CN111806177A - Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension - Google Patents
Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension Download PDFInfo
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- CN111806177A CN111806177A CN202010496109.4A CN202010496109A CN111806177A CN 111806177 A CN111806177 A CN 111806177A CN 202010496109 A CN202010496109 A CN 202010496109A CN 111806177 A CN111806177 A CN 111806177A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
- B60G7/003—Suspension arms, e.g. constructional features of adjustable length
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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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
Abstract
The invention relates to a four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension, belonging to the technical field of vehicle walking; the four-wheel vehicle with a telescopic rocker arm suspension to which the control method is applied comprises: the front wheel comprises a right front wheel, a right front telescopic rocker arm, a left front wheel, a left front telescopic rocker arm, a left rear wheel, a left rear telescopic rocker arm, a right rear wheel, a right rear telescopic rocker arm and a vehicle body; the telescopic rocker arm combines two functions of large-angle swing and large-stroke telescopic, when a four-wheel vehicle with a telescopic rocker arm suspension is in obstacle crossing, the gravity center of the whole vehicle can reasonably fall into a stress triangle formed by three wheels stressed in the ground or a stress quadrangle formed by four wheels stressed in the ground through the matching of different-angle swing and different-stroke telescopic of the four telescopic rocker arms, and the obstacle crossing capability of the four-wheel vehicle is greatly improved.
Description
Technical Field
The invention belongs to the technical field of vehicle traveling, relates to a four-wheel vehicle obstacle crossing control method, and particularly relates to a four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension.
Background
The obstacle crossing capability of the traditional four-wheel vehicle is determined by the height of an obstacle and the diameter of wheels, so that the obstacle crossing height of the four-wheel vehicle is limited, and the selection of the diameter of the corresponding wheels is also limited. With the gradual development of the rocker arm suspension technology, more and more four-wheel vehicles adopt the rocker arm suspension technology, such as GXV-T in the United states, and the obstacle crossing height of the four-wheel vehicles adopting the rocker arm suspension is greatly increased. However, the obstacle crossing height realized only by the rocker arm still has certain limitation, and the length of the rocker arm cannot be too long due to the consideration of the coordination of the length-width ratio of the four-wheel vehicle. The mechanical arm with the telescopic structure is widely applied to the mechanical industry, the technology is mature, the large-angle swinging function of the rocker arm and the large-stroke telescopic function of the telescopic arm are combined together, and the obstacle crossing capability of the four-wheel vehicle can be greatly improved.
Disclosure of Invention
In view of the above, the invention provides a four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension, which can cross obstacles far beyond the diameter of wheels, and greatly improves the obstacle crossing capability of a four-wheel vehicle.
A four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension comprises four wheels, wherein each wheel is correspondingly arranged on a vehicle body (9) through a telescopic rocker arm; the four wheels are respectively a right front wheel (1), a left front wheel (3), a left rear wheel (5) and a right rear wheel (7); the four telescopic rocker arms are respectively a right front telescopic rocker arm (2), a left front telescopic rocker arm (4), a left rear telescopic rocker arm (6) and a right rear telescopic rocker arm (8); the control method comprises the following steps:
step 0, defining the contact point of the left front wheel 3 and the road surface as A, the contact point of the right front wheel 1 and the road surface as B, the contact point of the left rear wheel 5 and the road surface as C, the contact point of the right rear wheel 7 and the road surface as D, and the gravity center of the whole vehicle as G; in the initial state, the four telescopic rocker arms are retracted to the shortest state, the right front telescopic rocker arm (2) and the left front telescopic rocker arm (4) swing to the front of the connection point of the four telescopic rocker arms and the vehicle body (9), and the left rear telescopic rocker arm (6) and the right rear telescopic rocker arm (8) swing to the rear of the connection point of the four telescopic rocker arms and the vehicle body (9);
step 1: the four-wheel vehicle moves forward to a position near an obstacle to park in place to adjust the posture, four telescopic arms, namely a right front telescopic rocker arm (2), a left front telescopic rocker arm (4), a left rear telescopic rocker arm (6) and a right rear telescopic rocker arm (8), extend for a certain length, the extension amount ensures that a single telescopic rocker arm can lift the lowest edge of a corresponding wheel to a position not smaller than the upper surface of the obstacle by means of swinging, and the AB connecting line is parallel to the CD connecting line at the moment;
step 2: the four-wheel vehicle keeps the state of the step 1, adjusts the posture in situ, the right front telescopic rocker arm (2) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the right front wheel (1) is higher than the upper surface of the obstacle, at the moment, the right front wheel (1) is suspended, the left front telescopic rocker arm (4) swings for a certain angle towards the front direction of the vehicle and keeps the left front wheel (3) in contact with the ground, the left rear wheel (5) and the right rear wheel (7) keep the position of the step 1 still, and the vehicle body (9) keeps the horizontal state;
and step 3: the four-wheel vehicle keeps the state of the step 2 to move forwards at a constant speed until the point B crosses the edge of the obstacle, and the left front wheel (3) stops when approaching the side wall of the obstacle, and the gravity center G falls in the stressed quadrilateral ACDB;
and 4, step 4: the four-wheel vehicle keeps the state of the step 3, adjusts the posture in situ, the left front telescopic rocker arm (4) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the left front wheel (3) is higher than the upper surface of the barrier, at the moment, the left front wheel (3) is suspended, and the other three wheels keep the position of the step 3;
and 5: the four-wheel vehicle keeps the state of the step 4, the posture is adjusted in situ, the left front telescopic rocker arm (4) is extended, the total length after extension is consistent with the total length of the right front telescopic rocker arm (2), the AB connecting line is parallel to the CD connecting line at the moment, and the left front wheel (3) is contacted with the upper surface of the obstacle;
step 6: the four-wheel vehicle keeps the state of the step 5, the posture is adjusted in situ, the right front wheel (1) keeps the position fixed, the left front telescopic rocker arm (4) swings for a certain angle towards the front direction of the vehicle and extends for a certain length, the left front wheel (3) is kept to be in contact with the upper surface of the obstacle, the left rear telescopic rocker arm (6) swings for a certain angle towards the rear direction of the vehicle and extends for a certain length, the left rear wheel (5) is kept to be in contact with the road surface, the right rear telescopic rocker arm (8) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the right rear wheel (7) is higher than the upper surface of the obstacle, and the right rear wheel (;
and 7: keeping the four-wheel vehicle in the state of the step 6 to move forwards at a constant speed until the point D does not far cross the edge of the obstacle, and stopping the four-wheel vehicle, wherein the gravity center G falls in the stressed quadrilateral ACDB;
and 8: the four-wheel vehicle keeps the state of the step 7, the posture is adjusted in situ, the right rear wheel (7) keeps the position still, the left rear telescopic rocker arm (6) swings towards the front direction of the vehicle and adjusts the telescopic amount at the same time until the direction is vertical to the ground, the left rear wheel (5) keeps in contact with the ground and is not in contact with the side wall of the obstacle at the moment, the left front telescopic rocker arm (4) swings towards the rear direction of the vehicle and adjusts the telescopic amount until the AD connecting line is vertical to the BD connecting line, the right front telescopic rocker arm (2) swings towards the front direction of the vehicle and extends for a certain length at the same time, the right front wheel (1) is kept in contact with the upper surface of the obstacle, the vehicle body (9) is restored to the;
and step 9: the four-wheel vehicle keeps the state of the step 8, adjusts the posture in situ, the left rear telescopic rocker arm (6) contracts and swings towards the rear direction of the vehicle until the height of the lowest edge of the left rear wheel (5) is higher than the upper surface of the barrier, at the moment, the left rear wheel (5) is suspended, and the other three wheels keep the position of the step 8;
step 10: and (4) keeping the state of the step (9) to move forward at a constant speed until the point C crosses the edge of the obstacle, and adjusting the positions and contracting the lengths of the right front telescopic rocker arm (2), the left front telescopic rocker arm (4), the left rear telescopic rocker arm (6) and the right rear telescopic rocker arm (8) until the initial state is reached.
Preferably, the swing function of the telescopic rocker arm is realized by a swing hydraulic cylinder.
Preferably, the swing hydraulic cylinder is a rack and pinion type, a vane type or a screw type.
Preferably, the telescopic function of the telescopic rocker arm is realized by a mechanical telescopic structure, a hydraulic telescopic structure or an electric telescopic structure.
The invention has the following beneficial effects:
compared with the prior art, the invention combines the two functions of large-angle swing of the rocker arm and large-stroke expansion of the telescopic arm, and the matching of different-angle swing and different-stroke expansion of the four telescopic rocker arms enables the gravity center of the whole vehicle to reasonably fall into a stress triangle formed by three wheels stressed in the ground or a stress quadrangle formed by four wheels stressed in the ground, so that the gravity center of the whole vehicle can cross the obstacle far beyond the diameter of the wheels, and the obstacle crossing capability of the four-wheel vehicle is greatly improved. The control method provided by the invention is low in engineering realization difficulty and has an important reference value for expanding the obstacle crossing capability of the four-wheel vehicle.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is an overall schematic view of a four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension;
fig. 2A is a side view of a four-wheeled vehicle with a telescoping rocker arm suspension prior to obstacle crossing.
Fig. 2B is a top view of a four-wheel vehicle with a telescoping rocker arm suspension prior to obstacle crossing.
Fig. 3A is a side view corresponding to step 1 of obstacle detouring of a four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 3B is a plan view corresponding to obstacle detouring step 1 of the four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 4A is a side view corresponding to obstacle detouring step 2 of a four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 4B is a plan view corresponding to obstacle detouring step 2 of the four-wheeled vehicle having the telescopic rocker arm suspension.
Fig. 5A is a side view of a four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 3.
Fig. 5B is a plan view of the four-wheel vehicle with a telescopic rocker arm suspension corresponding to obstacle detouring step 3.
Fig. 6A is a side view of a four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 4.
Fig. 6B is a plan view of the four-wheel vehicle with a telescopic rocker arm suspension corresponding to obstacle detouring step 4.
Fig. 7A is a side view of a four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 5.
Fig. 7B is a plan view of the four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 5.
Fig. 8A is a side view corresponding to obstacle detouring step 6 of the four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 8B is a plan view corresponding to obstacle detouring step 6 of the four-wheeled vehicle having the telescopic rocker arm suspension.
Fig. 9A is a side view corresponding to obstacle detouring step 7 of the four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 9B is a plan view corresponding to obstacle detouring step 7 of the four-wheeled vehicle having the telescopic rocker arm suspension.
Fig. 10A is a side view of a four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 8.
Fig. 10B is a plan view of the four-wheel vehicle with a telescopic rocker arm suspension corresponding to obstacle detouring step 8.
Fig. 11A is a side view corresponding to obstacle detouring step 9 of the four-wheeled vehicle having a telescopic rocker arm suspension.
Fig. 11B is a plan view of the four-wheel vehicle with a telescopic rocker arm suspension corresponding to obstacle detouring step 9.
Fig. 12A is a side view of a four-wheel vehicle with telescoping rocker arm suspension corresponding to obstacle detouring step 10.
Fig. 12B is a plan view of the four-wheel vehicle with a telescoping rocker arm suspension corresponding to obstacle detouring step 10.
In the figure, 1-right front wheel, 2-right front telescopic rocker arm, 3-left front wheel, 4-left front telescopic rocker arm, 5-left rear wheel, 6-left rear telescopic rocker arm, 7-right rear wheel, 8-right rear telescopic rocker arm and 9-vehicle body.
Detailed Description
For a better understanding of this patent, reference is made to the following detailed description of the invention in connection with the accompanying drawings and examples.
As shown in figure 1, the invention provides an obstacle crossing control method for a four-wheel vehicle with a telescopic rocker arm suspension. Comprises a right front wheel 1, a right front telescopic rocker arm 2, a left front wheel 3, a left front telescopic rocker arm 4, a left rear wheel 5, a left rear telescopic rocker arm 6, a right rear wheel 7, a right rear telescopic rocker arm 8 and a vehicle body 9. The right front telescopic rocker arm 2, the left front telescopic rocker arm 4, the left rear telescopic rocker arm 6 and the right rear telescopic rocker arm 8 not only have a large-angle swinging function, but also have a large-stroke telescopic function.
As shown in fig. 2A and 2B, a contact point of the left front wheel 3 with the road surface is defined as a, a contact point of the right front wheel 1 with the road surface is defined as B, a contact point of the left rear wheel 5 with the road surface is defined as C, a contact point of the right rear wheel 7 with the road surface is defined as D, and the center of gravity of the entire vehicle is defined as G. The contact point A, B, C, D forms a space stress triangle or stress quadrangle with different shapes according to whether the contact point contacts with the road surface and the contact position, and the gravity center of the whole vehicle is positioned at the center of the schematic polygon of the vehicle body 9 by reasonably matching the positions of the subsystems. These two figures show the initial state of normal driving of a four-wheeled vehicle with a telescoping rocker suspension when all the telescoping rockers are not extended before an obstacle is cleared.
The mass of each telescopic rocker arm and each wheel is smaller than that of the whole vehicle, and the position change of each telescopic rocker arm and each wheel does not influence the position of the gravity center G of the whole vehicle.
In the obstacle crossing process, the control method comprises the following steps:
step 1: as shown in fig. 3A and 3B, when a vehicle moves forward to a position near an obstacle to park in situ to adjust the posture, four telescopic arms, namely a right front telescopic rocker arm 2, a left front telescopic rocker arm 4, a left rear telescopic rocker arm 6 and a right rear telescopic rocker arm 8, extend for a certain length, and after the extension amount ensures that a single telescopic arm contracts for a certain length, the lowest edge of a corresponding wheel can be lifted to a position not smaller than the upper surface of the obstacle by means of swinging, the connection line AB is parallel to the connection line CD, the vehicle body 9 is kept in a horizontal state, and the gravity center G falls within a force-bearing quadrilateral ACDB;
step 2: as shown in fig. 4A and 4B, the vehicle keeps the state of step 1, adjusts the posture in situ, the right front telescopic rocker arm 2 contracts and swings towards the front of the vehicle until the height of the lowest edge of the right front wheel 1 is higher than the upper surface of the obstacle, at this time, the right front wheel 1 is suspended and does not support the weight of the whole vehicle, the left front telescopic rocker arm 4 also swings at a certain angle towards the front of the vehicle and keeps the left front wheel 3 in contact with the ground, the left rear wheel 5 and the right rear wheel 7 keep the position of step 1, the vehicle body 9 keeps a horizontal state, at this time, the left front wheel 3, the left rear wheel 5 and the right rear wheel 7 support the weight of the whole vehicle, and three points A, C, D form a right-angled stressed triangle Δ ACD, and the gravity;
and step 3: as shown in fig. 5A and 5B, the vehicle keeps the state of step 2 moving forward at a constant speed until point B crosses the edge of the obstacle, and the left front wheel 3 stops when approaching the side wall of the obstacle, at which time the center of gravity G falls within the force-bearing quadrilateral ACDB;
and 4, step 4: as shown in fig. 6A and 6B, the vehicle keeps the state of step 3, adjusts the posture in situ, the left front telescopic rocker arm 4 contracts and swings towards the front of the vehicle until the height of the lowest edge of the left front wheel 3 is higher than the upper surface of the obstacle, at this time, the left front wheel 3 is suspended and does not support the weight of the whole vehicle, the other three wheels keep the position of step 3 unchanged, the weight of the whole vehicle is supported by the right front wheel 1, the left rear wheel 5 and the right rear wheel 7, three points B, C, D form a right-angle stress triangle Δ BDC, and the gravity center G falls into the triangle;
and 5: as shown in fig. 7A and 7B, the vehicle maintains the state of step 4, the posture is adjusted in situ, the left front telescopic rocker arm 4 is extended, the extended total length is consistent with the total length of the right front telescopic rocker arm 2, at this time, the AB connecting line is parallel to the CD connecting line, the left front wheel 3 is in contact with the upper surface of the obstacle, and the gravity center G falls within the stressed quadrilateral ACDB;
step 6: as shown in fig. 8A and 8B, the vehicle maintains the state of step 5, adjusts the posture in situ, the right front wheel 1 remains stationary, the left front telescopic rocker arm 4 swings a certain angle towards the front of the vehicle and extends out a certain length, and keeps the left front wheel 3 in contact with the upper surface of the obstacle, the left rear telescopic rocker arm 6 swings a certain angle towards the rear of the vehicle and extends out a certain length, and keeps the left rear wheel 5 in contact with the road surface, the right rear telescopic rocker arm 8 contracts and swings towards the front of the vehicle until the height of the lowest edge of the right rear wheel 7 is higher than the upper surface of the obstacle, at this time, the right rear wheel 7 is suspended and no longer supports the weight of the whole vehicle, the vehicle body 9 generates a certain pitch angle, the right front wheel 1, the left front wheel 3 and the left rear wheel 5 support the weight of the whole vehicle, three points A, B, C form a stress triangle;
and 7: as shown in fig. 9A and 9B, the vehicle keeps the state of step 6 and moves forward at a constant speed until the point D is not far beyond the edge of the obstacle, and the center of gravity G falls within the force-bearing quadrilateral ACDB;
and 8: as shown in fig. 10A and 10B, the vehicle maintains the state of step 7, the posture is adjusted in situ, the right rear wheel 7 is kept stationary, the left rear telescopic rocker arm 6 swings in the front direction of the vehicle while adjusting the telescopic amount until the direction is perpendicular to the ground, at this time, the left rear wheel 5 keeps in contact with the ground and is not in contact with the side wall of the obstacle, the left front telescopic rocker arm 4 swings in the rear direction of the vehicle and adjusts the telescopic amount until the AD connecting line is perpendicular to the BD connecting line, the right front telescopic rocker arm 2 swings in the front direction while extending for a certain length, the right front wheel 1 keeps in contact with the upper surface of the obstacle, the vehicle body 9 is restored to the horizontal state, and the gravity center G falls within the force-;
and step 9: as shown in fig. 11A and 11B, the vehicle keeps the state of step 8, adjusts the posture in situ, the left rear telescopic rocker arm 6 contracts and swings towards the rear direction of the vehicle until the height of the lowest edge of the left rear wheel 5 is higher than the upper surface of the obstacle, at this time, the left rear wheel 5 is suspended and does not support the weight of the whole vehicle, the other three wheels keep the position of step 8 unchanged, the weight of the whole vehicle is supported by the right front wheel 1, the left front wheel 3 and the right rear wheel 7, three points A, B, D form a stressed right triangle Δ ADB, and the gravity center G falls into the stressed right triangle Δ ADB;
step 10: as shown in fig. 12A and 12B, the vehicle keeps the state of step 9 and moves forward at a constant speed until point C crosses the edge of the obstacle, and then the right front telescopic rocker arm 2, the left front telescopic rocker arm 4, the left rear telescopic rocker arm 6 and the right rear telescopic rocker arm 8 adjust positions and contract lengths until reaching a driving state before the obstacle crossing.
The rocker arm can realize the swing function by an electric drive swing structure, a hydraulic swing drive structure and the like; the telescopic arm can be a mechanical telescopic structure, a hydraulic telescopic structure, an electric telescopic structure and the like.
Through the cooperation of different angle swings and different stroke stretches out and draws back of four flexible rocking arms, make whole car focus can fall into within the atress triangle that three wheels of ground connection atress formed rationally, perhaps fall into within the atress quadrangle that four wheels of ground connection atress formed, the barrier of far exceeding barrier height and wheel diameter size can be crossed smoothly to whole car, has improved the ability that four-wheel vehicle surged the barrier greatly.
The obstacle crossing sequence of the four-wheel vehicle is a right front wheel, a left front wheel, a right rear wheel and a left rear wheel in sequence, and the obstacle crossing can also be finished in a mode of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, and the two obstacle crossing modes are completely symmetrical and belong to the protection scope of the invention.
It should be noted that, for example, the right-angle force triangle described in some steps may be modified to a non-right-angle state as required, the distance between each wheel and the edge of the obstacle may also be automatically adjusted as required, and the position of the center of gravity in the force triangle and the force quadrilateral may also be determined after calculation and optimization, and these improvements and adjustments all fall within the protection scope of the present invention.
Claims (4)
1. A four-wheel vehicle obstacle crossing control method with a telescopic rocker arm suspension comprises four wheels, wherein each wheel is correspondingly arranged on a vehicle body (9) through a telescopic rocker arm; the four wheels are respectively a right front wheel (1), a left front wheel (3), a left rear wheel (5) and a right rear wheel (7); the four telescopic rocker arms are respectively a right front telescopic rocker arm (2), a left front telescopic rocker arm (4), a left rear telescopic rocker arm (6) and a right rear telescopic rocker arm (8); the control method is characterized by comprising the following steps:
step 0, defining a contact point of the left front wheel 3 and the road surface as A, a contact point of the right front wheel (1) and the road surface as B, a contact point of the left rear wheel 5 and the road surface as C, a contact point of the right rear wheel 7 and the road surface as D, and the gravity center of the whole vehicle as G; in the initial state, the four telescopic rocker arms are retracted to the shortest state, the right front telescopic rocker arm (2) and the left front telescopic rocker arm (4) swing to the front of the connection point of the four telescopic rocker arms and the vehicle body (9), and the left rear telescopic rocker arm (6) and the right rear telescopic rocker arm (8) swing to the rear of the connection point of the four telescopic rocker arms and the vehicle body (9);
step 1: the four-wheel vehicle moves forward to a position near an obstacle to park in place to adjust the posture, four telescopic arms, namely a right front telescopic rocker arm (2), a left front telescopic rocker arm (4), a left rear telescopic rocker arm (6) and a right rear telescopic rocker arm (8), extend for a certain length, the extension amount ensures that a single telescopic rocker arm can lift the lowest edge of a corresponding wheel to a position not smaller than the upper surface of the obstacle by means of swinging, and the AB connecting line is parallel to the CD connecting line at the moment;
step 2: the four-wheel vehicle keeps the state of the step 1, adjusts the posture in situ, the right front telescopic rocker arm (2) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the right front wheel (1) is higher than the upper surface of the obstacle, at the moment, the right front wheel (1) is suspended, the left front telescopic rocker arm (4) swings for a certain angle towards the front direction of the vehicle and keeps the left front wheel (3) in contact with the ground, the left rear wheel (5) and the right rear wheel (7) keep the position of the step 1 still, and the vehicle body (9) keeps the horizontal state;
and step 3: the four-wheel vehicle keeps the state of the step 2 to move forwards at a constant speed until the point B crosses the edge of the obstacle, and the left front wheel (3) stops when approaching the side wall of the obstacle, and the gravity center G falls in the stressed quadrilateral ACDB;
and 4, step 4: the four-wheel vehicle keeps the state of the step 3, adjusts the posture in situ, the left front telescopic rocker arm (4) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the left front wheel (3) is higher than the upper surface of the barrier, at the moment, the left front wheel (3) is suspended, and the other three wheels keep the position of the step 3;
and 5: the four-wheel vehicle keeps the state of the step 4, the posture is adjusted in situ, the left front telescopic rocker arm (4) is extended, the total length after extension is consistent with the total length of the right front telescopic rocker arm (2), the AB connecting line is parallel to the CD connecting line at the moment, and the left front wheel (3) is contacted with the upper surface of the obstacle;
step 6: the four-wheel vehicle keeps the state of the step 5, the posture is adjusted in situ, the right front wheel (1) keeps the position fixed, the left front telescopic rocker arm (4) swings for a certain angle towards the front direction of the vehicle and extends for a certain length, the left front wheel (3) is kept to be in contact with the upper surface of the obstacle, the left rear telescopic rocker arm (6) swings for a certain angle towards the rear direction of the vehicle and extends for a certain length, the left rear wheel (5) is kept to be in contact with the road surface, the right rear telescopic rocker arm (8) contracts and swings towards the front direction of the vehicle until the height of the lowest edge of the right rear wheel (7) is higher than the upper surface of the obstacle, and the right rear wheel (;
and 7: keeping the four-wheel vehicle in the state of the step 6 to move forwards at a constant speed until the point D does not far cross the edge of the obstacle, and stopping the four-wheel vehicle, wherein the gravity center G falls in the stressed quadrilateral ACDB;
and 8: the four-wheel vehicle keeps the state of the step 7, the posture is adjusted in situ, the right rear wheel (7) keeps the position still, the left rear telescopic rocker arm (6) swings towards the front direction of the vehicle and adjusts the telescopic amount at the same time until the direction is vertical to the ground, the left rear wheel (5) keeps in contact with the ground and is not in contact with the side wall of the obstacle at the moment, the left front telescopic rocker arm (4) swings towards the rear direction of the vehicle and adjusts the telescopic amount until the AD connecting line is vertical to the BD connecting line, the right front telescopic rocker arm (2) swings towards the front direction of the vehicle and extends for a certain length at the same time, the right front wheel (1) is kept in contact with the upper surface of the obstacle, the vehicle body (9) is restored to the;
and step 9: the four-wheel vehicle keeps the state of the step 8, adjusts the posture in situ, the left rear telescopic rocker arm (6) contracts and swings towards the rear direction of the vehicle until the height of the lowest edge of the left rear wheel (5) is higher than the upper surface of the barrier, at the moment, the left rear wheel (5) is suspended, and the other three wheels keep the position of the step 8;
step 10: and (4) keeping the state of the step (9) to move forward at a constant speed until the point C crosses the edge of the obstacle, and adjusting the positions and contracting the lengths of the right front telescopic rocker arm (2), the left front telescopic rocker arm (4), the left rear telescopic rocker arm (6) and the right rear telescopic rocker arm (8) until the initial state is reached.
2. The method of claim 1, wherein the swinging function of the telescoping rocker arm is performed by a swing hydraulic cylinder.
3. The method of claim 1, wherein the swing cylinder is rack and pinion, blade, or screw type.
4. The method of claim 1, wherein the telescoping function of the telescoping rocker arm is achieved by a mechanical telescoping structure, a hydraulic telescoping structure, or an electric telescoping structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010496109.4A CN111806177B (en) | 2020-06-03 | 2020-06-03 | Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension |
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| CN202010496109.4A CN111806177B (en) | 2020-06-03 | 2020-06-03 | Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension |
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| CN111806177A true CN111806177A (en) | 2020-10-23 |
| CN111806177B CN111806177B (en) | 2021-12-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022736A (en) * | 2021-04-06 | 2021-06-25 | 广西邕城云科技有限公司 | Medical treatment travelling bogie |
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| CN204978939U (en) * | 2015-06-12 | 2016-01-20 | 洛阳理工学院 | Compound device that hinders more of wheel leg auxiliary type |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
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| WO1992010390A1 (en) * | 1990-12-07 | 1992-06-25 | Peter Eriksson | A device in vehicles |
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| CN201553225U (en) * | 2009-11-20 | 2010-08-18 | 李建廷 | Multifunctional lunar rover |
| CN204978939U (en) * | 2015-06-12 | 2016-01-20 | 洛阳理工学院 | Compound device that hinders more of wheel leg auxiliary type |
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022736A (en) * | 2021-04-06 | 2021-06-25 | 广西邕城云科技有限公司 | Medical treatment travelling bogie |
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| CN111806177B (en) | 2021-12-24 |
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