CN110816709A - Obstacle crossing control method for six-wheel rocker arm suspension vehicle - Google Patents
Obstacle crossing control method for six-wheel rocker arm suspension vehicle Download PDFInfo
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- CN110816709A CN110816709A CN201911125233.3A CN201911125233A CN110816709A CN 110816709 A CN110816709 A CN 110816709A CN 201911125233 A CN201911125233 A CN 201911125233A CN 110816709 A CN110816709 A CN 110816709A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
Abstract
The invention belongs to the technical field of vehicle traveling, and particularly relates to an obstacle crossing control method for a six-wheel rocker arm suspension vehicle. The six-wheel rocker arm suspension vehicle to which the control method is applied comprises: front wheel, front rocker arm, middle wheel, middle rocker arm, rear wheel, rear rocker arm, automobile body. The front rocker arm is connected with the vehicle body through a rotating pair A and is connected with a front wheel through a rotating pair D; the middle rocker arm is connected with the vehicle body through a rotating pair B and is connected with the front wheel through a rotating pair E; the rear rocker arm is connected with the vehicle body through a rotating pair C and is connected with a rear wheel through a rotating pair F. According to the invention, through the large-angle rotation adjustment of the front rocker arm, the middle rocker arm and the rear rocker arm, the finished automobile can overcome terrains such as vertical obstacles, horizontal trenches and the like, so that the capability of the finished automobile for overcoming the terrains is improved.
Description
Technical Field
The invention belongs to the technical field of vehicle traveling, and particularly relates to an obstacle crossing control method for a six-wheel rocker arm suspension vehicle.
Background
With the development of unmanned platform technology, how to improve the passing ability of vehicles in complex terrains becomes the key point of technical research and development in recent years. The application of rocker arm suspension to unmanned platforms is gradually becoming the trend of vehicle traveling system development in the future.
The rocker arm suspension is a suspension with an elastic and damping part connected with a rocker arm, wherein the rocker arm is simultaneously connected with a wheel, and a rotating pair is arranged between the rocker arm and a vehicle body. The elastic and damping component realizes the support of the vehicle body and the buffering and vibration damping of the vibration input to the road surface through the rocker arm. Through the rotation of the rocker arm, the whole vehicle passing capacity is improved, and particularly the obstacle crossing capacity of the vehicle is improved.
The main functions of the rocker arm suspension are: statically bearing the weight of the vehicle body; the vehicle body is buffered and damped in the running process; the pitch-adjusting ground height is increased or decreased, so that the whole vehicle can adapt to the change of terrain and the trafficability is improved; in order to adapt to the change of the vehicle speed, improve the driving safety, or adapt to other special purposes; when the vehicle is across the obstacle, the adjusting rocker arm is rotated, so that the vehicle can climb or cross the obstacle actively.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to provide a six-wheel rocker suspension vehicle obstacle crossing control method requires that the obstacle crossing control method enables the whole vehicle to overcome obstacles such as vertical obstacles, horizontal trenches and the like through large-angle rotation adjustment of a front rocker, a middle rocker and a rear rocker, thereby improving the capability of the whole vehicle to overcome terrain obstacles.
(II) technical scheme
In order to solve the technical problem, the invention provides an obstacle crossing control method for a six-wheel rocker arm suspension vehicle, which is applied to the control method and comprises the following steps: the front wheel 1, the front rocker 2, the middle wheel 3, the middle rocker 4, the rear wheel 5, the rear rocker 6 and the vehicle body 7; wherein the content of the first and second substances,
the front rocker arm 2 is connected with the vehicle body 7 through a rotary pair A and is connected with the front wheel 1 through a rotary pair D;
the middle rocker arm 4 is connected with the vehicle body 7 through a rotating pair B and is connected with the middle wheel 3 through a rotating pair E;
the rear rocker arm 6 is connected with the vehicle body 7 through a rotary pair C and is connected with the rear wheel 5 through a rotary pair F.
The front rocker arm 2, the middle rocker arm 4 and the rear rocker arm 6 can respectively realize large-angle rotation through a rotating pair A, a rotating pair B and a rotating pair C.
The connecting line of the three points of the rotating pair A, the rotating pair B and the rotating pair C is defined as a rotating pair connecting line, G is defined as the gravity center of the vehicle body 7, α is an included angle between the front rocker arm 2 and the rotating pair connecting line, β is an included angle between the middle rocker arm 4 and the rotating pair connecting line, and gamma is an included angle between the rear rocker arm 6 and the rotating pair connecting line;
the main body part of the rocker arm suspension applied by the control method is arranged on the inner side of the vehicle body, and only the rocker arm is arranged on the outer side of the vehicle body.
In an initial state, an included angle α between the front rocker arm 2 and the rotating pair connecting line is an acute angle, an included angle β between the middle rocker arm and the rotating pair connecting line is an obtuse angle, and an included angle gamma between the rear rocker arm and the rotating pair connecting line is an obtuse angle;
the gravity center G of the whole vehicle is positioned between the revolute pair B and the revolute pair C;
and in the static state of the vehicle, the initial value of the included angle between each rocker arm and the rotating pair connecting line is a fixed value.
When the vehicle is in a static state, the initial value of the included angle between each rocker arm and the rotating pair connecting line is α degrees, β degrees and gamma 135 degrees, wherein the included angle is α degrees, β degrees and gamma 135 degrees.
The control method comprises the following steps of in the process of vertical obstacles on the six-wheel swing arm suspension vehicle:
step 11, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, and the front rocker arm 2 is favorably lifted off the ground;
step 13, the front rocker arm 2 is backwards rocked, namely an α angle is increased, so that the front wheel 1 is pressed above a vertical obstacle, the front rocker arm 2 bears the weight of the vehicle body, at the moment, the middle rocker arm 4 bears the weight and is backwards rocked until the middle wheel 3 is lifted off the ground, and the front rocker arm is further backwards rocked, namely an β angle is increased, so that the weight of the vehicle body 7 is borne by the front rocker arm 2 and the rear rocker arm 6;
and 14, the front rocker arm 2 swings backwards, namely the angle α is increased, wherein the angle α is not more than 90 degrees, so that the vehicle body 7 cannot topple forwards, the middle rocker arm 4 continues to swing backwards, so that the middle wheel 3 is lifted as much as possible, namely the angle β is increased, the rear rocker arm 6 swings forwards, so that the gamma is reduced, wherein the angle gamma is not less than 90 degrees, so that the vehicle body 7 cannot topple backwards, the vehicle advances until the middle wheel 3 goes over a vertical obstacle, and then the angles α, β and gamma are adjusted to be restored to initial values, so that the vehicle normally runs.
And step 15, the front rocker arm 2 swings forwards, namely the angle of α is reduced, the middle rocker arm 4 continues to swing forwards, namely the angle of β is reduced, so that the vehicle body 7 is gradually horizontal and is beneficial to the rear wheel 5 to get over the obstacle, and when the vehicle moves forwards, the whole vehicle gets over the obstacle, so that the function of getting over the vertical obstacle is completed.
In the process of vertical obstacles under a six-wheel rocker arm suspension vehicle, the control method comprises the following steps:
step 21, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, the load capacity of the front rocker arm 2 is reduced, and the front wheel 1 is favorably lifted off;
step 22, the rear rocker arm 6 is rocked forwards, namely the angle gamma is reduced, the middle rocker arm 4 is rocked forwards, namely the angle β is reduced, so that the vehicle body 7 is inclined forwards to be beneficial to falling straight obstacles, the vehicle is advanced, the front wheel 1 is suspended, the front rocker arm 2 is rocked backwards to contact the ground as much as possible, wherein the angle α is not more than 90 degrees to avoid the forward toppling of the vehicle body, the middle rocker arm 4 is rocked forwards further to reduce the angle β, the rear rocker arm 6 is rocked forwards further, namely the angle gamma is reduced, wherein the angle gamma is not less than 90 degrees to avoid the backward toppling of the vehicle body, the vehicle is advanced, and the front wheel is grounded;
and 23, after the front wheel 1 contacts the ground, the vehicle advances, then the middle wheel 3 is suspended, the middle rocker arm 4 swings backwards, namely the angle β is increased, wherein the angle β is not more than 90 degrees, so that the vehicle body is prevented from tilting forwards, the front rocker arm 2 swings forwards, the middle wheel 3 is enabled to contact the ground as far as possible, the vehicle advances, and the middle wheel 3 contacts the ground.
And 24, continuing to move forward, suspending the rear wheel 5, swinging the middle rocker arm 4 backwards, namely increasing the angle of β, and returning to the initial value, swinging the front rocker arm 2 backwards, namely increasing the angle of α, returning to the initial value, touching the ground of the rear wheel 5, and adjusting the rear rocker arm 6 to return to the initial value.
In the process of vertical obstacles under a six-wheel rocker arm suspension vehicle, the control method comprises the following steps:
step 31, in the process of advancing the vehicle or in the state of no vehicle speed, the whole vehicle descends as much as possible, namely the front rocker arm 2 swings forwards, the middle rocker arm 4 and the rear rocker arm 6 swing rightwards, so that the α angle is reduced, the β angle is increased, and the gamma angle is increased, thereby reducing the gravity center of the whole vehicle as much as possible and reducing the impact on the vehicle body 7 when a vertical obstacle is left;
step 32, the vehicle continues to advance, after the front wheel 1 drives over the edge of the vertical obstacle, the front wheel 1 is suspended, the front rocker arm 2 swings backwards, so that the α angle is increased, the ground contact of the front wheel 1 is facilitated, wherein the α angle is not more than 90 degrees, so that the vehicle body is prevented from toppling forwards, the rear rocker arm 6 swings forwards, namely the gamma angle is reduced, the middle rocker arm 4 swings forwards, namely the β angle is reduced, the vehicle body 7 is inclined forwards, the vertical obstacle is facilitated to droop, the vehicle advances, and the front wheel contacts the ground;
step 33, after the front wheel 1 contacts the ground, the vehicle advances, then the middle wheel 3 is suspended, the middle rocker arm 4 swings forwards, namely the β angle is reduced, wherein the β angle is not less than 90 degrees, the front rocker arm swings forwards to reduce the impact of the middle wheel on the ground, the front rocker arm 2 swings forwards, the rear rocker arm 6 swings backwards to enable the middle wheel 3 to contact the ground as much as possible, the vehicle advances, and the middle wheel 3 contacts the ground;
and step 34, continuing to move forward, suspending the rear wheel 5, swinging the middle rocker arm 4 backwards, namely increasing the angle of β, and returning to the initial value, swinging the front rocker arm 2 backwards, namely increasing the angle of α, and returning to the initial value, adjusting the rear rocker arm 6 after the rear wheel 5 touches the ground, and returning to the initial value, wherein the vehicle can normally run.
In the process that the six-wheel rocker arm suspension vehicle passes through a horizontal trench, the control method comprises the following steps:
step 41, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, the load capacity of the front rocker arm 2 is reduced, and the front wheel 1 is favorably lifted off;
42, swinging the rear rocker arm 6 backwards, namely increasing the gamma angle, swinging the middle rocker arm 4 backwards, namely increasing the β angle, so that the weight of the vehicle body 7 is borne by the middle rocker arm 4 and the rear rocker arm 6, and the front rocker arm 2 can be swung forwards, so that the α is reduced, thereby being beneficial to obstacle crossing, wherein the β angle is not more than 90 degrees so as to avoid forward toppling of the vehicle body 7, and the vehicle body 7 runs towards a horizontal ditch after being adjusted to a proper angle until the middle wheel E is suspended, the front wheel crosses the horizontal ditch and is positioned above the ground, and then the front wheel 1 touches the ground;
step 43, after the front wheel 1 contacts the ground, the vehicle weight is borne by the front rocker arm 2 and the rear rocker arm 6 at the moment, and the middle wheel is suspended in the air, the middle rocker arm 4 swings backwards, namely the angle β is increased to form an obtuse angle, and the lowest point of the middle wheel 3 is higher than the ground, so that the obstacle crossing is facilitated;
step 44: the vehicle continues to advance, then the middle wheel 3 contacts the ground, the rear wheel 5 is suspended, and the vehicle weight is supported by the front rocker arm 2 and the middle rocker arm 4; the vehicle continues to advance, then the rear wheel 5 contacts the ground, the whole vehicle completely crosses the horizontal trench, and then the angle of each rocker arm is adjusted to an initial value, so that the vehicle can run later.
According to the method, the large-angle rotation adjustment of the front rocker arm, the middle rocker arm and the rear rocker arm enables the whole vehicle to overcome terrains such as vertical obstacles and horizontal trenches, and therefore the capability of the whole vehicle to overcome the terrains is improved.
(III) advantageous effects
Compared with the prior art, the invention has very important significance in the aspects of actively crossing obstacles and improving the trafficability of the whole vehicle by rotating and adjusting the rocker arm at a large angle. The control method provided by the invention is low in engineering realization difficulty, mature in technology and beneficial to popularization and application.
Drawings
Fig. 1 is a schematic diagram of a rocker arm suspension that can achieve large angular rotational adjustment.
Fig. 2 is a schematic diagram of a half-car model of a six-wheel swing arm suspension car.
Fig. 3A is a schematic diagram of a vertical obstacle stage 1 on a six-wheeled swing arm trailer.
Fig. 3B is a schematic diagram of stage 2 of a vertical obstacle on a six-wheeled swing arm trailer.
Fig. 3C is a schematic diagram of stage 3 vertical obstacle on a six-wheeled swing arm trailer.
Fig. 3D is a schematic diagram of a vertical obstacle stage 4 on a six-wheeled swing arm trailer.
Fig. 3E is a schematic diagram of a vertical obstacle phase 5 on a six-wheeled swing arm trailer.
Fig. 4A is a schematic view of a first case phase 1 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 4B is a schematic view of a first case phase 2 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 4C is a schematic view of a first case phase 3 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 4D is a schematic view of a first case phase 4 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 5A is a schematic view of a second case phase 1 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 5B is a schematic view of a second case phase 2 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 5C is a schematic view of a second case phase 3 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 5D is a schematic view of a second case phase 4 of a vertical obstacle under a six-wheeled swing arm suspended vehicle.
Fig. 6A is a schematic view of a six-wheeled swing arm suspended vehicle passing through a horizontal trench stage 1.
Fig. 6B is a schematic view of the stage 2 in which the six-wheeled swing arm trolley passes through a horizontal trench.
Fig. 6C is a schematic view of the six-wheeled swing arm trolley passing through the horizontal trench stage 3.
Fig. 6D is a schematic view of the six-wheeled swing arm trolley passing through the horizontal trench 4.
In the figure, the front wheel 1, the front rocker 2, the middle wheel 3, the middle rocker 4, the rear wheel 5, the rear rocker 6, the vehicle body 7, the A-rotating pair, the B-rotating pair, the C-rotating pair, the G-vehicle body gravity center, the α -included angle between the front rocker and a rotating pair connecting line, the β -included angle between the middle rocker and the rotating pair connecting line, and the gamma-included angle between the rear rocker and the rotating pair connecting line are shown, wherein the front rocker 2 is connected with the vehicle body 7 through the rotating pair A and is connected with the front wheel 1 through the rotating pair D, the middle rocker 4 is connected with the vehicle body 7 through the rotating pair B and is connected with the front wheel 3 through the rotating pair E, and the rear rocker 6 is connected with the vehicle body 7 through the rotating pair C and is connected with the rear wheel F through the rotating pair.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The method is disclosed in the application number as follows: 201910489889.7A rocker arm suspension capable of realizing large-angle rotation adjustment, and a method for controlling obstacle crossing of a whole vehicle. The rocker arm suspension technique mentioned in the above patent is shown in fig. 1. In the figure: 100: a rocker arm suspension; 110: a ground surface; 120: a wheel assembly; 130: a rocker arm; 140: a vehicle body; 1A: a hydraulic chamber; 1B: a hydraulic chamber; 1C: a hydraulic chamber; 1D: a hydraulic chamber; 1E: a pneumatic chamber; 1F: and a pneumatic chamber.
As shown in fig. 1, in the static equilibrium position, the vehicle body weight borne by the rocker suspension is finally borne by the pneumatic chamber 1E, the pneumatic chamber 1E is a high pressure chamber, and the pneumatic chamber 1F becomes a low pressure chamber. The pressures of the hydraulic chambers 1A, 1D are the same as the pressure chamber 1E, and the pressures of the hydraulic chambers 1B, 1C are the same as the pressure chamber 1F.
The rocker arm suspension applied by the invention is the rocker arm suspension, but the obstacle crossing principle is not limited to the rocker arm suspension.
Since the vehicle is bilaterally symmetrical, the principle can be explained by using a half vehicle model to represent a whole vehicle model. As shown in figure 2 of the drawings, in which,
specifically, the obstacle crossing control method for the six-wheel rocker arm suspension vehicle is applied to the six-wheel rocker arm suspension vehicle and comprises the following steps: the front wheel 1, the front rocker 2, the middle wheel 3, the middle rocker 4, the rear wheel 5, the rear rocker 6 and the vehicle body 7; wherein the content of the first and second substances,
the front rocker arm 2 is connected with the vehicle body 7 through a rotary pair A and is connected with the front wheel 1 through a rotary pair D;
the middle rocker arm 4 is connected with the vehicle body 7 through a rotating pair B and is connected with the middle wheel 3 through a rotating pair E;
the rear rocker arm 6 is connected with the vehicle body 7 through a rotary pair C and is connected with the rear wheel 5 through a rotary pair F.
The front rocker arm 2, the middle rocker arm 4 and the rear rocker arm 6 can respectively realize large-angle rotation through a rotating pair A, a rotating pair B and a rotating pair C.
The connecting line of the revolute pair A, the revolute pair B and the revolute pair C is defined as a revolute pair connecting line, G is defined as the gravity center of a vehicle body 7, α is an included angle between a front rocker arm 2 and the revolute pair connecting line, β is an included angle between a middle rocker arm 4 and the revolute pair connecting line, and gamma is an included angle between a rear rocker arm 6 and the revolute pair connecting line.
The main body part of the rocker arm suspension applied by the control method is arranged on the inner side of the vehicle body, and only the rocker arm is arranged on the outer side of the vehicle body.
In an initial state, an included angle α between the front rocker arm 2 and the rotating pair connecting line is an acute angle, an included angle β between the middle rocker arm and the rotating pair connecting line is an obtuse angle, and an included angle gamma between the rear rocker arm and the rotating pair connecting line is an obtuse angle;
the gravity center G of the whole vehicle is positioned between the revolute pair B and the revolute pair C;
and in the static state of the vehicle, the initial value of the included angle between each rocker arm and the rotating pair connecting line is a fixed value.
When the vehicle is in a static state, the initial value of the included angle between each rocker arm and the rotating pair connecting line is α degrees, β degrees and gamma 135 degrees, wherein the included angle is α degrees, β degrees and gamma 135 degrees.
The working flow of the control method is specifically described as follows:
(1) during a vertical obstacle on a six-wheeled swing arm suspension vehicle, as shown in fig. 3A-3E, the control method comprises the steps of:
step 11, as shown in FIG. 3A, in stage 1, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, and the front rocker arm 2 is favorably lifted off;
step 13, as shown in FIG. 3C, in stage 3, the front rocker arm 2 is rocked backwards, namely the angle of α is increased, so that the front wheel 1 is pressed above the vertical obstacle, the front rocker arm 2 bears the weight of the vehicle body, at the moment, the bearing of the middle rocker arm 4 is reduced, the front rocker arm can be rocked backwards until the middle wheel 3 is lifted off the ground, and the rear rocker arm is further rocked backwards, namely the angle of β is increased, so that the weight of the vehicle body 7 is borne by the front rocker arm 2 and the rear rocker arm 6, the front rocker arm 2 is rocked backwards, namely the angle of α is increased, the rear rocker arm 6 is rocked forwards, so that gamma is reduced, so that;
and 14, as shown in fig. 3D, in stage 4, the front rocker arm 2 swings backwards, namely the angle α is increased, wherein the angle α is not more than 90 degrees so as to prevent the vehicle body 7 from toppling forwards, the middle rocker arm 4 continues to swing backwards so as to enable the middle wheel 3 to be lifted as much as possible, namely the angle β is increased, the rear rocker arm 6 swings forwards so as to reduce gamma, wherein the angle gamma is not less than 90 degrees so as to prevent the vehicle body 7 from toppling backwards, the vehicle moves forwards until the middle wheel 3 goes over a vertical obstacle, and then the angles α, β and gamma are adjusted to be restored to initial values so that the vehicle normally runs.
And 15, as shown in fig. 3E, in a stage 5, the front rocker arm 2 is rocked forwards, namely the angle of α is reduced, the middle rocker arm 4 is rocked forwards continuously, namely the angle of β is reduced, so that the vehicle body 7 is gradually horizontal, the rear wheel 5 is beneficial to getting over the obstacle, and when the vehicle moves forwards, the whole vehicle gets over the obstacle, so that the function of getting over the vertical obstacle is completed.
(2) During a first instance of vertical obstruction under a six-wheel swing arm suspension vehicle, as shown in fig. 4A-4D, the control method comprises the steps of:
step 21, as shown in FIG. 4A, in stage 1, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, the load capacity of the front rocker arm 2 is reduced, and the front wheel 1 is beneficial to being lifted off the ground;
step 22, as shown in fig. 4B, in stage 2, the rear rocker arm 6 is rocked forwards, namely the angle gamma is reduced, the middle rocker arm 4 is rocked forwards, namely the angle β is reduced, so that the vehicle body 7 is tilted forwards to be beneficial to falling straight obstacles, the vehicle is advanced, the front wheel 1 is suspended, and the front rocker arm 2 is rocked backwards to contact the ground as far as possible, wherein the angle α is not more than 90 degrees so as to avoid forward toppling of the vehicle body, the middle rocker arm 4 is rocked forwards further so as to reduce the angle β, the rear rocker arm 6 is rocked forwards further, namely the angle gamma is reduced, wherein the angle gamma is not less than 90 degrees so as to avoid backward toppling of the vehicle body, and the vehicle is advanced and the front wheel is grounded;
and 23, as shown in fig. 4C, in stage 3, after the front wheel 1 touches the ground, the vehicle advances, then the middle wheel 3 is suspended, the middle rocker arm 4 swings backwards, namely the angle of β is increased, wherein the angle of β is not more than 90 degrees, so that the vehicle body is prevented from tilting forwards, and the front rocker arm 2 swings forwards, so that the middle wheel 3 touches the ground as much as possible, the vehicle advances, and the middle wheel 3 touches the ground.
And 24, as shown in the figure 4D, in the stage 4, the vehicle continues to move forwards, then the rear wheel 5 is suspended, the middle rocker arm 4 swings backwards, namely the angle β is increased, and is restored to the initial value, the front rocker arm 2 swings backwards, namely the angle α is increased, and is restored to the initial value, the rear wheel 5 touches the ground, and the rear rocker arm 6 is adjusted and is restored to the initial value.
(3) During a second instance of vertical obstruction under a six-wheel swing arm suspension vehicle, as shown in fig. 5A-5D, the control method comprises the steps of:
step 31, as shown in FIG. 5A, in stage 1, in the process of advancing the vehicle or in the state of no vehicle speed, the whole vehicle descends as much as possible, namely the front rocker arm 2 swings forwards, the middle rocker arm 4 and the rear rocker arm 6 swing rightwards, so that the α angle is reduced, the β angle is increased, and the gamma angle is increased, thereby reducing the gravity center of the whole vehicle as much as possible and reducing the impact on the vehicle body 7 when a vertical obstacle is left;
step 32, as shown in fig. 5B, in stage 2, the vehicle continues to advance, the front wheel 1 is suspended after the front wheel 1 runs over the edge of the vertical obstacle, the front rocker arm 2 swings backwards, so that the angle α is increased, and the front wheel 1 is beneficial to ground contact, wherein the angle α is not more than 90 degrees, so that the vehicle body is prevented from toppling forwards;
step 33, as shown in fig. 5C, in stage 3, after the front wheel 1 touches the ground, the vehicle advances, then the middle wheel 3 is suspended, the middle rocker arm 4 swings forwards, namely the angle of β is reduced, wherein the angle of β is not less than 90 degrees, the front rocker arm swings forwards to reduce the impact of the middle wheel on the ground, the front rocker arm 2 swings forwards, the rear rocker arm 6 swings backwards to enable the middle wheel 3 to contact the ground as much as possible, the vehicle advances, and the middle wheel 3 touches the ground;
and step 34, as shown in fig. 5D, in stage 4, the vehicle continues to advance, then the rear wheel 5 is suspended, the middle rocker arm 4 swings backwards, namely the angle β is increased and is restored to the initial value, the front rocker arm 2 swings backwards, namely the angle α is increased and is restored to the initial value, after the rear wheel 5 touches the ground, the rear rocker arm 6 is adjusted and is restored to the initial value, and then the vehicle can normally run.
(4) In the process of the six-wheel swing arm suspension vehicle passing through a horizontal trench, as shown in fig. 6A-6D, the control method comprises the following steps:
step 41, as shown in FIG. 6A, in stage 1, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm 4 is rocked to the front part of the vehicle body 7 from the rear part of the vehicle body 7, namely, the included angle β between the middle rocker arm 4 and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm 4 and the rear rocker arm 5 bear more weight of the vehicle body 7, the load capacity of the front rocker arm 2 is reduced, and the front wheel 1 is beneficial to being lifted off the ground;
step 42, as shown in FIG. 6B, in stage 2, the rear rocker arm 6 is swung backwards, namely the angle gamma is increased, the middle rocker arm 4 is swung backwards, namely the angle β is increased, so that the weight of the vehicle body 7 is borne by the middle rocker arm 4 and the rear rocker arm 6, the front rocker arm 2 can be swung forwards, the angle α is reduced, and obstacle crossing is facilitated, wherein the angle β is not larger than 90 degrees, so that the vehicle body 7 is prevented from toppling forwards, the vehicle body 7 is adjusted to a proper angle and then runs towards a horizontal trench, until the middle wheel E is suspended, the front wheel crosses the horizontal trench and is positioned above the ground, and then the front wheel 1 touches the ground;
step 43, as shown in FIG. 6C, in stage 3, after the front wheel 1 contacts the ground, the vehicle weight is borne by the front rocker arm 2 and the rear rocker arm 6, and the middle wheel is suspended, wherein the middle rocker arm 4 swings backwards, namely the angle β is increased to form an obtuse angle, and the lowest point of the middle wheel 3 is higher than the ground, so that obstacle crossing is facilitated;
step 44: as shown in fig. 6D, at stage 4, the vehicle continues to advance, then the middle wheel 3 contacts the ground, the rear wheel 5 is suspended, and the vehicle weight is supported by the front rocker arm 2 and the middle rocker arm 4; the vehicle continues to advance, then the rear wheel 5 contacts the ground, the whole vehicle completely crosses the horizontal trench, and then the angle of each rocker arm is adjusted to an initial value, so that the vehicle can run later.
According to the method, the large-angle rotation adjustment of the front rocker arm, the middle rocker arm and the rear rocker arm enables the whole vehicle to overcome terrains such as vertical obstacles and horizontal trenches, and therefore the capability of the whole vehicle to overcome the terrains is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A six-wheel rocker arm suspension vehicle obstacle crossing control method is characterized in that the six-wheel rocker arm suspension vehicle applied by the control method comprises the following steps: the bicycle comprises front wheels (1), a front rocker (2), a middle wheel (3), a middle rocker (4), rear wheels (5), a rear rocker (6) and a bicycle body (7); wherein the content of the first and second substances,
the front rocker arm (2) is connected with a vehicle body (7) through a rotary pair A and is connected with a front wheel (1) through a rotary pair D;
the middle rocker arm (4) is connected with a vehicle body (7) through a rotating pair B and is connected with the middle wheel (3) through a rotating pair E;
the rear rocker arm (6) is connected with the vehicle body (7) through a rotating pair C and is connected with the rear wheel (5) through a rotating pair F.
2. The obstacle crossing control method for the six-wheel rocker arm suspension vehicle as claimed in claim 1, wherein the front rocker arm (2), the middle rocker arm (4) and the rear rocker arm (6) can respectively realize large-angle rotation through a revolute pair A, a revolute pair B and a revolute pair C.
3. The obstacle crossing control method of the six-wheel rocker arm suspension vehicle as claimed in claim 1, wherein a connecting line of three points of the revolute pair A, the revolute pair B and the revolute pair C is defined as a revolute pair connecting line, G is defined as a vehicle body (7) gravity center, α is an included angle between a front rocker arm (2) and the revolute pair connecting line, β is an included angle between a middle rocker arm (4) and the revolute pair connecting line, and gamma is an included angle between a rear rocker arm (6) and the revolute pair connecting line;
the main body part of the rocker arm suspension applied by the control method is arranged on the inner side of the vehicle body, and only the rocker arm is arranged on the outer side of the vehicle body.
4. The obstacle crossing control method for the six-wheeled rocker arm suspension vehicle as claimed in claim 3, wherein in an initial state, an included angle α between the front rocker arm (2) and the rotating pair connecting line is an acute angle, an included angle β between the middle rocker arm and the rotating pair connecting line is an obtuse angle, and an included angle γ between the rear rocker arm and the rotating pair connecting line is an obtuse angle;
the gravity center G of the whole vehicle is positioned between the revolute pair B and the revolute pair C;
and in the static state of the vehicle, the initial value of the included angle between each rocker arm and the rotating pair connecting line is a fixed value.
5. The obstacle crossing control method for the six-wheel rocker arm suspension vehicle as claimed in claim 4, wherein in a static state of the vehicle, an included angle between each rocker arm and a connecting line of the rotating pair is initially α degrees, β degrees and gamma is 135 degrees, wherein the included angle is 45 degrees, and the included angle is 135 degrees.
6. The method of six-wheeled swing arm vehicle obstacle crossing control of claim 4, wherein during vertical obstacles on a six-wheeled swing arm vehicle, the method comprises the steps of:
step 11, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm (4) is rocked to the front part of the vehicle body (7) from the rear part of the vehicle body (7), namely, the included angle β between the middle rocker arm (4) and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm (4) and the rear rocker arm (5) bear more weight of the vehicle body (7), and the front rocker arm (2) is favorably lifted off the ground;
step 12, the rear rocker arm (6) is backwards rocked, namely the gamma angle is increased, the middle rocker arm (4) is backwards rocked, namely the β angle is increased, so that the weight of the vehicle body (7) is borne by the middle rocker arm (4) and the rear rocker arm (6), and the front rocker arm (2) can be forwards rocked to reduce the angle α, wherein the β angle is not more than 90 degrees so as to prevent the vehicle body (7) from forwards toppling over, the vehicle body (7) runs towards a vertical obstacle after being adjusted to a proper angle, and the vehicle body (7) is till the bottom of the vehicle body (7) is basically contacted with the vertical obstacle, and at the moment, the front rocker arm (2) and the front wheel (1) are;
step 13, the front rocker arm (2) is backwards rocked, namely an angle of α is increased, so that the front wheel (1) is pressed above a vertical obstacle, the front rocker arm (2) bears the weight of a vehicle body, at the moment, the middle rocker arm (4) bears the weight of the vehicle body, and then the front rocker arm is backwards rocked until the middle wheel (3) is lifted off the ground, and further backwards rocked, namely an angle of β is increased, so that the weight of the vehicle body (7) is borne by the front rocker arm (2) and the rear rocker arm (6), the front rocker arm (2) is backwards rocked, namely an angle of α is increased, the rear rocker arm (6) is forwards rocked, gamma is reduced, and therefore the vehicle body (7;
and 14, the front rocker arm (2) is backwards rocked, namely the α angle is increased, wherein the α angle is not more than 90 degrees so as to prevent the vehicle body (7) from forwards dumping, the middle rocker arm (4) is continuously backwards rocked to enable the middle wheel (3) to be lifted as much as possible, namely the β angle is increased, the rear rocker arm (6) is forwards rocked to reduce gamma, wherein the gamma angle is not less than 90 degrees so as to prevent the vehicle body (7) from backwards dumping, the vehicle advances until the middle wheel (3) gets over a vertical obstacle, and then the angles α, β and gamma are adjusted to be restored to initial values so that the vehicle normally runs.
And 15, the front rocker arm (2) swings forwards, namely the angle of α is reduced, the middle rocker arm (4) swings forwards continuously, namely the angle of β is reduced, so that the vehicle body (7) is gradually horizontal, the rear wheel (5) is favorable for getting over the obstacle, and when the vehicle moves forwards, the whole vehicle gets over the obstacle, so that the function of getting over the vertical obstacle is completed.
7. The obstacle crossing control method for a six-wheeled swing arm vehicle as claimed in claim 4, wherein during a vertical obstacle under the six-wheeled swing arm vehicle, the control method comprises the steps of:
step 21, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm (4) is rocked to the front part of the vehicle body (7) from the rear part of the vehicle body (7), namely, the included angle β between the middle rocker arm (4) and a rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm (4) and the rear rocker arm (5) bear more weight of the vehicle body (7), the load capacity of the front rocker arm (2) is reduced, and the front wheel (1) is facilitated to lift off;
step 22, the rear rocker arm (6) is rocked forwards, namely the angle gamma is reduced, the middle rocker arm (4) is rocked forwards, namely the angle β is reduced, so that the vehicle body (7) is tilted forwards to be beneficial to vertical obstacles, the vehicle advances, the front wheel (1) is suspended, and the front rocker arm (2) is rocked backwards to contact the ground as far as possible, wherein, the angle α is not more than 90 degrees to avoid forward toppling of the vehicle body, the middle rocker arm (4) is rocked forwards further to reduce the angle β, the rear rocker arm (6) is rocked forwards further, namely the angle gamma is reduced, wherein, the angle gamma is not less than 90 degrees to avoid backward toppling of the vehicle body, the vehicle advances, and the front wheel touches the ground;
and 23, after the front wheel (1) contacts the ground, the vehicle advances, then the middle wheel (3) is suspended, the middle rocker arm (4) swings backwards, namely the angle β is increased, wherein the angle β is not more than 90 degrees, so that the vehicle body is prevented from tilting forwards, the front rocker arm (2) swings forwards, the middle wheel (3) is enabled to contact the ground as far as possible, the vehicle advances, and the middle wheel (3) contacts the ground.
And 24, continuing to move the vehicle forwards, suspending the rear wheel (5), swinging the middle rocker arm (4) backwards, namely increasing the angle of β, and returning to the initial value, swinging the front rocker arm (2) backwards, namely increasing the angle of α, returning to the initial value, touching the ground of the rear wheel (5), and adjusting the rear rocker arm (6) to return to the initial value.
8. The obstacle crossing control method for a six-wheeled swing arm vehicle as claimed in claim 4, wherein during a vertical obstacle under the six-wheeled swing arm vehicle, the control method comprises the steps of:
step 31, in the process of advancing the vehicle or in the state of no vehicle speed, the whole vehicle descends as much as possible, namely the front rocker arm (2) swings forwards, the middle rocker arm (4) and the rear rocker arm (6) swing rightwards, so that the α angle is reduced, the β angle is increased, and the gamma angle is increased, thereby reducing the gravity center of the whole vehicle as much as possible and reducing the impact on the vehicle body (7) when a vertical obstacle appears;
step 32, the vehicle continues to move forwards, after the front wheel (1) runs over the edge of the vertical obstacle, the front wheel (1) is suspended, the front rocker arm (2) swings backwards, so that the angle α is increased, and the front wheel (1) is favorably grounded, wherein the angle α is not more than 90 degrees, so that the vehicle body is prevented from toppling forwards;
33, after the front wheel (1) contacts the ground, the vehicle advances, the rear middle wheel (3) is suspended, the middle rocker arm (4) swings forwards, namely the β angle is reduced, wherein the β angle is not less than 90 degrees, the front rocker arm swings forwards to reduce the impact of the middle wheel on the ground, the front rocker arm (2) swings forwards, the rear rocker arm (6) swings backwards to enable the middle wheel (3) to contact the ground as much as possible, the vehicle advances, and the middle wheel (3) contacts the ground;
and 34, continuing to advance the vehicle, suspending the rear wheels (5), swinging the middle rocker arm (4) backwards, namely increasing the angle of β, and returning to the initial value, swinging the front rocker arm (2) backwards, namely increasing the angle of α, and returning to the initial value, adjusting the rear rocker arm (6) after the rear wheels (5) touch the ground, and returning to the initial value, wherein the vehicle can normally run.
9. The obstacle crossing control method for a six-wheeled swing arm vehicle according to claim 4, wherein during the six-wheeled swing arm vehicle passes through a horizontal trench, the control method comprises the following steps:
step 41, in the process of advancing the vehicle or in the state of no vehicle speed, the middle rocker arm (4) is rocked to the front part of the vehicle body (7) from the rear part of the vehicle body (7), namely, the included angle β between the middle rocker arm (4) and the rotating pair connecting line changes from an obtuse angle to an acute angle, so that the middle rocker arm (4) and the rear rocker arm (5) bear more weight of the vehicle body (7), the load capacity of the front rocker arm (2) is reduced, and the front wheel (1) is facilitated to lift off;
42, the rear rocker arm (6) swings backwards, namely the gamma angle is increased, the middle rocker arm (4) swings backwards, namely the β angle is increased, so that the weight of the vehicle body (7) is borne by the middle rocker arm (4) and the rear rocker arm (6), the front rocker arm (2) can swing forwards, α is reduced, and obstacle crossing is facilitated, wherein the β angle is not more than 90 degrees so as to prevent the vehicle body (7) from toppling forwards, the vehicle body (7) drives towards a horizontal ditch after being adjusted to a proper angle until the middle wheel E is suspended, the front wheel crosses the horizontal ditch and is positioned above the ground, and then the front wheel (1) touches the ground;
43, after the front wheel (1) contacts the ground, the vehicle weight is borne by the front rocker arm (2) and the rear rocker arm (6) at the moment, the middle wheel is suspended, the middle rocker arm (4) swings backwards, namely the angle of β is increased to form an obtuse angle, and the lowest point of the middle wheel (3) is higher than the ground, so that obstacle crossing is facilitated;
step 44: the vehicle continues to advance, then the middle wheel (3) contacts the ground, the rear wheel (5) is suspended, and the vehicle weight is supported by the front rocker arm (2) and the middle rocker arm (4); the vehicle continues to advance, then the rear wheel (5) contacts the ground, the whole vehicle completely crosses the horizontal trench, and then the angle of each rocker arm is adjusted to the initial value, so that the vehicle can run later.
10. The obstacle crossing control method for the six-wheel rocker arm suspension vehicle as claimed in claim 4, wherein the obstacle crossing control method enables the whole vehicle to overcome the terrains such as vertical obstacles, horizontal trenches and the like through the large-angle rotation adjustment of the front rocker arm, the middle rocker arm and the rear rocker arm, so that the capability of the whole vehicle to overcome the terrains is improved.
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| CN117469519A (en) * | 2023-12-22 | 2024-01-30 | 湖南千智机器人科技发展有限公司 | Carrier robot and application method |
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