping spring; 22. a pivot member; 23. a pivot shaft; 24. a rotary driver; 25. an extreme positioning section; 26. limiting long holes; 27. a guide post; 28. and an auxiliary support wheel.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
Example (b):
an unmanned patrol car adaptable to stairs and different terrains is disclosed, and referring to fig. 1, the patrol car comprises a cabin 1 and a transfer component 2 located on the side face of the cabin 1, in this embodiment, at least two sets of transfer components 2 are arranged on two opposite side faces of the cabin 1, but not, at least two sets of transfer components 2 can be arranged on one side of the cabin 1, a control component for controlling the unmanned patrol car to move and a power supply component for controlling the components and the transfer components 2 to supply power are arranged in the cabin 1, a sensing component 3 for detecting whether a terrain or an object is close to is arranged on the outer side of the cabin 1, the sensing component 3 can adopt a camera, a millimeter wave radar, a laser radar, ultrasonic waves and the like, the control component can process information such as images and distances transmitted by the sensing component 3, and drives the unmanned patrol car to move by controlling the transfer component 2, and the sensing component 3 and the control component are both the prior art and are not repeated herein.
Referring to fig. 1, the transfer unit 2 includes a main frame 4, a forward/backward transfer unit 5, and a transfer unit 6, when a plurality of transfer units 2 are provided, the main frame 4 of the transfer unit 2 and the main frame 4 of the adjacent transfer unit 2 are pivotally connected by a pivot member 22, and when more than two transfer units 2 are provided, the transfer units 2 are sequentially connected, in this embodiment, three transfer units 2 are sequentially connected to two opposite side surfaces of the nacelle 1, but the present invention is not limited to three transfer units 2, and two or more transfer units 2 may be used.
Referring to fig. 2, the main frame 4 is in a long strip shape, each transferring assembly 2 is at least provided with two or more transferring assemblies 2, and two sides of the main frame 4 are at least provided with one set of advancing and retreating transferring 5, in this embodiment, two sides of each main frame 4 are respectively provided with one set of advancing and retreating transferring 5, but two ends of the main frame 4 are not limited to be respectively provided with one set, two or more sets of advancing and retreating transferring 5 can be respectively arranged at two ends of the main frame 4, the advancing and retreating transferring 5 comprises a first driving wheel 7 and a first driver 8 driving the first driving wheel 7 to rotate, the first driver 8 is in threaded connection with the main frame 4 through a screw, the first driver 8 adopts a stepping motor, the first driver 8 can drive the first driving wheel 7 to rotate forward or backward, when the unmanned patrol vehicle needs to turn or turn, the patrol vehicle can turn or turn by controlling the first drivers 8 at two ends of the main frame 4 to form a rotational speed difference through a control assembly, or controlling the first drivers 8 at two ends of the main frame 4 to rotate in opposite directions.
Referring to fig. 2 and 3, the translational transfer 6 includes a transfer frame 9, a second driving wheel 10 rotatably connected to the transfer frame 9, and a second driver 11 for driving the second driving wheel 10 to rotate, the second driver 11 is screwed to the transfer frame 9 through a screw, a driven wheel 12 is further rotatably connected to the transfer frame 9, a caterpillar 13 is simultaneously sleeved on the second driving wheel 10 and the driven wheel 12, the caterpillar 13 is made of rubber, when the second driver 11 drives the second driving wheel 10 to rotate, the second driving wheel 10 drives the caterpillar 13 and the driven wheel 12 to rotate synchronously, an auxiliary supporting wheel 28 is rotatably connected to the transfer frame 9, the auxiliary supporting wheel 28 abuts against the inner side of the caterpillar 13 facing the ground, and a straight line connecting centers of the second driving wheel 10 and the driven wheel 12 is parallel to the length direction of the main frame 4.
Referring to fig. 2 and 3, the main frame 4 is connected to a telescopic assembly connected to the translational transfer rack 6, the telescopic assembly includes a pivoting rod 14, a push-pull member slidably connected to the main frame 4, and a third driver 15 for driving the push-pull member to move, the pivoting rod 14 is provided with at least two pivoting rods 14, all the pivoting rods 14 are arranged in parallel, in this embodiment, four pivoting rods 14 are provided at two sides of the transfer rack, two pivoting rods 14 are respectively pivotally connected to two sides of the transfer rack, one end of the pivoting rod 14 away from the transfer rack 9 is pivotally connected to the main frame 4, the pivoting rod 14 is parallel to the pivoting rod 14, so that the translational transfer rack 6 moves in parallel when moving away from or close to the main frame 4, a long sliding hole 16 is formed in the middle portion of the main frame 4 along the length direction, the push-pull member includes a push-pull seat 17 and a push-pull rod 18, the push-pull seat 17 is pivotally connected to two shafts, both of which are located in the sliding hole 16, the push-pull seat 17 can be slidably arranged along the length direction of the sliding hole 16 through the two shafts, two ends of a push-pull rod 18 are respectively pivoted with a push-pull seat 17 and a transfer rack 9, a third driver 15 adopts an oil cylinder, but the third driver 15 adopts the oil cylinder, and can also adopt standard components which can be linearly moved, such as an air cylinder, a linear module or an electric push rod, and the like, a piston rod of the third driver 15 drives the push-pull seat 17 to move along the length direction of a sliding hole 16, in combination with a graph 5, when the push-pull seat 17 moves towards the direction of the translational transfer 6, the moving direction of the translational transfer 6 is communicated with the moving direction of the push-pull seat 17, the push-pull seat 17 is connected with a main rack 4 through a pivoting rod 14, in the moving process of the push-pull seat 17, the translational transfer 6 is far away from the main rack 4 in the form of a component, in combination with a graph 5, when the piston rod of the third driver 15 is reset, the translational transfer 6 is also synchronously reset, the translational transfer 6 moves towards the main rack 4 again, in the moving process of the translational transfer 6, the translational transfer 6 is always parallel to the main frame 4 in the longitudinal direction, and when the pivot lever 14 is perpendicular to the main frame 4, the translational transfer 6 is farthest from the main frame 4.
When the unmanned patrol car normally advances or retreats, the advancing and retreating transfer 5 is in contact with the ground, the advancing and retreating transfer 5 drives the patrol car to advance or retreat, the telescopic component does not extend to be in a retraction state, the translation transfer 6 is not in contact with the ground to be in a separation state, when the unmanned patrol car needs to translate due to the fact that the unmanned patrol car is in contact with an obstacle and the like, the telescopic component is in an extension state, the telescopic component drives the translation transfer 6 to move in a direction away from the main frame 4, the translation transfer 6 is driven to abut against the ground, the advancing and retreating transfer 5 is driven to be lifted off the ground by the translation transfer 6, abutting of the translation transfer 6 against the ground is completed, and the advancing and retreating transfer 5 is driven to be separated from the ground, the length of the central connecting rod 14 is 1.5-2 times of the radius of the first driving wheel 7, and the first driving wheel 7 can be separated from the ground when the central connecting rod 14 is perpendicular to or close to perpendicular to the main frame 4.
Referring to fig. 3, the push-pull rod 18 includes a sleeve 19 and a rod 20 slidably connected in the sleeve 19, the surface of the rod 20 has a step shape including a large diameter and a small diameter, the sleeve 19 is pivotally connected to the transfer frame 9 of the translational transfer frame 6, one end of the large diameter of the rod 20 is pivotally connected to the push-pull base 17, the small diameter of the rod 20 is slidably connected in the sleeve 19, the sleeve 19 is provided with a long-strip-shaped limit long hole 26 along the length direction, the rod 20 is connected to a guide pillar 27 in a snap-fit manner, the guide pillar 27 is slidably connected in the limit long hole 26, the outer part of the small diameter of the rod 20 located outside the sleeve 19 is provided with a damping spring 21, one end of the damping spring 21 abuts against a step surface formed by the difference between the diameters of the large diameter and the small diameter of the rod 20, the other end abuts against the sleeve 19, the damping spring 21 drives one end of the large diameter of the rod 20 to move in a direction away from the sleeve 19 all the time, and thus the unmanned patrol car can achieve a certain damping effect through the damping spring 21 in the moving process.
Referring to fig. 1 and 2, the transferring assembly 2 and the adjacent transferring assemblies 2 are pivotally connected by a pivot joint 22, each pivot joint 22 is pivotally connected with two pivot shafts 23, the two pivot shafts 23 are respectively pivotally connected with the main frames 4 of the two adjacent transferring assemblies 2, the pivot shafts 23 are provided with key slots, the pivot shafts 23 are connected with the main frames 4 through key connections, the pivot shafts 23 are rotatably connected with the pivot joint 22, the pivot joint 22 is connected with two rotary drivers 24 through screws and threads, the two rotary drivers 24 are respectively connected with the two pivot shafts 23, the rotary drivers 24 can drive the pivot shafts 23 to rotate, when the pivot shafts 23 rotate, the main frames 4 of the transferring assemblies 2 and the pivot joints 22 can be driven to rotate relatively, and as the two rotary drivers 24 on the pivot joint 22 can rotate respectively, the adjacent transferring assemblies 2 can be driven to rotate relative to the pivot joints 22 at different speeds or different directions by the respective rotary drivers 24, so as to adapt to different scenes, and the transferring assemblies 2 and the adjacent transferring assemblies 2 can be driven to form different angles.
Referring to fig. 2, the pivot member 22 is convexly provided with a limit positioning section 25, when the transferring assembly 2 rotates to a limit position relative to the pivot member 22, the transferring assembly 2 abuts against the limit positioning section 25, and since the rotating driver 24 can rotate forward and backward, the limit positioning sections 25 are disposed on both sides of the pivot member 22.
Referring to fig. 6 and 7, the transfer module 2 and the adjacent transfer module 2 can be driven to form different angles by the rotary driver 24, three sets of transfer modules 2 are respectively arranged on two sides of the nacelle 1, the six sets of transfer modules 2 are matched with the rotary driver 24, the first driving wheels 7 of the six sets of transfer modules 2 can be respectively attached to the plane and the vertical plane of the stairs, the angles of the adjacent transfer modules 2 are adjusted by matching the rotary driver 24, so that the stairs with different widths can be adapted to, the front-back and left-right combined movement of the unmanned patrol car can be realized by the translation transfer module 6 and the advancing and retreating transfer module 5, if the unmanned patrol car meets a slope, the foremost transfer module 2 is matched with the rotary driver 24 to drive the foremost transfer module 2 to rotate for a certain angle, the first driving wheels 7 of the foremost transfer module 2 are attached to the slope surface to effectively increase the friction force, so that the unmanned patrol car can smoothly advance, and when the special terrain is met, only the foremost transfer modules 2 and the rearmost transfer modules 2 are driven to contact the ground by the rotary driver 24, and the transfer modules 6 can also pass through the translation transfer 6 of the obstacle transfer module 2.
Claims (6)
1. The utility model provides an unmanned cruiser of adaptable stair and different topography which characterized in that includes that at least two sets of move and carry subassembly (2), moves and carries the subassembly and include: advancing and retreating transfer (5) for driving the transfer component (2) to advance and retreat; the translation shifting (6) is used for driving the shifting component (2) to translate; the main frame (4) is used for connecting the advancing and retreating transfer seat (5) and the translating transfer seat (6), the main frame (4) is connected with a telescopic assembly, the translating transfer seat (6) is connected with the telescopic assembly, when the advancing and retreating transfer seat (5) drives the cruiser to advance and retreat, the telescopic assembly is in a retraction state, the advancing and retreating transfer seat (5) is abutted to the ground, the translating transfer seat (6) is in a separation state with the ground, the telescopic assembly comprises a pivoting rod (14), a push-pull piece and a third driver (15), the push-pull piece is connected to the main frame (4) in a sliding mode, the third driver (15) drives the push-pull piece to slide along the main frame (4), the pivoting rod (14) is simultaneously pivoted with the translating transfer seat (6) and the main frame (4), the pivoting rod (14) is at least provided with two pieces which are arranged in parallel, the push-pull piece is pivoted with the translating transfer seat (6), when the third driver (15) drives the push-pull piece to slide along the main frame (4), the main frame (6) is in a sliding mode, the translating transfer seat (6) is far away from or close to the main frame (4), the push-pull piece comprises a push-pull seat (17) and a push-pull rod (18), the push-pull seat (17) and pull seat (17) are pivoted with the main frame (18), the sliding transfer seat, two ends of the main frame (4) are respectively provided with the sliding transfer seat (17), and the sliding holes (17), and the sliding transfer seat (17) respectively; when the cruiser translation is required to be driven, the telescopic assembly is in an extending state, the translation is driven to move and is carried (6) to be abutted to the ground, the advancing and retreating moving and carrying (5) is driven to be ejected from the ground, the main frame (4) of the moving and carrying assembly (2) and the main frame (4) of the adjacent moving and carrying assembly (2) are in pivot joint arrangement, the pivot joint positions of the main frame (4) and the adjacent main frame (4) are connected with a rotary driver (24), and the rotary driver (24) can drive the moving and carrying assembly (2) to rotate relative to the adjacent moving and carrying assembly (2).
2. An unmanned patrol car suitable for stairs and different terrains according to claim 1, wherein the forward and backward moving transfer (5) comprises a first driving wheel (7) and a first driver (8) for driving the first driving wheel (7) to rotate, at least two sets of forward and backward moving transfer (5) are arranged on each transfer assembly (2), and at least one set of forward and backward moving transfer (5) is arranged on both sides of the main frame (4).
3. An unmanned patrol car suitable for stairs and different terrains according to claim 1, wherein the push-pull rod (18) comprises a sleeve body (19) and a rod body (20) slidably connected in the sleeve body (19), the rod body (20) and the sleeve body (19) are respectively pivoted with the push-pull seat (17) and the translation load-carrying body (6), the rod body (20) is sleeved with a damping spring (21), and the damping spring (21) can drive the rod body (20) to move in a direction away from the sleeve body (19) all the time.
4. An unmanned patrol vehicle adapted to stairs and different terrains according to claim 1, wherein the transferring unit (2) and the adjacent transferring unit (2) are connected by a pivot (22), the pivot (22) being provided with two rotary actuators (24), and the adjacent transferring units (2) being rotatable relative to the pivot (22) by means of the rotary actuators (24).
5. An unmanned patrol car for accommodating stairs and different terrains according to claim 4, wherein the pivot member (22) is convexly provided with a limit positioning section (25), and when the transfer assembly (2) rotates to the limit position, the transfer assembly (2) is abutted with the limit positioning section (25).
6. An unmanned patrol car suitable for stairs and different terrains according to claim 1, wherein the patrol car further comprises a cabin (1), at least two groups of shifting components (2) are connected to one side or two opposite sides of an airport, and a power supply component, a sensing component (3) and a control component for supplying power are connected to the cabin (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111668833.1A CN114394167B (en) | 2021-12-31 | 2021-12-31 | Unmanned cruiser of adaptable stair and different topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111668833.1A CN114394167B (en) | 2021-12-31 | 2021-12-31 | Unmanned cruiser of adaptable stair and different topography |
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| CN114394167A CN114394167A (en) | 2022-04-26 |
| CN114394167B true CN114394167B (en) | 2023-04-14 |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
| KR100780811B1 (en) * | 2006-12-19 | 2007-11-30 | 동일파텍주식회사 | A stair stepping type of caterpillar having an auxiliary caterpillar track |
| US20110040427A1 (en) * | 2007-10-31 | 2011-02-17 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| CN101913386B (en) * | 2010-08-27 | 2011-08-31 | 上海交通大学 | Mobile transport platform for complex environment |
| US9004200B2 (en) * | 2011-09-09 | 2015-04-14 | Pinhas Ben-Tzvi | Mobile robot with hybrid traction and mobility mechanism |
| KR20130130405A (en) * | 2012-05-22 | 2013-12-02 | 영남대학교 산학협력단 | Climbing robot |
| CN105109566B (en) * | 2015-09-28 | 2017-05-17 | 东南大学 | Cooperation stair climbing control method for caterpillar mobile robots |
| CN209112320U (en) * | 2018-08-13 | 2019-07-16 | 诸暨市蓝了电子科技有限公司 | Polypody wheeled platform robot |
| CN109515538B (en) * | 2018-12-29 | 2023-05-30 | 中国科学院沈阳自动化研究所 | Reconfigurable joint crawler composite mobile robot |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN112158269A (en) * | 2020-09-15 | 2021-01-01 | 淮阴工学院 | Folding carrying crawler and using method thereof |
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