CN111746677A - Obstacle crossing device, tracked vehicle and obstacle crossing method - Google Patents
Obstacle crossing device, tracked vehicle and obstacle crossing method Download PDFInfo
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- CN111746677A CN111746677A CN202010603209.2A CN202010603209A CN111746677A CN 111746677 A CN111746677 A CN 111746677A CN 202010603209 A CN202010603209 A CN 202010603209A CN 111746677 A CN111746677 A CN 111746677A
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- tracked vehicle
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- obstacle crossing
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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
- B62D55/06—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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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Abstract
The invention provides an obstacle crossing device, a tracked vehicle and an obstacle crossing method. The obstacle crossing device can be completely retracted into the body of the tracked vehicle when in a non-working state, the overall dimension of the body of the tracked vehicle is not increased, other attributes of the tracked vehicle are not changed, the normal running of the tracked vehicle is not influenced, and the obstacle crossing performance of the vehicle is improved under the condition that the flexibility of the tracked vehicle is not reduced. Moreover, the tracked vehicle applying the method also has the function of preventing the vehicle from turning backwards.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an obstacle crossing device, a tracked vehicle and an obstacle crossing method.
Background
Two traditional fixed track structures of tracked vehicle have restricted the topography adaptability of chassis, because the height of crossing the barrier closely correlates with the height of track self and body track length, if: the higher the height of the crawler belt is, the longer the vehicle body is, the larger the obstacle which can be overturned is, but the flexibility of the vehicle is reduced; conversely, a track with a small height and a short length will have a smaller obstacle that can be crossed, but will have an increased flexibility.
Disclosure of Invention
The present invention is directed to solving at least one of the above problems.
Therefore, the first purpose of the invention is to provide an obstacle crossing device.
A second object of the invention is to provide a tracked vehicle.
A third object of the present invention is to provide an obstacle crossing method.
To achieve the first object of the present invention, an embodiment of the present invention provides an obstacle crossing device adapted for a tracked vehicle, including: the device comprises at least one execution unit and an angle measuring device, wherein the execution unit is arranged in the tracked vehicle, the angle measuring device is suitable for measuring the inclination angle of the tracked vehicle, the execution unit stretches out according to the detection result of the angle measuring device, so that the execution unit jacks up the rear end of the tracked vehicle, and the execution unit retracts after the tracked vehicle goes over an obstacle.
The obstacle crossing device can be completely retracted into the vehicle body in a non-working state, the overall dimension of the vehicle body is not increased, other attributes of the vehicle are not changed, the normal running of the vehicle is not influenced, and the obstacle crossing performance of the vehicle is improved under the condition that the flexibility of the vehicle is not reduced. According to the detection result of the angle measuring device, the execution unit is controlled to act, the control process is automatically completed, and the purpose of lifting and obstacle crossing is achieved. Moreover, the crawler vehicle of the embodiment also has the function of preventing the vehicle from turning backwards.
In addition, the technical solution provided by the above embodiment of the present invention may further have the following additional technical features:
among the above-mentioned technical scheme, the device of crossing obstacles still includes: a power unit, wherein the power unit is adapted to power the execution unit.
The power unit provides power for the execution unit so that the execution unit can extend and retract.
In any one of the above technical solutions, the obstacle crossing device further includes: a control unit, wherein the control unit controls the extension or retraction of the execution unit.
The control unit controls the execution unit according to the detection result of the angle measuring device, and the control unit autonomously controls the extension or retraction of the execution unit by receiving an instruction.
In any one of the above technical solutions, the obstacle crossing device further includes: the power unit comprises a hydraulic power unit, the execution unit comprises an oil cylinder, and the first electromagnetic valve controls the on-off of the hydraulic power unit and an oil way of the oil cylinder.
The hydraulic power unit can be carried by the tracked vehicle without singly arranging the hydraulic power unit, so that the weight and the structure of the tracked vehicle do not need to be greatly changed, the obstacle crossing device is convenient to install, and the cost of the obstacle crossing device is reduced.
In any one of the above technical solutions, the obstacle crossing device further includes: and the control module is used for controlling the linear motor to be turned on and/or turned off.
The power supply can adopt the power supply of the tracked vehicle, and the power supply is not needed to be arranged separately, so that the weight and the structure of the tracked vehicle do not need to be changed greatly, the installation of the obstacle crossing device is convenient, and the cost of the obstacle crossing device is reduced.
In any one of the above technical solutions, the obstacle crossing device further includes: and the second electromagnetic valve is used for controlling the on-off of the air source and the air passage of the air cylinder.
And by adopting a pneumatic system, the obstacle crossing device can adapt to more and complex application environments.
The number of the execution units is at least two, and the execution units synchronously extend and/or retract.
The number of the execution units is preferably two, the execution units are symmetrically arranged in the tracked vehicle, the execution units synchronously extend and/or retract, and when the execution units extend, the tracked vehicle can be jacked up more stably.
To achieve the second object of the present invention, an embodiment of the present invention provides a crawler vehicle including: the invention provides a tracked vehicle body and an obstacle crossing device of any embodiment of the invention, wherein the obstacle crossing device is arranged on the tracked vehicle body.
The tracked vehicle provided by the embodiment of the invention comprises the obstacle crossing device in any embodiment of the invention, so that the tracked vehicle has all the beneficial effects of the obstacle crossing device in any embodiment of the invention, and the detailed description is omitted.
To achieve the third object of the present invention, an embodiment of the present invention provides a method for controlling an obstacle crossing device, where the obstacle crossing device according to any embodiment of the present invention includes: the method comprises the steps of acquiring the inclination angle of the tracked vehicle by adopting an angle measuring device, judging whether the inclination angle of the tracked vehicle reaches a first threshold value, controlling an execution unit to stretch out when the inclination angle reaches the first threshold value, judging whether the tracked vehicle completely gets over an obstacle, and controlling the execution unit to withdraw when the tracked vehicle completely gets over the obstacle.
When the crawler vehicle runs normally, the execution unit is retracted inside the crawler vehicle, the length of the vehicle body is not additionally increased, and the departure angle of the vehicle body is not changed. When the obstacle is crossed, the front end of the tracked vehicle firstly crosses an obstacle, when the inclination angle of the tracked vehicle reaches a first threshold value, the execution unit is controlled to stretch out, the execution unit extends to jack up the rear end of the tracked vehicle, the gravity center of the tracked vehicle is jacked to cross an obstacle crossing limit, the tracked vehicle crosses the obstacle through self gravity, and when the tracked vehicle completely crosses the obstacle, the execution unit is controlled to retract into the vehicle body. When a high-step obstacle is lowered, the wheels at the foremost end of the tracked vehicle can touch the bottom firstly, so that the tracked vehicle can smoothly fall without controlling the extension of the execution unit.
In addition, the technical solution provided by the above embodiment of the present invention may further have the following additional technical features:
in the above-described aspect, before performing the determination as to whether or not the tracked vehicle completely climbs the obstacle, the method for controlling the obstacle crossing device further includes: the control execution unit jacks up the tracked vehicle so that the tracked vehicle gets over an obstacle.
The execution unit jacks up the rear end of the tracked vehicle by stretching out, the gravity center of the tracked vehicle is pushed over the obstacle crossing limit, the tracked vehicle is enabled to cross an obstacle by self gravity, the obstacle is crossed by self gravity, and the obstacle crossing method is simple and feasible.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a first schematic structural diagram of an obstacle crossing device according to an embodiment of the present invention;
FIG. 2 is a second schematic structural diagram of an obstacle crossing device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the cylinder in a contracted state according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of the cylinder in an extended state according to one embodiment of the present invention;
FIG. 5 is a hydraulic schematic of one embodiment of the present invention;
FIG. 6 is a schematic view of a power unit employing a linear motor in accordance with one embodiment of the present invention;
FIG. 7 is a schematic illustration of a power unit employing an air supply in accordance with an embodiment of the present invention;
FIG. 8 is a schematic structural view of a tracked vehicle according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of an obstacle detouring method according to an embodiment of the present invention;
FIG. 10 is a schematic view of a tracked vehicle undercarriage configuration according to one embodiment of the present invention;
FIG. 11 is a schematic flow chart of an obstacle detouring method according to an embodiment of the present invention;
FIG. 12 is a schematic view of an obstacle step of one embodiment of the present invention;
FIG. 13 is a schematic illustration of a tracked vehicle preparing for obstacle detouring according to an embodiment of the present invention;
FIG. 14 is a schematic illustration of an obstacle line of a tracked vehicle according to an embodiment of the present invention;
FIG. 15 is a schematic view of a tracked vehicle center of gravity passing over an obstacle boundary in accordance with an embodiment of the present invention;
FIG. 16 is a schematic view of a tracked vehicle of one embodiment of the present invention fully over a step;
FIG. 17 is a schematic view of a lower step of a tracked vehicle according to an embodiment of the present invention;
FIG. 18 is a schematic representation of a tracked vehicle completing an obstacle detour according to one embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 18 is:
100: obstacle crossing device, 110: execution unit, 112: cylinder, 114: linear motor, 116: a cylinder, 120: angle measuring device, 130: power unit, 132: hydraulic power unit, 134: power source, 136: gas source, 140: control unit, 150: first electromagnetic valve, 160: control module, 170: second electromagnetic valve, 200: tracked vehicle, 210: tracked vehicle body, 310: power system, 320: transmission brake system, 330: crawler belt traveling system, 340: vehicle body system, 350: and (5) controlling the system.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
An obstacle crossing apparatus, a tracked vehicle, and an obstacle crossing method according to some embodiments of the present invention are described below with reference to fig. 1 to 18.
With the rapid development of control technology, new materials, computing technology and communication technology, the intelligent research of the tracked vehicle is more and more concerned. The tracked vehicle has the advantages that: the ground support area is large, the ground pressure is small, the rolling friction is small, the trafficability characteristic is good, the turning radius is small, and the traction adhesion, the cross-country mobility, the climbing, the ditch crossing performance are superior.
However, tracked vehicles also present some unavoidable drawbacks: two traditional fixed track structures have restricted the topography adaptability of chassis, because of the height of crossing the barrier closely related with the height of track self and body track length, if: the higher the height of the crawler belt is, the longer the vehicle body is, the larger the obstacle which can be overturned is, but the flexibility of the vehicle is reduced; conversely, a track with a small height and a short length will have a smaller obstacle that can be crossed, but will have an increased flexibility.
In the related art, the crawler-type obstacle crossing robot and the obstacle crossing method disclose the characteristics of a jacking mechanism of a vehicle, but the obstacle crossing device of the embodiment can be completely retracted into the vehicle body in a non-working state, and the overall dimension of the vehicle body is not increased. The obstacle crossing device of the embodiment is used for detecting by a sensor arranged on a vehicle, sending a command by a control system and actively acting. The obstacle crossing method of the embodiment is mainly realized by enabling the gravity center of the vehicle to pass through a critical point through an obstacle crossing device. The main walking system and the power unit of the obstacle crossing device have no associated requirements. The obstacle crossing device can be operated and realized, and is not limited to be driven by an oil cylinder, and can also be driven by an air cylinder or a linear motor.
In summary, the present embodiment aims to further improve the obstacle crossing performance of the tracked vehicle without reducing the flexibility of the vehicle or changing the overall dimension of the vehicle.
Example 1:
as shown in fig. 1, the present embodiment provides an obstacle crossing device 100 suitable for a tracked vehicle 200, the obstacle crossing device 100 including: the crawler-mounted vehicle comprises at least one execution unit 110 and an angle measuring device 120, wherein the execution unit 110 is arranged in the crawler-mounted vehicle 200, the angle measuring device 120 is suitable for measuring the inclination angle of the crawler-mounted vehicle 200, the execution unit 110 extends according to the detection result of the angle measuring device 120, so that the execution unit 110 jacks up the rear end of the crawler-mounted vehicle 200, and the execution unit 110 retracts after the crawler-mounted vehicle 200 gets over an obstacle.
The obstacle crossing device 100 can be completely retracted into the vehicle body in a non-working state, the overall dimension of the vehicle body is not increased, other attributes of the vehicle are not changed, the normal running of the vehicle is not influenced, and the obstacle crossing performance of the vehicle is improved under the condition that the flexibility of the vehicle is not reduced. The angle measuring device 120 obtains the inclination angle of the vehicle, and according to the detection result of the angle measuring device 120, the execution unit 110 is controlled to extend downwards to jack up the rear end of the tracked vehicle 200, so that the tracked vehicle 200 drives the vehicle body to move downwards through self gravity, the tracked vehicle 200 gets over an obstacle, and the execution unit 110 is retracted after getting over the obstacle, and in the obstacle crossing process, the execution unit 110 is arranged to support the tracked vehicle 200, so that the tracked vehicle 200 cannot be turned backwards, and the tracked vehicle 200 of the embodiment is applied and has the function of preventing the vehicle from being turned backwards.
The execution unit 110 has a simple structure, is easy to install and debug, is easy to produce and manufacture, and can significantly improve the obstacle crossing performance of the tracked vehicle 200 at a limited cost.
Example 2:
as shown in fig. 1 and 2, in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
The power unit 130 powers the execution unit 110 to enable the execution unit 110 to extend and retract.
The power unit 130 of the obstacle crossing device 100 can be a power system of a vehicle chassis of the tracked vehicle 200 or can be arranged independently, and the power unit 130 has no correlation requirement with a main walking system of the tracked vehicle, so that the work of the power unit 130 is not influenced by the no walking system.
Example 3:
as shown in fig. 1 and 2, in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
The control unit 140 controls the execution unit 110 according to the detection result of the angle measuring device 120, and the control unit 140 autonomously controls the extension or retraction of the execution unit 110 by receiving an instruction.
The control unit 140 may be provided by a control system in the tracked vehicle 200, or may be provided separately, and since there is no need to add an additional control unit 140, the weight and structure of the tracked vehicle 200 need not be changed greatly, so that the obstacle crossing apparatus 100 is convenient to install and has a low manufacturing cost.
Example 4:
in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
The hydraulic power unit 132 is connected with the first electromagnetic valve 150 through an oil path, the first electromagnetic valve 150 is connected with the oil cylinder 112 through an oil path, the control unit 140 controls the opening and/or closing of the first electromagnetic valve 150 to further control the extending and retracting of the oil cylinder 112, the oil cylinder 112 is in a contracted state as shown in fig. 3, and the oil cylinder 112 is in an extended state as shown in fig. 4.
The hydraulic schematic diagram is shown in fig. 5, the hydraulic oil source is connected with a three-position four-way valve, and the three-position four-way valve is connected with an oil cylinder through an electromagnetic valve.
The oil cylinder 112 is arranged in the tracked vehicle 200, the cylinder barrel is rigidly connected with the body of the tracked vehicle 200, the rod of the oil cylinder can extend and contract, when the rod of the oil cylinder extends out, the rod of the oil cylinder can penetrate through the body of the tracked vehicle 200 and contact with a supporting point such as the ground to jack up the tracked vehicle 200 so as to enable the tracked vehicle 200 to cross obstacles, the hydraulic power unit 132 can be arranged independently by means of a hydraulic power unit arranged on the chassis of the tracked vehicle 200, when the hydraulic power unit 132 is not required to be arranged independently, the weight and the structure of the tracked vehicle 200 do not need to be changed greatly, and the oil cylinder 112, the first electromagnetic valve 150 and the hydraulic power unit 132 are simply connected, so that the obstacle crossing device is convenient to install, maintain and debug, and the cost of the obstacle crossing device can be reduced on the premise of.
Example 5:
as shown in fig. 6, in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
The linear motor 114 is arranged in the tracked vehicle 200, the output shaft of the linear motor 114 can extend or retract, when the output shaft of the linear motor 114 is output, the output shaft can penetrate through the body of the tracked vehicle 200 and contact with a supporting point such as the ground to jack up the tracked vehicle 200, so that the tracked vehicle 200 can cross obstacles, the power supply 134 can be a power supply 134 arranged on the chassis of the tracked vehicle and can also be arranged independently, when the power supply is not needed to be arranged independently, the weight and the structure of the tracked vehicle 200 do not need to be changed greatly, therefore, the installation, maintenance and debugging of the obstacle crossing device are convenient, and the cost of the obstacle crossing device can be reduced on the premise of greatly improving the obstacle crossing performance.
Example 6:
as shown in fig. 7, in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
The cylinder 116 is arranged in the tracked vehicle 200, the piston rod can extend and contract, when the piston rod extends out, the piston rod can penetrate through the vehicle body of the tracked vehicle 200 and contact with a supporting point such as the ground to jack up the tracked vehicle 200, so that the tracked vehicle 200 can cross obstacles, a pneumatic system is adopted, the obstacle crossing device can adapt to more and complex application environments, and the cylinder 116 is simple in connection mode, so that the obstacle crossing device is convenient to install, maintain and debug, and the cost of the obstacle crossing device can be reduced on the premise of greatly improving the obstacle crossing performance.
Example 7:
in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:
the number of the execution units 110 is at least two, and the execution units 110 synchronously extend and/or retract.
The number of the execution units 110 is preferably two, the execution units 110 are symmetrically arranged in the tracked vehicle 200, the execution units 110 synchronously extend and/or retract, and when the execution units 110 extend, the tracked vehicle 200 can be jacked up more smoothly.
Example 8:
as shown in fig. 8, the present embodiment provides a tracked vehicle 200 comprising: a tracked vehicle body 210 and an obstacle crossing device 100 according to any embodiment of the present invention, wherein the obstacle crossing device 100 is provided on the tracked vehicle body 210.
Example 9:
as shown in fig. 9, this embodiment provides a method for controlling an obstacle crossing device, where the obstacle crossing device 100 according to any embodiment of the present invention is adopted, and the method for controlling the obstacle crossing device includes the following steps:
step S102, acquiring the inclination angle of the tracked vehicle by adopting an angle measuring device;
step S104, judging whether the inclination angle of the tracked vehicle reaches a first threshold value;
step S106, when the inclination angle reaches a first threshold value, controlling the execution unit to extend out;
step S108, judging whether the tracked vehicle completely goes over the obstacle;
and step S110, when the tracked vehicle completely gets over the obstacle, controlling the execution unit to retract.
During normal running, the execution unit 110 is retracted inside the tracked vehicle 200, the length of the vehicle body is not additionally increased, and the departure angle of the vehicle body is not changed. When an obstacle is crossed, the front end of the tracked vehicle 200 firstly crosses the obstacle, when the inclination angle of the tracked vehicle 200 reaches a first threshold value, the control execution unit 110 extends out, the execution unit 110 extends to jack up the rear end of the tracked vehicle 200 to jack the gravity center of the vehicle over an obstacle crossing limit, the tracked vehicle 200 crosses the obstacle through self gravity, and when the tracked vehicle 200 completely crosses the obstacle, the control execution unit 110 is retracted into the vehicle body. When a high-step obstacle is present, the front wheels of the tracked vehicle 200 will bottom first, and the tracked vehicle 200 can smoothly get down without the control execution unit 110 extending out.
Example 10:
in addition to the technical features of the above-described embodiment, the present embodiment further includes the following technical features.
The control method of the obstacle crossing device, before performing the determination of whether the tracked vehicle has completely crossed the obstacle, further comprises: the control execution unit jacks up the tracked vehicle so that the tracked vehicle gets over an obstacle.
The execution unit 110 extends out to jack the rear end of the tracked vehicle 200, the gravity center of the tracked vehicle 200 is jacked to cross the obstacle crossing limit, the tracked vehicle 200 is enabled to cross the obstacle through self gravity, the obstacle is crossed through self gravity, and the obstacle crossing method is simple and feasible.
The specific embodiment is as follows:
the embodiment provides an obstacle crossing device and a control method of the obstacle crossing device.
The obstacle crossing device is provided with an execution unit 110, an angle measuring device 120, a power unit 130 and a control unit 140, wherein the angle measuring device 120 adopts a sensing detection unit of the tracked vehicle 200, the sensing detection unit is mainly an inclination angle sensor, and the control unit 140 adopts a control system of the tracked vehicle 200.
As shown in fig. 3 and 4, when the oil cylinder 112 is adopted as the execution unit 110, the power unit 130 is a hydraulic power unit 132, the first electromagnetic valve 150 controls on/off of an oil path between the hydraulic power unit 132 and the oil cylinder 112, the hydraulic power unit 132 and the first electromagnetic valve 150 are connected through a pipeline, a cylinder barrel of the oil cylinder 112 is rigidly connected with a vehicle body, a cylinder rod can extend and retract, and the number of the execution units is not limited, and is preferably two.
When the linear motor 114 is used as the actuator 110, the power unit 130 is a power source 134.
The tracked vehicle 200 is provided with a tracked vehicle chassis, as shown in fig. 10, the tracked vehicle chassis mainly comprises a power system 310, a transmission braking system 320, a tracked running system 330, a vehicle body system 340 and a control system 350, wherein the power system 310 comprises electric power, oil power or hybrid power and is used for providing power.
Specifically, the present embodiment adds a sensing unit, a control system, a hydraulic power unit 132, a solenoid valve, and an execution unit 110 to the conventional tracked vehicle 200. Wherein: the sensing and control system, hydraulic power unit 132, may be configured by the vehicle chassis itself.
The specific working process and principle are as follows: when the automobile runs normally, the hydraulic oil cylinder 112 is contracted in the automobile body, the length of the automobile body is not additionally increased, and the departure angle of the automobile body is not changed. When the obstacle is crossed, the front end of the tracked vehicle 200 firstly crosses the step, when the inclination angle of the vehicle reaches a first threshold value set by the control system, the control system sends a command signal to instruct the oil cylinder 112 to extend out, the rear end of the vehicle is jacked up through the extension of the oil cylinder 112, the gravity center of the vehicle is jacked over the obstacle crossing limit, the vehicle crosses the obstacle through self gravity, and then the control system controls the oil cylinder 112 to be retracted into the vehicle body. Wherein: the posture and the angle of the vehicle are obtained by a sensing detection unit arranged in the vehicle body; the control system senses the change of the vehicle angle in real time and controls the action of the execution unit 110; the power unit of the hydraulic system may be shared with the brake system power unit of the vehicle. When the vehicle goes down a high step, the wheels at the foremost end of the vehicle can touch the bottom firstly, so that the vehicle can smoothly go down without extending the oil cylinder 112.
If the execution unit 110 is the linear motor 114, it is: the control system sends out an instruction to control the linear motor 114 to act, jack up the rear end of the vehicle, and jack the gravity center of the vehicle over the obstacle crossing limit, so as to cross the obstacle. The rest of the process is the same as the hydraulic mechanism.
The control method of the obstacle crossing device, the obstacle crossing process is shown in fig. 11, and the method comprises the following steps:
step S202, preparing for obstacle crossing;
as shown in fig. 12 and 13, the obstacle is a step, and the crawler 200 travels in front of the step.
Step S204, the front end goes over the step;
the front end of the tracked vehicle 200 goes over steps, and due to the length of the vehicle body, the tracked vehicle 200 cannot step over the steps by itself, and if the tracked vehicle 200 continues to travel forward, the tracked vehicle 200 may be caused to tip over backward.
Step S206, sensing the inclination angle of the vehicle;
as shown in fig. 14, the vertical line in the figure is an obstacle boundary line, the obstacle boundary line is a plane where the steps are located perpendicular to the ground, the arrow indicates a perpendicular line of the center of gravity of the vehicle, and the angle measuring device 120 measures the inclination angle of the tracked vehicle 200.
Step S208, the control system sends out an instruction;
it is determined whether the angle measuring device 120 measures the inclination angle of the tracked vehicle 200 up to a first threshold value, when which the control system (control unit 140) issues an extension instruction to the execution unit.
Step S210, the execution unit stretches out;
the execution unit 110 sticks out after receiving the instruction.
Step S212, pushing the gravity center of the vehicle over an obstacle boundary;
as shown in fig. 15, a vertical line in the drawing is an obstacle boundary line, an arrow indicates a vertical line of the center of gravity of the vehicle, and the execution unit 110 jacks up the rear end of the crawler 200 to push the center of gravity of the crawler 200 over the obstacle boundary line, so that the crawler 200 falls downward by its own weight, and further, the crawler 200 gets over the obstacle.
Step S214, the vehicle completely goes over the step;
as shown in fig. 16, the front end of the tracked vehicle 200 lands, completely reducing the number of steps.
Step S216, the execution unit withdraws;
the control system controls the execution unit 110 to retract the body of the tracked vehicle 200 and the tracked vehicle 200 continues to travel.
Step S218, descending a step;
as shown in fig. 17, when the tracked vehicle 200 needs to step down, the actuator 110 does not need to be extended, and the front wheels of the tracked vehicle 200 land directly across an obstacle.
Step S220, obstacle crossing is completed, as shown in fig. 18.
Specifically, when the obstacle is crossed, the angle sensor detects that the inclination angle of the vehicle reaches a threshold angle, the control system sends a signal to instruct the execution unit 110 to act to jack up the vehicle body, so that the gravity center of the vehicle crosses an obstacle line. The tracked vehicle goes over the obstacle steps and goes down the obstacle steps to completely cross the obstacle.
In summary, the embodiment of the invention has the following beneficial effects:
1. the obstacle crossing lifting method in the embodiment is applied to tracked vehicles, can be completely retracted into a vehicle body in a non-working state, does not increase the overall dimension of the vehicle body, does not change other attributes of the vehicle, does not influence the normal running of the vehicle, and improves the obstacle crossing performance of the vehicle under the condition of not reducing the flexibility of the vehicle.
2. According to the obstacle crossing device, the vehicle body posture is detected by the angle measuring device configured on the vehicle and fed back to the control device, the control device sends out an instruction, the action of the executing mechanism (the telescopic device) is instructed, the obstacle crossing is automatically completed, and the purpose of lifting the obstacle crossing is achieved.
3. The lifting obstacle crossing method is realized by mainly jacking the gravity center of the vehicle to pass through a critical point by virtue of the jacking rod, and is simple and convenient.
4. The crawler vehicle applying the embodiment has the function of preventing the vehicle from turning backwards.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An obstacle crossing device (100) adapted for use with a tracked vehicle (200), comprising:
at least one execution unit (110) provided in the tracked vehicle (200);
-an angle measuring device (120) adapted to measure the inclination angle of the tracked vehicle (200);
wherein the execution unit (110) extends according to the detection result of the angle measuring device (120) so that the execution unit (110) jacks up the rear end of the tracked vehicle (200), and the execution unit (110) retracts after the tracked vehicle (200) goes over an obstacle.
2. The obstacle crossing device (100) of claim 1, further comprising:
a power unit (130);
wherein the power unit (130) is adapted to power the execution unit (110).
3. The obstacle crossing device (100) of claim 2, further comprising:
a control unit (140);
wherein the control unit (140) controls the extension or retraction of the execution unit (110).
4. The obstacle crossing device (100) of claim 3, further comprising:
a first solenoid valve (150);
the power unit (130) comprises a hydraulic power unit (132), the execution unit (110) comprises an oil cylinder (112), and the first electromagnetic valve (150) controls the on-off of the hydraulic power unit and an oil circuit of the oil cylinder.
5. The obstacle crossing device (100) of claim 3, further comprising:
a control module (160);
wherein the power unit (130) comprises a power supply (134), the execution unit (110) comprises a linear motor (114), and the control module (160) controls the linear motor (114) to be turned on and/or off.
6. The obstacle crossing device (100) of claim 3, further comprising:
a second solenoid valve (170);
the power unit (130) comprises an air source (136), the execution unit (110) comprises an air cylinder (116), and the second electromagnetic valve (170) controls the air path between the air source (136) and the air cylinder (116) to be opened or closed.
7. Obstacle crossing device (100) according to any of claims 1 to 6, wherein there are at least two said actuating units (110), said actuating units (110) being synchronously protracted and/or retracted.
8. A tracked vehicle (200), comprising:
a tracked vehicle body (210);
the obstacle crossing device (100) of any one of claims 1 to 7;
wherein the obstacle crossing device (100) is arranged on a tracked vehicle body (210).
9. A control method of an obstacle crossing device using the obstacle crossing device (100) according to any one of claims 1 to 7, characterized by comprising:
acquiring the inclination angle of the tracked vehicle by adopting the angle measuring device;
determining whether an inclination angle of the tracked vehicle reaches a first threshold;
when the inclination angle reaches a first threshold value, controlling the execution unit to extend out;
judging whether the tracked vehicle completely goes over an obstacle or not;
and when the tracked vehicle completely gets over the obstacle, controlling the execution unit to retract.
10. The method of controlling an obstacle crossing device according to claim 9, wherein before performing the determining whether the tracked vehicle completely crosses the obstacle, the method of controlling the obstacle crossing device further comprises:
controlling the execution unit to jack up the tracked vehicle so that the tracked vehicle gets over an obstacle.
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