CN113548131A - Three-axis unmanned vehicle and comprehensive vehicle control system and obstacle crossing method thereof - Google Patents

Three-axis unmanned vehicle and comprehensive vehicle control system and obstacle crossing method thereof Download PDF

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Publication number
CN113548131A
CN113548131A CN202110863176.XA CN202110863176A CN113548131A CN 113548131 A CN113548131 A CN 113548131A CN 202110863176 A CN202110863176 A CN 202110863176A CN 113548131 A CN113548131 A CN 113548131A
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way
valve
way electromagnetic
hydraulic cylinder
unmanned vehicle
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CN113548131B (en
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陈冠鹏
徐小军
徐海军
张雷
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National University of Defense Technology
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National University of Defense Technology
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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
    • 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
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/0416—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a three-axis unmanned vehicle comprehensive vehicle control system, which comprises: the suspension control system at least comprises a suspension lifting system and a wheel base adjusting system; the suspension lifting system is used for adjusting the height of a corresponding wheel of the three-axis unmanned vehicle to realize chassis lifting of the three-axis unmanned vehicle, and the wheelbase adjusting system is used for changing the horizontal position of a corresponding axle of the three-axis unmanned vehicle to realize wheelbase adjustment of the three-axis unmanned vehicle; the steering control system is used for realizing high-speed front wheel steering or low-speed four-wheel steering of the three-axis unmanned vehicle; the power supply system is connected with the suspension lifting system, the wheel base adjusting system and the steering control system and provides power; the vehicle running power system is used for providing hydraulic power drive or oil-electric hybrid power drive for rotating all wheels. The invention can change the height of the chassis, the direction of wheels and the wheelbase of the unmanned vehicle, and improve the diversity, high throughput and stability of the unmanned vehicle during running.

Description

Three-axis unmanned vehicle and comprehensive vehicle control system and obstacle crossing method thereof
Technical Field
The invention relates to the technical field of ground moving platforms, in particular to a three-axis unmanned vehicle, and further provides a comprehensive vehicle control system and an obstacle crossing method of the three-axis unmanned vehicle based on the three-axis unmanned vehicle.
Background
The unmanned vehicle is taken as an important component in a future unmanned system, is developed in the directions of autonomy, synergy and diversification, has stronger task execution capacity and better environment adaptability along with the progress of science and technology, is developed in the directions of miniaturization, light weight and intellectualization, and can be seamlessly integrated with the unmanned system or other unmanned systems.
For the walking and driving system of the unmanned vehicle, in order to meet the development from the investigation and monitoring task executed in a safe area to the task executed in a high-risk area, the unmanned vehicle is required to have the capabilities of all-terrain quick maneuvering, quick task load replacement, long endurance, autonomous repair and the like. Therefore, the walking and driving system of the unmanned vehicle can highlight the characteristics of new configuration, high adaptability and high throughput capability in the future.
The wheel type traveling mechanism is used as one of traveling and driving systems, has small traveling resistance, small noise, good steering performance and high maneuverability, and is widely applied to various unmanned vehicles. At present, wheel type traveling mechanisms applied to unmanned vehicles are mainly distributed on the left side and the right side of a vehicle body, four wheels (two shafts), six wheels (three shafts) or more are mainly used, every two wheels form a group, each group of wheels are connected through an axle (also called an axle), the axle is connected with a vehicle frame (or a vehicle body) through a suspension, the wheels, the axle, the suspension and the vehicle frame (the vehicle body) form a vehicle chassis, and the distance between the axles is called a wheel base.
In the traditional wheel type chassis, because the gravity center and the height of the whole vehicle chassis structure are fixed, and the positions and the heights of axles and wheels are basically fixed, the pressure ratio of the weight of a vehicle body distributed to each axle is constant, and the balance of the unmanned vehicle can be seriously influenced when the unmanned vehicle runs on special terrains and complex terrains, so that the unmanned vehicle is unstable, overturned, slipped and the like when running, steering, obstacle crossing, trench crossing and the like, and even can not realize corresponding functions.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a comprehensive vehicle control system of a three-axis unmanned vehicle, which can realize the adjustment of wheels and axles of the unmanned vehicle, has high speed and accuracy in adjustment and improves the diversity and stability of the driving states of the wheels.
The purpose of the invention is mainly realized by the following technical scheme:
the utility model provides a car control system is synthesized to three-axis unmanned car, should synthesize car control system and include: the suspension control system is arranged on a suspension of the three-axis unmanned vehicle and at least comprises a suspension lifting system and a wheel base adjusting system; the chassis lifting system is used for adjusting the height of the corresponding wheels of the three-axis unmanned vehicle to realize chassis lifting of the three-axis unmanned vehicle, and the wheelbase adjusting system is used for changing the horizontal position of the corresponding axles of the three-axis unmanned vehicle to realize wheelbase adjustment of the three-axis unmanned vehicle; the steering control system is arranged on a suspension of the three-axis unmanned vehicle, is connected with wheels and is used for realizing high-speed front wheel steering or low-speed four-wheel steering of the three-axis unmanned vehicle; the power supply system is arranged on a suspension of the three-axis unmanned vehicle, is connected with the suspension lifting system, the wheelbase adjusting system and the steering control system and provides power; the vehicle running power system is arranged on the body of the three-axis unmanned vehicle, is connected with all wheels and is used for providing hydraulic power drive or oil-electricity hybrid power drive for the rotation of all the wheels.
In the technical scheme, the vehicle running power system is used for providing hydraulic power drive for rotating all wheels; the vehicle running power system comprises a hydraulic control valve group, a left wheel driving system and a right wheel driving system which are communicated with the hydraulic control valve group, and the left wheel driving system and the right wheel driving system have the same structure; the left wheel driving system comprises wheel hub hydraulic motors and fifth three-position four-way electromagnetic reversing valves, as well as a sixth three-position four-way electromagnetic reversing valve and a first high-pressure energy accumulator, wherein the number of the wheel hub hydraulic motors and the number of the fifth three-position four-way electromagnetic reversing valves are equal to that of the left wheels; the hydraulic control system comprises a hydraulic control valve group, wheel hub hydraulic motors, a hydraulic control valve group and a hydraulic control system, wherein the wheel hub hydraulic motors are respectively connected with a left wheel, each wheel hub hydraulic motor is connected with two working oil ports of a fifth three-position four-way electromagnetic reversing valve, and an oil inlet and an oil outlet of the fifth three-position four-way electromagnetic reversing valve are communicated with the hydraulic control valve group; an oil inlet and an oil outlet of the sixth three-position four-way electromagnetic reversing valve are both connected with the hydraulic control valve group, one working oil port of the sixth three-position four-way electromagnetic reversing valve is connected with the first high-pressure energy accumulator, and the other working oil port of the sixth three-position four-way electromagnetic reversing valve is closed.
As further structural optimization of the vehicle running power system, the vehicle running power system further comprises a first oil tank, a first overflow valve, an engine and a first variable hydraulic pump, wherein the engine is connected with the first variable hydraulic pump, an oil inlet and an oil outlet of the first variable hydraulic pump are communicated with a hydraulic control valve group, the first oil tank is communicated with the first overflow valve, and the first overflow valve is communicated with the hydraulic control valve group.
In the technical scheme, the suspension lifting system mainly comprises a first one-way hydraulic cylinder, a first three-position four-way electromagnetic directional valve, a first one-way valve and a first throttle valve, wherein a hydraulic rod of the first one-way hydraulic cylinder is connected with wheels, two working oil ports of the first three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the first one-way hydraulic cylinder, an oil inlet of the first three-position four-way electromagnetic directional valve is sequentially communicated with the first one-way valve and the first throttle valve, and oil return ports of the first throttle valve and the first three-position four-way electromagnetic directional valve are communicated with a power supply system pipeline.
As the further structural optimization of the suspension lifting system, the suspension lifting system further comprises a hydraulic balance loop, the hydraulic balance loop comprises a hydraulic control one-way valve, and the hydraulic control one-way valve is communicated with one pipeline communicated with the first three-position four-way electromagnetic directional valve and the first one-way hydraulic cylinder and is communicated with the other pipeline communicated with the first three-position four-way electromagnetic directional valve and the first one-way hydraulic cylinder by-pass.
In the technical scheme, the wheel base adjusting system is composed of a second one-way hydraulic cylinder, a second three-position four-way electromagnetic directional valve, a second one-way valve and a second throttle valve, the second one-way hydraulic cylinder is rigidly connected with a vehicle body of the unmanned vehicle, a hydraulic rod of the second one-way hydraulic cylinder is fixedly connected with a vehicle axle, two working oil ports of the second three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the second one-way hydraulic cylinder, an oil inlet of the second three-position four-way electromagnetic directional valve is sequentially communicated with the second one-way valve and the second throttle valve, and oil return ports of the second throttle valve and the second three-position four-way electromagnetic directional valve are communicated with a power supply system pipeline.
In the technical scheme, the steering control system comprises a wheel steering arm, a two-way hydraulic cylinder, a third throttle valve and a third three-position four-way electromagnetic directional valve, the wheel steering arm is rotatably connected to a suspension and fixedly connected with a wheel, two hydraulic cylinders of the two-way hydraulic cylinder are respectively rotatably connected to two wheel steering arms on the same axle, two working oil ports of the third three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the two-way hydraulic cylinder, an oil inlet of the third three-position four-way electromagnetic directional valve is communicated with the third throttle valve, and oil return ports of the third throttle valve and the third three-position four-way electromagnetic directional valve are both communicated with a power supply system pipeline.
In the technical scheme, the power supply system comprises a motor, a second variable hydraulic pump, a filter, a second oil tank and a third one-way valve, a motor driving shaft is connected with the second variable hydraulic pump, an inlet of the second variable hydraulic pump is sequentially communicated with the filter and the second oil tank, a liquid return pipeline is communicated between the filter and the second oil tank, an outlet of the second variable hydraulic pump is communicated with an inlet end of the third one-way valve, an outlet end of the third one-way valve is communicated with a liquid outlet pipeline, and the liquid outlet pipeline and the liquid return pipeline are communicated with a suspension lifting system, a wheel base adjusting system and a steering control system to form a circulating pipeline system.
As a further structural optimization of the power supply system, the power supply system further comprises a second overflow valve, one port of the second overflow valve is communicated between the third check valve and the second variable displacement hydraulic pump, and the other port of the second overflow valve is communicated with the liquid return pipeline; the power supply system also comprises a second high-pressure energy accumulator and a fourth three-position four-way electromagnetic directional valve, wherein an oil inlet and an oil return port of the fourth three-position four-way electromagnetic directional valve are respectively communicated with two ports of a second overflow valve, one of two working oil ports of the fourth three-position four-way electromagnetic directional valve is communicated with the second high-pressure energy accumulator, and the other working oil port is closed.
In conclusion, compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the suspension control system and the steering control system are arranged to control the chassis lifting and the wheel steering of the unmanned vehicle, and the wheel base adjustment can be carried out through the wheel base adjustment system of the suspension control system, so that the chassis height, the wheel direction and the wheel base of the unmanned vehicle can be changed, the unmanned vehicle can be correspondingly adjusted according to the vehicle speed and the road surface condition in the driving process, and the diversity, high passing property and stability of the unmanned vehicle in the driving process are improved.
2. The suspension lifting system disclosed by the invention is used for independently controlling each wheel, reversing of the first one-way hydraulic cylinder is realized by using the first three-position four-way electromagnetic reversing valve, so that the height of the wheels is adjusted, the height of the chassis of the unmanned vehicle is further changed, the on-off state and the pressure change of the suspension lifting system are controlled by using the first one-way valve and the first throttle valve, and the lifting height of the chassis is strictly controlled, so that the height adjustment of the chassis of the unmanned vehicle is more accurate and stable, and the corresponding height state can be continuously maintained.
3. According to the suspension lifting system, the hydraulic balance loop is arranged, the chassis change caused by the weight of the unmanned vehicle can be prevented by using the hydraulic control one-way valve, and the stability and the safety of the suspension lifting system are ensured.
4. The wheelbase adjusting system is the same as a suspension lifting system in basic structure, the second three-position four-way electromagnetic reversing valve is used for reversing the second one-way hydraulic cylinder, the horizontal position of the axle on the chassis is further adjusted, the purpose of quickly and accurately adjusting the wheelbase is achieved, the second one-way valve and the second throttle valve are used for controlling the on-off and pressure change of the wheelbase adjusting system, the adjusting distance of the axle is strictly controlled, the wheelbase of the unmanned vehicle is adjusted more accurately and stably, and the corresponding height state can be continuously maintained.
5. The steering control system utilizes the third three-position four-way electromagnetic directional valve to control the reversing of the bidirectional hydraulic cylinder, further adjusts the direction of the wheel through the wheel steering arm, realizes the quick adjustment of the direction of the wheel, and can realize the accurate control of the telescopic direction and the telescopic amount of the bidirectional hydraulic cylinder through the cooperation of the third throttle valve and the third three-position four-way electromagnetic directional valve, thereby improving the accuracy of the steering control system.
6. The power supply system is used for transmitting pressure media to provide power for the suspension lifting system, the wheel base adjusting system and the steering control system, and the medium in the oil tank is conveyed to the system by using the motor and the variable hydraulic pump, and the returned pressure media are recovered to form a circulating pipeline system so as to provide a stable power supply system for the system.
7. The power supply system of the invention also realizes the overflow and storage of the high-pressure energy accumulator and the pressure medium of the fourth three-position four-way electromagnetic directional valve through the overflow valve, can recover, store and release the energy of redundant medium, can avoid the heating of a hydraulic system caused by the overflow of the power medium, and can also be used for a suspension control system by releasing the medium energy in the high-pressure energy accumulator, thereby realizing the energy saving.
8. The vehicle running power system can realize the rotation speed or steering control of each wheel through the hub hydraulic motor and the fifth three-position four-way electromagnetic directional valve which are matched with each wheel, can also realize energy storage through the sixth three-position four-way electromagnetic directional valve and the first high-pressure energy accumulator, achieves the aim of energy saving, and can also control the flow rate, the flow speed and the like of hydraulic oil in the vehicle running power system through the hydraulic control valve group, thereby further improving the control effect on the wheels.
9. According to the vehicle running power system, oil supply and overflow are realized through the first oil tank and the first overflow valve, safe and stable hydraulic oil supply is realized, the circulating delivery of the hydraulic oil is realized through the engine and the first variable hydraulic pump, and the requirement on wheel power is ensured.
As one of technical extensions, the invention also discloses a three-axis unmanned vehicle which at least comprises a chassis consisting of wheels, axles, a suspension and a frame, wherein the chassis is also provided with the comprehensive vehicle control system of the three-axis unmanned vehicle.
Due to the adoption of the comprehensive vehicle control system of the three-axis unmanned vehicle, the three-axis unmanned vehicle can realize accurate and rapid adjustment of the height of the chassis, the direction of the wheels and the wheel base, so that the driving requirements of driving, steering, obstacle crossing or trench crossing and the like under complex road conditions can be met, and the comprehensive vehicle control system has the characteristics of diversity, high passing property, stability and high safety.
As the second technical extension of the invention, the invention also discloses an obstacle crossing method of the three-axis unmanned vehicle, which comprises the following steps:
s1, judging whether the height of the obstacle can be increased, if yes, executing the following obstacle-crossing operation;
s2 the second three-position four-way electromagnetic reversing valve G7 and the second three-position four-way electromagnetic reversing valve H7 work at the lower position, the second one-way hydraulic cylinder G8 extends out, the second one-way hydraulic cylinder H8 contracts, and the first shaft and the second shaft move forwards to the limit positions and are locked;
s3, whether two front wheels on one shaft contact with an obstacle or not is detected, after the two front wheels contact with the obstacle, a first three-position four-way electromagnetic directional valve B3 and a first three-position four-way electromagnetic directional valve E3 work at the lower position, a first one-way hydraulic cylinder B1 and a first one-way hydraulic cylinder E1 extend out, and a two-shaft suspension is adjusted to be at a proper position by referring to the height of the obstacle; the first three-position four-way electromagnetic reversing valve A3 and the first three-position four-way electromagnetic reversing valve D3 work at the upper position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 contract, a lifting wheel is arranged at the extreme position, and a shaft is waited to cross an obstacle;
after the first shaft of S4 passes through an obstacle, the first three-position four-way electromagnetic directional valve A3 and the first three-position four-way electromagnetic directional valve D3 work at the lower position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 extend out, the second three-position four-way electromagnetic directional valve G7 works at the upper position, the second one-way hydraulic cylinder G6 retracts, and the whole first shaft returns to the initial position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, the second shaft retracts wheels according to the height of the obstacle, after the highest point of the obstacle is crossed, the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, the second shaft gradually releases the wheels to be contacted with the obstacle, and the second shaft waits for the second shaft to cross the obstacle;
after the S5 biaxial passes through the obstacle, the biaxial returns to the initial position; the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, and the second shaft moves backwards to the rear limit position and is locked; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, the three shafts retract to proper positions, and the three shafts wait for the three shafts to cross the obstacle;
and S6, after the three shafts cross the obstacle, the two shafts and the three shafts integrally return to the initial position and are locked, and obstacle crossing is finished.
As a technical solution optimization of the obstacle crossing method, in step S1, when it is determined that the obstacle height is not passable, a steering operation is performed, and a high-speed front wheel steering or a low-speed four-wheel steering is determined according to the vehicle speed.
Based on the obstacle crossing method of the three-axis unmanned vehicle, the obstacle crossing capability of the three-axis unmanned vehicle is strong through the synergistic effect of the suspension lifting system, the wheelbase adjusting system and the steering control system, stable obstacle crossing can be realized, and the field road condition adaptability, high passing performance and running stability of the three-axis unmanned vehicle are improved.
As a third technical extension of the invention, the invention also discloses a three-axis unmanned vehicle trench crossing method, which comprises the following steps:
a1 judging whether the width of the trench can be increased, if yes, executing the following trench-increasing operation;
a2 a second three-position four-way electromagnetic directional valve H7 works at the lower position, a second one-way hydraulic cylinder H6 contracts, and a second shaft moves forwards to the limit position and is locked;
a3 a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the upper position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 contract, and an axle wheel is lifted;
a4, detecting whether two front wheels of a shaft cross a trench or not, after the two front wheels of the shaft cross the trench, enabling a first three-position four-way electromagnetic directional valve A3 and a first three-position four-way electromagnetic directional valve D3 to work at the lower position, enabling a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 to extend out, and placing the shaft to the initial position;
a5 is that before the three shafts reach the trench, the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, and the two shafts gradually move backwards to the limit position along with the speed and are locked;
after the A6 second shaft crosses the edge of the trench, the first three-position four-way electromagnetic directional valve C3 and the first three-position four-way electromagnetic directional valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the wheel lifting wheel of the three-shaft wheel is lifted;
after the three axes A7 cross the trench, the trench crossing is finished, and all the axles and wheels return to the initial positions.
As a technical solution optimization of the above trench crossing method, in the steps a1 to a6, after each step is completed, the first three-position four-way electromagnetic directional valve and the second three-position four-way electromagnetic directional valve in the corresponding step both return to the neutral position.
As a technical solution optimization of the above-mentioned trench crossing method, in the step a1, when it is determined whether the trench width can be crossed, if the trench width exceeds the crossing range but is smaller than the vehicle body length, performing a steering operation, and determining a high-speed front wheel steering or a low-speed four-wheel steering according to the vehicle speed; if the width of the trench exceeds the overtensible range but is greater than the length of the vehicle body, the following steps are executed:
1) the second three-position four-way electromagnetic reversing valve G7 and the second three-position four-way electromagnetic reversing valve H7 work at the lower position, the second one-way hydraulic cylinder G6 extends out, the second one-way hydraulic cylinder H6 contracts, and the first shaft and the second shaft move forwards to the front limit position and then are locked, and whether the descending edge of the trench is reached is detected;
2) when two front wheels of a shaft reach the edge of a trench, the first three-position four-way electromagnetic reversing valve A3 and the first three-position four-way electromagnetic reversing valve D3 work at the upper position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 contract, and a shaft retracts to the limit position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, and wheels of the two-axle vehicle are retracted;
3) after two front wheels of a shaft cross the edge of the trench, a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the lower position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 extend out, and the shaft is put on the wheels to the limit position; the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, the two shafts gradually move backwards along with the speed of the vehicle and retract the wheels until the two front wheels of one shaft contact the ground;
4) after two front wheels of a shaft contact the ground, a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the upper position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 contract, a shaft retracts the wheels, and a suspension is lowered to the limit position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, the second three-position four-way electromagnetic reversing valve H7 works at the lower position, the one-way hydraulic cylinder H6 contracts, and the two shafts retract to the extreme position and gradually move forwards;
5) when the second shaft crosses the lower edge of the trench, the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, and the two-shaft suspension is lifted to the limit position; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the three shafts retract to the limit position;
6) after the three shafts cross the lower edge of the trench, all the axles and wheels return to the initial positions, and the trench descending is finished;
7) judging whether the lifting edge of the trench is reached, when the lifting edge of the trench is reached, working the second three-position four-way electromagnetic directional valve G7 at the lower position, extending the second one-way hydraulic cylinder G6, working the first three-position four-way electromagnetic directional valve A3 and the first three-position four-way electromagnetic directional valve D3 at the upper position, contracting the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1, moving a shaft forward to the extreme position, and then locking and retracting the wheel; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, the second three-position four-way electromagnetic reversing valve H7 works at the lower position, the second one-way hydraulic cylinder H6 contracts, and the two-axle suspension is lifted, moved forwards to the extreme position and then locked; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, the second three-position four-way electromagnetic reversing valve K7 works at the upper position, the second one-way hydraulic cylinder K6 extends out, and the triaxial suspension is lowered, moved back to the extreme position and then locked;
8) after two front wheels of a shaft cross the upper edge of the trench, a first three-position four-way electromagnetic directional valve A3, a first three-position four-way electromagnetic directional valve D3, a first three-position four-way electromagnetic directional valve C3 and a first three-position four-way electromagnetic directional valve F3 work at the lower position, a first one-way hydraulic cylinder A1, a first one-way hydraulic cylinder D1, a first one-way hydraulic cylinder C1 and a first one-way hydraulic cylinder F1 extend out, and the wheels of the shaft and the three shaft are released to the limit positions;
9) after the two middle wheels of the two shafts reach the upper edge of the trench, the first three-position four-way electromagnetic directional valve B3 and the first three-position four-way electromagnetic directional valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, and the two-shaft suspension gradually rises to the limit position; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the three shafts retract to the initial position;
10) and after the two rear wheels of the three shafts cross the upper edge of the trench, returning the axle and the wheels to the initial positions, and ending the trench crossing.
In conclusion, the three-axis unmanned vehicle crossing method can meet the requirements of accurate and stable crossing of the three-axis unmanned vehicle through the synergistic effect of the suspension lifting system, the axle distance adjusting system and the steering control system, the three-axis unmanned vehicle can meet the requirements of crossing of more ditches, and the adaptability of the field road conditions, high throughput and operation stability of the three-axis unmanned vehicle are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a block diagram of a three-axis unmanned vehicle integrated vehicle control system;
FIG. 2 is a schematic structural diagram of a three-axis unmanned vehicle integrated vehicle control system;
FIG. 3 is a schematic structural diagram of a suspension control system;
FIG. 4 is a schematic configuration diagram of a steering control system;
FIG. 5 is a schematic view showing a state where the low-speed four wheels are left-steered in the steering control system;
FIG. 6 is a schematic diagram of the vehicle travel power system (hydraulic power drive);
FIG. 7 is a schematic configuration diagram of a vehicle running power system (gasoline-electric hybrid drive);
FIG. 8 is a simplified flow diagram of a three-axis unmanned vehicle obstacle crossing method;
FIG. 9 is a schematic view of a three-axis unmanned vehicle trench construction; the width l of the trench in the figured' less than the length of the body of the three-axis unmanned vehicle;
FIG. 10 is a simplified flow diagram of a three-axis unmanned vehicle trench-crossing method;
the reference numerals in the drawings denote: 1. a first unidirectional hydraulic cylinder; 2. a hydraulic control check valve; 3. a first three-position four-way electromagnetic directional valve; 4. a first check valve; 5. a first throttle valve; 6. a second unidirectional hydraulic cylinder; 7. a second three-position four-way electromagnetic directional valve; 8. a second one-way valve; 9. a second throttle valve; 10. a wheel steering arm; 11. a bidirectional hydraulic cylinder; 12. a third throttle valve; 13. a third three-position four-way electromagnetic directional valve; 14. a motor; 15. a second variable displacement hydraulic pump; 16. a filter; 17. a second oil tank; 18. a third check valve; 19. a second overflow valve; 20. a second high-voltage energy storage; 21. a fourth three-position four-way electromagnetic directional valve; 22. a hub hydraulic motor; 23. a fifth three-position four-way electromagnetic directional valve; 24. an engine; 25. a clutch; 26. a first variable displacement hydraulic pump; 27. a first overflow valve; 28. a first oil tank; 29. a controller; 30. a first high-voltage energy storage; 31. a sixth three-position four-way electromagnetic directional valve; 32. and a hydraulic control valve group.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
The invention discloses a three-axis unmanned vehicle comprehensive vehicle control system as a first embodiment of the invention, which is suitable for unmanned vehicles with three or more axes, can be applied to the fields of terrain or military reconnaissance, environmental monitoring, penetration attack and the like, and has the technical characteristics of good stability, quick response, safety and reliability.
As shown in fig. 1, the three-axis unmanned vehicle integrated vehicle control system specifically includes four major parts, namely a suspension control system, a steering control system, a power supply system and a vehicle running power system. The suspension control system is arranged on a suspension of the three-axis unmanned vehicle and used for controlling the height and the gravity center change of the suspension; the steering control system is arranged on a suspension of the three-axis unmanned vehicle, is connected with wheels and is used for controlling the steering of the three-axis unmanned vehicle; the power supply system is arranged at any position on the three-axis unmanned vehicle, such as a suspension, and is used for supplying power to the suspension control system and the steering control system, and the vehicle running power system is used for providing driving and driving control for the running of the three-axis unmanned vehicle.
The comprehensive vehicle control system of the three-axis unmanned vehicle of the embodiment supplies energy to the suspension control system and the steering control system based on the power supply system, the suspension control system and the steering control system adjust the overall driving state of the three-axis unmanned vehicle through the chassis, the gravity center and the steering control, the balance, diversity and reliability of the three-axis unmanned vehicle in the aspects of driving, steering, obstacle crossing and trench crossing can be optimized and improved, and the three-axis unmanned vehicle adopting the comprehensive vehicle control system of the three-axis unmanned vehicle also has better field adaptability and driving capability.
With continued reference to fig. 1, the suspension control system includes at least a suspension lift system and a wheel base adjustment system. Specifically, the suspension lifting system is equal in number and correspondingly connected with wheels of the three-axis unmanned vehicle and used for adjusting the height of the corresponding wheels of the three-axis unmanned vehicle to achieve chassis lifting of the three-axis unmanned vehicle, and the wheelbase adjusting system is equal in number and correspondingly connected with axles of the three-axis unmanned vehicle and used for changing the horizontal positions of the corresponding axles of the three-axis unmanned vehicle to achieve wheelbase adjustment of the three-axis unmanned vehicle. The suspension lifting system can further realize that the chassis of the three-axis unmanned vehicle can be lifted horizontally or inclined as required by carrying out height adjustment on each wheel, the height of the chassis is changed, the axle distance adjusting system can realize horizontal position adjustment of a corresponding axle, and the axle distance of the unmanned vehicle is changed, so that the gravity center and the gravity supporting point of the three-axis unmanned vehicle are changed, the three-axis unmanned vehicle can adapt to more complex terrains or driving requirements through the two systems, and the high passing performance and the balance of the three-axis unmanned vehicle are improved.
As shown in fig. 2 and 3, the suspension lifting system mainly comprises a first one-way hydraulic cylinder 1, a first three-position four-way electromagnetic directional valve 3, a first one-way valve 4 and a first throttle valve 5, a hydraulic rod of the first one-way hydraulic cylinder 1 is connected with wheels, two working oil ports of the first three-position four-way electromagnetic directional valve 3 are respectively communicated with two working cylinder pipelines of the first one-way hydraulic cylinder 1, an oil inlet of the first three-position four-way electromagnetic directional valve 3 is sequentially communicated with the first one-way valve 4 and the first throttle valve 5, and oil return ports of the first throttle valve 5 and the first three-position four-way electromagnetic directional valve 3 are both communicated with a power supply system pipeline.
This suspension operating system carries out the independent control respectively to every wheel, utilize the switching-over function of first tribit four-way solenoid directional valve 3, can realize the switching-over of first one-way hydraulic cylinder 1, and then realize the wheel of being connected with first one-way hydraulic cylinder 1 and correspond the height, correspond the chassis height with this change, and come the break-make and the pressure of the first tribit four-way solenoid directional valve 3 of overall control through first check valve 4 and first choke valve 5, and then the strict control with keep chassis height, make the chassis altitude mixture control of three-axis unmanned vehicles more accurate steady, and can continuously keep corresponding altitude mixture.
Because the number of the suspension lifting systems is equal to that of the wheels, for the comprehensive vehicle control system of the three-axle unmanned vehicle, six groups of six wheels corresponding to three axles are arranged on the suspension lifting systems, for the convenience of understanding and subsequent explanation, the six wheels are respectively defined as a left front wheel A, a left middle wheel B, a left rear wheel C, a right front wheel D, a right middle wheel E and a right rear wheel F in the embodiment, the corresponding suspension raising and lowering system is added with the corresponding serial number when describing the specific structure, for example, in the suspension raising and lowering system of the left front wheel a, which may be described as a first one-way hydraulic cylinder a1, a first three-position four-way solenoid directional valve A3, a first one-way valve a4, and a first throttle valve a5, in the suspension lift system of the left center wheel B, which may be described as a first one-way hydraulic cylinder B1, a first three-position four-way solenoid directional valve B3, a first one-way valve B4 and a first throttle valve B5, and the rest wheels are analogized in turn, so that the specific structures of different suspension lifting systems of different wheels can be represented.
It should be noted that the two working oil ports, the oil inlet port, and the oil return port of the first three-position four-way electromagnetic directional valve 3 are all structures in the prior art, and in order to better understand the structure, as shown in fig. 2, the first three-position four-way electromagnetic directional valve A3 in the left front wheel a is taken as an example, the A, B port is two working oil ports, the connection between the two working oil ports and the first one-way hydraulic cylinder a1 may be referred to as a mode in the figure, the T port is an oil return port, and the P port is an oil inlet port, the first three-position four-way electromagnetic directional valves of the other wheels are understood in a mode of the same side structure or symmetrical side structure with reference to this description, or may be understood by a simplified diagram of the three-position four-way electromagnetic directional valve in the figure understood by those skilled in the art, and each three-position four-way electromagnetic directional valve mentioned in the subsequent order may be understood in this mode.
It should be noted that the first unidirectional hydraulic cylinder 1 and all the unidirectional hydraulic cylinders mentioned below may be implemented as double-acting unidirectional hydraulic cylinders.
With reference to fig. 2 and fig. 3, the suspension lifting system of the present embodiment further includes a hydraulic balancing circuit, the hydraulic balancing circuit includes a hydraulic control check valve 2, and the hydraulic control check valve 2 is communicated with one of the pipelines communicating the first three-position four-way electromagnetic directional valve 3 and the first one-way hydraulic cylinder 1, and is bypassed by the pipeline communicating the other first three-position four-way electromagnetic directional valve 3 and the first one-way hydraulic cylinder 1. The hydraulic control one-way valve 2 can be dependent on the pressure of an internal medium, the hydraulic control one-way valve 2 can be made to reversely flow, when the pressure medium is not communicated in the hydraulic control one-way valve 2, the hydraulic control one-way valve 2 works like a common one-way valve, the pressure medium only flows to an oil outlet from an oil inlet and cannot reversely flow, when the pressure medium is communicated in the hydraulic control one-way valve 2, a piston mandril of the hydraulic control one-way valve 2 moves rightwards under the action of the pressure medium to enable an oil inlet and an oil outlet of the hydraulic control one-way valve to be communicated, if the oil outlet is larger than the oil inlet, the pressure medium can reversely flow, and then the adjustment and pressure maintaining of the first throttle valve 5 are realized. For a three-axle unmanned vehicle, as the vehicle body has a certain weight, the hydraulic control one-way valve 2 is added to form a hydraulic balance loop, so that the stability and the safety of a suspension system can be ensured, and the flow is adjusted by combining the first throttle valve 5, so that the extension of the first one-way hydraulic cylinder 1 can meet the vertical height requirement and keep the corresponding height.
Referring to fig. 3, the wheel base adjusting system of the present embodiment is composed of a second one-way hydraulic cylinder 6, a second three-position four-way electromagnetic directional valve 7, a second one-way valve 8 and a second throttle valve 9, the second one-way hydraulic cylinder 6 is rigidly connected to the body of the unmanned vehicle, a hydraulic rod of the second one-way hydraulic cylinder 6 is fixedly connected to the axle, two working oil ports of the second three-position four-way electromagnetic directional valve 7 are respectively communicated with two working cylinder pipelines of the second one-way hydraulic cylinder 6, an oil inlet of the second three-position four-way electromagnetic directional valve 7 is sequentially communicated with the second one-way valve 8 and the second throttle valve 9, and oil return ports of the second throttle valve 9 and the second three-position four-way electromagnetic directional valve 7 are both communicated with the power supply system pipeline. The wheel base governing system of this embodiment is the same with suspension operating system basic structure, all utilize second tribit four-way solenoid directional valve 7 to realize the switching-over of second one-way hydraulic cylinder 6, and then adjust the horizontal position of axletree on the chassis, reach the purpose of quick accurate adjustment wheel base, and through second check valve 8 and the break-make and the pressure change of second choke valve 9 control wheel base governing system, the strict control axletree adjusting distance, the wheel base of unmanned car is adjusted more accurately steadily, and can continuously keep corresponding the altitude mixture.
In the present wheel base adjusting system, each axle is configured with an independent wheel base adjusting system, so as shown in fig. 2, for better understanding and subsequent description, in this embodiment, the front axle, the middle axle, and the rear axle in the three-axle unmanned vehicle are respectively defined as one axle, two axles, and three axles, the wheel base adjusting systems corresponding to the one axle, the two axles, and the three axles are respectively defined as a wheel base adjusting system G, a wheel base adjusting system H, and a wheel base adjusting system K, and corresponding marks may be added before the specific structures corresponding to the wheel base adjusting system G, the wheel base adjusting system H, and the wheel base adjusting system K to indicate the corresponding several axle base adjusting systems. Taking an axle distance adjusting system G as an example, the specific structure of the second one-way hydraulic cylinder G6, the second three-position four-way electromagnetic directional valve G7, the second one-way valve G8 and the second throttle valve G9 can be marked with corresponding marks to show the difference, and the axle distance adjusting system H and the axle distance adjusting system K have the same structure, and the description thereof is omitted.
It should be noted that the second unidirectional hydraulic cylinder 6 is at an initial position at the beginning, that is, at a neutral position, when a corresponding axle traversing instruction needs to be executed, the corresponding extension amount of the second unidirectional hydraulic cylinder 6 is controlled to drive the axle to traverse, so as to change the wheel base as required.
As shown in fig. 4, in the field driving environment, the steering control system is used for the conventional steering of the three-axis unmanned vehicle and the fast and stable steering when the three-axis unmanned vehicle cannot cross obstacles and trenches.
Specifically, the steering control system of this embodiment includes a wheel steering arm 10, a two-way hydraulic cylinder 11, a third throttle valve 12 and a third three-position four-way electromagnetic directional valve 13, the wheel steering arm 10 is rotatably connected to a suspension and is fixedly connected to a wheel, two hydraulic cylinders of the two-way hydraulic cylinder 11 are respectively rotatably connected to two wheel steering arms 10 on the same axle, two working oil ports of the third three-position four-way electromagnetic directional valve 13 are respectively communicated with two working cylinder pipelines of the two-way hydraulic cylinder 11, an oil inlet of the third three-position four-way electromagnetic directional valve 13 is communicated with the third throttle valve 12, and oil return ports of the third throttle valve 12 and the third three-position four-way electromagnetic directional valve 13 are both communicated with a power supply system pipeline.
The steering control system of this embodiment third three-position four-way electromagnetic directional valve 13 controls the switching-over of two-way hydraulic cylinder 11, and then adjusts the wheel direction through wheel steering arm 10, realizes the direction quick adjustment of wheel, and cooperates through third throttle valve 12 and third three-position four-way electromagnetic directional valve 13, can realize the accurate control of 11 flexible directions of two-way hydraulic cylinder and flexible volume, improves steering control system steering control's accuracy. When the speed of the three-axis unmanned vehicle is low, four-wheel steering is used, the turning radius of the three-axis unmanned vehicle is reduced, and the flexibility is improved; when the vehicle speed is high, the front wheels are used for steering at a small corner, side turning is avoided, and in the turning process, the stretching direction and the stretching amount of the bidirectional hydraulic cylinder 11 can be accurately controlled through the third throttle valve 12 and the third three-position four-way electromagnetic directional valve 13.
It should be noted that, since one shaft and three shafts are provided with a steering control system, for convenience of understanding and subsequent description, in this embodiment, the steering control system corresponding to the one shaft is defined as a steering control system L, and the steering control system corresponding to the three shafts is defined as a steering control system M, and then corresponding letters are added to the specific structure in the steering control system L, M for distinction, that is, the specific structure of the steering control system L is composed of a wheel steering arm L10, a bidirectional hydraulic cylinder L11, a third throttle valve L12, and a third three-position four-way electromagnetic directional valve L13, and the specific structure of the steering control system M is composed of a wheel steering arm M10, a bidirectional hydraulic cylinder M11, a third throttle valve M12, and a third three-position four-way electromagnetic directional valve M13.
Based on the above, the steps in the low-speed four-wheel steering are as follows:
1) when the vehicle turns left, the third three-position four-way electromagnetic directional valve L13 is in the left position, the third three-position four-way electromagnetic directional valve M13 is in the right position, and the one-shaft bidirectional hydraulic cylinder L11 extends out in the left direction.
2) When the vehicle turns right, the third three-position four-way electromagnetic directional valve L13 is in the right position, the third three-position four-way electromagnetic directional valve M13 is in the left position, and the one-shaft and three-shaft bidirectional hydraulic cylinder L11 and the bidirectional hydraulic cylinder M11 extend out in the right direction.
Fig. 5 is a schematic structural diagram of the low-speed four-wheel left steering, and the principle of the low-speed four-wheel right steering is the same as the low-speed four-wheel left steering, so the schematic structural diagram is omitted.
The steps when the high-speed front wheel turns are as follows:
1) when the vehicle turns left, the third three-position four-way electromagnetic directional valve L13 is in the left position, and the one-shaft bidirectional hydraulic cylinder L11 extends out in the left direction.
2) When the vehicle turns right, the third three-position four-way electromagnetic directional valve L13 is in the right position, and the one-shaft bidirectional hydraulic cylinder L11 extends out in the right direction.
It should be noted that the wheel steering arm 10 is a mechanical arm structure for driving the wheel to steer, and this structure belongs to the conventional technology, so the embodiment is not further described.
With reference to fig. 2 and 3, the power supply system of this embodiment includes a motor 14, a second variable displacement hydraulic pump 15, a filter 16, a second oil tank 17, and a third check valve 18, a driving shaft of the motor 14 is connected to the second variable displacement hydraulic pump 15, an inlet of the second variable displacement hydraulic pump 15 is sequentially communicated with the filter 16 and the second oil tank 17, a return line is further communicated between the filter 16 and the second oil tank 17, an outlet of the second variable displacement hydraulic pump 15 is communicated with an inlet end of the third check valve 18, an outlet end of the third check valve 18 is communicated with a liquid outlet line, and the liquid outlet line and the return line are both communicated with the suspension lifting system, the wheel base adjusting system, and the steering control system to form a circulation line system.
The power supply system is used for transmitting pressure media to provide power for a suspension lifting system, a wheel base adjusting system and a steering control system, can be arranged on a suspension or a vehicle body, and utilizes a motor 14 and a second variable hydraulic pump 15 to convey the media in a second oil tank 17 to the system and recover the returned pressure media to form a circulating pipeline system so as to provide stable power supply for the suspension lifting system, the wheel base adjusting system and the steering control system. It should be noted that the pressure medium of the power supply system may be selected according to the specific use environment, for example, the pressure medium may be hydraulic oil, water, gas, etc.
Specifically, the first throttle valve 5 of the suspension lifting system, the second throttle valve 9 of the wheel base adjusting system and the third throttle valve 12 of the steering control system are all communicated with a liquid outlet pipeline; the oil return port of the first three-position four-way electromagnetic directional valve 3 of the suspension lifting system, the oil return port of the second three-position four-way electromagnetic directional valve 7 of the wheelbase adjusting system and the oil return port of the third three-position four-way electromagnetic directional valve 13 of the steering control system are all communicated with a liquid return pipeline.
In order to further improve the safety and energy saving performance of the power supply system, the power supply system further comprises a second overflow valve 19, one port of the second overflow valve 19 is communicated between the third check valve 18 and the second variable displacement hydraulic pump 15, and the other port is communicated with the liquid return pipeline; the oil inlet and the oil return port of the fourth three-position four-way electromagnetic directional valve 21 are respectively communicated with two ports of a second overflow valve 19, one of two working oil ports of the fourth three-position four-way electromagnetic directional valve 21 is communicated with the second high-pressure energy accumulator 20, and the other working oil port is closed. Therefore, the overflow and storage of the pressure medium are realized through the second overflow valve 19, the second high-pressure energy storage device 20 and the fourth three-position four-way electromagnetic directional valve 21, the energy of the redundant medium can be recovered, stored and released, the system heating caused by the overflow of the power medium can be avoided, and the medium energy in the high-pressure energy storage device can be released to be used by a suspension control system, so that the energy conservation is realized.
The vehicle driving power system is mainly used for power supply and distribution in the driving process of the three-axis unmanned vehicle, and can realize power supply by completely adopting hydraulic power drive, as shown in fig. 6, so as to overcome the defects of the existing motor characteristic limitation, such as lower energy recovery efficiency, relatively lower reliability of complex landform types in the field and poor adaptability; it may also be implemented by using oil-electric hybrid power drive, as shown in fig. 7, the combination mode may be 3 (in-wheel motor) × 3 (in-wheel hydraulic motor), 4 (in-wheel motor) × 2 (in-wheel hydraulic motor), and the like, it should be noted that the oil-electric hybrid power drive is related to the prior art, and the specific system of the oil-electric hybrid power drive is not described in the embodiment.
With continued reference to FIG. 6, the vehicle travel power system is a hydraulic power drive for providing rotation of all of the wheels; the vehicle running power system comprises a hydraulic control valve group 32, and a left wheel driving system and a right wheel driving system which are communicated with the hydraulic control valve group 32, wherein the left wheel driving system and the right wheel driving system have the same structure; the left wheel driving system comprises wheel hub hydraulic motors 22 and fifth three-position four-way electromagnetic reversing valves 23, a sixth three-position four-way electromagnetic reversing valve 31 and a first high-pressure energy accumulator 30, wherein the number of the wheel hub hydraulic motors 22 and the number of the fifth three-position four-way electromagnetic reversing valves 23 are equal to that of left wheels; the hub hydraulic motors 22 are respectively connected with a left wheel (a/b/c), each hub hydraulic motor 22 is connected with two working oil ports of a fifth three-position four-way electromagnetic reversing valve 23, and an oil inlet and an oil outlet of the fifth three-position four-way electromagnetic reversing valve 23 are communicated with a hydraulic control valve group 32; an oil inlet and an oil outlet of the sixth three-position four-way electromagnetic directional valve 31 are both connected with the hydraulic control valve group 32, one working oil port of the sixth three-position four-way electromagnetic directional valve 31 is connected with the first high-pressure energy accumulator 30, and the other working oil port is closed.
The vehicle running power system of the embodiment utilizes the hub hydraulic motor 22 and the fifth three-position four-way electromagnetic directional valve 23 to realize independent driving of each wheel, can adjust and control the working conditions (speed regulation, forward and reverse rotation and the like) of the hub hydraulic motor 22 through the hydraulic control valve group 32 and the fifth three-position four-way electromagnetic directional valve 23, further can control the working conditions of each wheel, realize reasonable matching and control of power, ensure the reliability, stability and adaptability of the three-axis unmanned vehicle running on different terrains, and can store redundant high-pressure liquid in the first high-pressure accumulator 30 during the running (such as the speed reduction from normal running to the detection obstacle or ditch state) and the braking process of the three-axis unmanned vehicle through the sixth three-position four-way electromagnetic directional valve 31 to realize rapid recovery and release during the running and starting, can be applied to the driving assistance of a single wheel or a plurality of wheels, and in consideration of the instantaneous high-power driving requirement under the limit driving condition, the driving auxiliary advantage of the hydraulic power can also well improve the maneuvering performance of the unmanned vehicle.
The hydraulic control valve set 32 of this embodiment is used to control the on-off and flow rate of the left wheel driving system and the right wheel driving system, and belongs to the prior art, so this embodiment is not further described.
In order to control the state switching of the fifth three-position four-way electromagnetic directional valve 23 and the sixth three-position four-way electromagnetic directional valve 31, the controller 29 is further provided in this embodiment, the controller 29 is electrically connected to all of the fifth three-position four-way electromagnetic directional valve 23 and the sixth three-position four-way electromagnetic directional valve 31, and the controller 29 can be further used to perform fast reversing control on the fifth three-position four-way electromagnetic directional valve 23 and the sixth three-position four-way electromagnetic directional valve 31.
It should be noted that the left wheel driving system and the right wheel driving system have the same structure, so the present embodiment only describes the specific structure of the left wheel driving system, and the right wheel driving system can be obtained by directly referring to the left wheel driving system.
In order to facilitate implementation, the vehicle driving power system of the embodiment further includes a first oil tank 28, a first overflow valve 27, an engine 24, and a first variable displacement hydraulic pump 26, where the engine 24 is connected to the first variable displacement hydraulic pump 26, an oil inlet and an oil outlet of the first variable displacement hydraulic pump 26 are both communicated with a hydraulic control valve group 32, the first oil tank 28 is communicated with the first overflow valve 27, and the first overflow valve 27 is communicated with the hydraulic control valve group 32. The engine 24 of the embodiment drives the first variable displacement hydraulic pump 26 to work, the first variable displacement hydraulic pump 26 drives the hydraulic oil in the first oil tank 28 to form high-pressure driving oil in the vehicle running power system to work, and the first overflow valve 27 can ensure the consumption of the hydraulic oil in the pipeline of the vehicle running power system through the overflow function.
In order to ensure the normal connection between the engine 24 and the first variable displacement hydraulic pump 26, a clutch 25 may be provided between the engine 24 and the first variable displacement hydraulic pump 26 to realize the transmission connection therebetween.
The above is the whole content of the first embodiment of the present invention, and based on the above embodiment, as the second embodiment of the present invention, there is also provided a three-axis unmanned vehicle, which at least includes a chassis composed of wheels, axles, suspensions and a frame, and the chassis is further provided with the above three-axis unmanned vehicle comprehensive vehicle control system.
The three-axis unmanned vehicle adopts the three-axis unmanned vehicle comprehensive vehicle control system, and can realize accurate and rapid adjustment of the height of the chassis, the direction of the wheels and the wheel base, so that the three-axis unmanned vehicle can meet the driving requirements of driving, steering, obstacle crossing or trench crossing and the like under complex road conditions, and has the characteristics of diversity, high passing property, stability and high safety.
As a third embodiment of the present invention, as shown in fig. 8, there is provided an obstacle crossing method of a three-axis unmanned vehicle, including the steps of:
s1 judges whether or not the height of the obstacle is acceptable, and if so, performs the following obstacle crossing operation. In this step, it is determined whether the height of the obstacle can be determined by directly using an existing system of the three-axis unmanned vehicle, such as a vision inspection system.
S2 the second three-position four-way electromagnetic reversing valve G7 and the second three-position four-way electromagnetic reversing valve H7 work at the lower position, the second one-way hydraulic cylinder G8 extends out, the second one-way hydraulic cylinder H8 contracts, and the first shaft and the second shaft move forwards to the limit positions and are locked. The step is to move the first shaft and the second shaft forwards in advance, so that the whole gravity center of the vehicle body moves forwards, and two front wheels on the first shaft can be conveniently contacted with the obstacle.
S3, whether two front wheels on one shaft contact with an obstacle or not is detected, after the two front wheels contact with the obstacle, a first three-position four-way electromagnetic directional valve B3 and a first three-position four-way electromagnetic directional valve E3 work at the lower position, a first one-way hydraulic cylinder B1 and a first one-way hydraulic cylinder E1 extend out, and a two-shaft suspension is adjusted to be at a proper position by referring to the height of the obstacle; the first three-position four-way electromagnetic reversing valve A3 and the first three-position four-way electromagnetic reversing valve D3 work at the upper position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 contract, a lifting wheel (namely, the wheel is lifted or lifted, the same is used below) is moved to the limit position, and a shaft is waited to cross an obstacle. According to the step, the two shafts are lowered through the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3, the height of a two-shaft suspension is improved, the front portion of the unmanned vehicle is lifted upwards, the two front wheels of one shaft are lifted through the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1, wheels at the lower end of the front portion of the unmanned vehicle are improved, the height of the front portion of the unmanned vehicle crossing over obstacles is improved, and obstacle crossing probability is improved.
After the first shaft of S4 passes through an obstacle, the first three-position four-way electromagnetic directional valve A3 and the first three-position four-way electromagnetic directional valve D3 work at the lower position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 extend out, the second three-position four-way electromagnetic directional valve G7 works at the upper position, the second one-way hydraulic cylinder G6 retracts, and the whole first shaft returns to the initial position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, the second shaft lifts wheels according to the height of the obstacle, after the highest point of the obstacle is crossed, the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, the second shaft gradually releases the wheels (namely, the wheels are lowered, and the lower part is the same) to be in contact with the obstacle, and the second shaft waits to cross the obstacle. In the step, after the first shaft crosses the obstacle, the first shaft is put to the initial position, so that the first shaft can be in contact with the top of the obstacle in advance before and after the second shaft crosses the obstacle, the obstacle crossing probability is improved, after the first shaft crosses the obstacle, the second shaft performs wheel retracting action to reduce the inclination of the unmanned vehicle, and after the second shaft crosses the highest point of the obstacle, the second shaft is put to be in contact with the obstacle, so that the second shaft can partially cross the obstacle.
After the S5 biaxial passes through the obstacle, the biaxial returns to the initial position; the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, and the second shaft moves backwards to the rear limit position and is locked; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, the three shafts retract to proper positions, and the three shafts wait for the three shafts to cross the obstacle; after the two shafts cross the obstacle, the two shafts are moved backwards to the limit position, the wheel base of the one shaft and the two shafts can be increased, and the supporting effect of the front end of the unmanned vehicle is increased, so that the integral gravity center of the vehicle body is kept to move forwards when the obstacle is crossed, and the vehicle is prevented from overturning or sliding.
And S6, after the three shafts cross the obstacle, the two shafts and the three shafts integrally return to the initial position and are locked, and obstacle crossing is finished.
The obstacle crossing method of the three-axis unmanned vehicle can realize the height adjustment of the axle and the chassis of the unmanned vehicle during obstacle crossing by combining the suspension lifting system and the wheelbase adjusting system, so as to further realize stable obstacle crossing, and the unmanned vehicle has stable body, does not overturn or slide during obstacle crossing, has strong obstacle crossing capability, and improves the obstacle crossing adaptability, high passing performance and operation stability of the three-axis unmanned vehicle.
In the step S1, when it is determined that the height of the obstacle is not sufficient, the three-axle unmanned vehicle performs a steering operation, and determines a high-speed front-wheel steering or a low-speed four-wheel steering according to the vehicle speed so as to bypass the obstacle. The specific steering method has been described in detail and is omitted here.
It should be noted that the limit position mentioned in the obstacle crossing method of the three-axis unmanned vehicle may be adjusted to a proper position according to needs, and does not need to reach the limit position.
As a fourth embodiment of the present invention, as shown in fig. 9 and 10, the present invention further provides a method for crossing a trench of a three-axis unmanned vehicle, including the following steps:
a1 determines whether the trench width is acceptable, and if so, performs the following trench crossing operation. In this step, it is determined whether the trench width can be determined by directly using the existing system of the three-axis unmanned vehicle, such as a vision inspection system.
A2 the second three-position four-way electromagnetic change valve H7 works at the lower position, the second one-way hydraulic cylinder H6 contracts, and the two shafts move forwards to the limit position and are locked. The step moves the two shafts forwards, so that the distance between the first shaft and the third shaft is increased when the trench is cut off, the span of front and rear wheels of the trench can be ensured, and the problem that the trench is clamped into the trench because the unmanned vehicle inclines forwards towards the trench due to no stress point when the first shaft is cut off from the trench is avoided, and the failure of the trench cutting off is caused.
A3 a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the upper position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 contract, and an axle wheel is lifted. The step raises the shaft and raises the two front wheels, so that the contact, the jamming and the like between the two front wheels and the upper edge of the trench can be avoided when the trench is crossed, and the success rate of the trench crossing is improved.
A4 detects whether two front wheels of a shaft cross the trench or not, after the two front wheels of the shaft cross the trench, a first three-position four-way electromagnetic directional valve A3 and a first three-position four-way electromagnetic directional valve D3 work at the lower position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 extend out, and the shaft is put to the initial position. In the step, after the two front wheels of the shaft cross the trench, the shaft is put on the wheels to the initial position to enable the two front wheels to be in contact with the ground, and further the supporting effect is achieved.
And A5, before the three shafts reach the trench, the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, and the two shafts gradually move backwards to the limit position along with the vehicle speed and are locked. In the step, the two shafts move backwards, so that the distance between the two shafts is increased, the supporting surface of the two shafts for the unmanned vehicle is improved, and the unmanned vehicle is prevented from tilting backwards and sliding into a trench.
After the A6 second shaft crosses the edge of the trench, the first three-position four-way electromagnetic directional valve C3 and the first three-position four-way electromagnetic directional valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the wheel lifting wheel is carried by the three-shaft wheel. In the step, after the two shafts cross the edge of the trench, the three shafts are increased, so that the heights of the two rear wheels of the three shafts are increased, and the obstacle crossing caused by the contact stress between the two rear wheels of the three shafts and the upper edge of the trench when the two shafts cross the trench can be avoided.
After the three axes A7 cross the trench, the trench crossing is finished, and all the axles and wheels return to the initial positions.
According to the trench crossing method of the three-axis unmanned vehicle, the precise and stable trench crossing requirements of the three-axis unmanned vehicle can be met through the synergistic effect of the suspension lifting system, the wheelbase adjusting system and the steering control system, the three-axis unmanned vehicle can adapt to the trench crossing requirements of more trenches, and the field road condition adaptability, high throughput and operation stability of the three-axis unmanned vehicle are improved.
For convenience of operation, in the steps a1 to a6, after each step is completed, the first three-position four-way electromagnetic directional valve and the second three-position four-way electromagnetic directional valve corresponding to the step are both returned to the neutral position.
As a supplement to the trench crossing method of the three-axis unmanned vehicle, in step a1, when it is determined whether the width of the trench can be crossed, if the width of the trench exceeds the crossing range but is smaller than the length of the vehicle body, performing a steering operation, and determining a high-speed front wheel steering or a low-speed four-wheel steering according to the vehicle speed; if the width of the trench exceeds the overtensible range but is greater than the length of the vehicle body, the following steps are executed:
1) the second three-position four-way electromagnetic reversing valve G7 and the second three-position four-way electromagnetic reversing valve H7 work at the lower position, the second one-way hydraulic cylinder G6 extends out, the second one-way hydraulic cylinder H6 contracts, the first shaft and the second shaft move forwards to the front limit position and then are locked, and whether the lowering edge of the trench is reached or not is detected. In this step, whether the descending edge of the trench is reached or not can be judged by using the existing system of the three-axis unmanned vehicle, such as a visual inspection system.
2) When two front wheels of a shaft reach the edge of a trench, the first three-position four-way electromagnetic reversing valve A3 and the first three-position four-way electromagnetic reversing valve D3 work at the upper position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 contract, and a shaft retracts to the limit position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, and wheels of the two-axle vehicle are retracted. In the step, after the first shaft and the second shaft are moved forwards, the wheels of the first shaft and the wheels of the second shaft are retracted to reduce the height of the chassis, so that the two front wheels of the first shaft can be better contacted and stressed with the edge of the trench when reaching the edge of the trench, and the vehicle body is prevented from tilting forwards and overturning.
3) After two front wheels of a shaft cross the edge of the trench, a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the lower position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 extend out, and the shaft is put on the wheels to the limit position; the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, the two shafts gradually move backwards along with the speed of the vehicle and retract the wheels until the two front wheels of one shaft contact the ground. In the step, the two front wheels of the first shaft are placed after crossing the edge of the trench, so that the support of the front end of the vehicle body is ensured, and the two shafts are moved backwards to balance the whole weight of the vehicle body.
4) After two front wheels of a shaft contact the ground, a first three-position four-way electromagnetic reversing valve A3 and a first three-position four-way electromagnetic reversing valve D3 work at the upper position, a first one-way hydraulic cylinder A1 and a first one-way hydraulic cylinder D1 contract, a shaft retracts the wheels, and a suspension is lowered to the limit position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, the second three-position four-way electromagnetic reversing valve H7 works at the lower position, the one-way hydraulic cylinder H6 contracts, and the two shafts retract to the limit position and gradually move forwards. In the step, after two front wheels of one axle are contacted with the ground, the height of a chassis of the other axle is reduced, and the hand wheels of the two axles are moved forwards, so that the integral balance degree of the vehicle body is improved.
5) When the second shaft crosses the lower edge of the trench, the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, and the two-shaft suspension is lifted to the limit position; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the three shafts retract to the limit position. In the step, the two shafts cross the lower edge of the trench, the wheel is placed to raise the two-shaft suspension to the limit position, and the three shafts are retracted to the limit position, so that the height of the chassis at the rear end of the vehicle body is reduced, the included angle between the vehicle body and the edge of the trench is reduced, and the stability of the vehicle body is improved.
6) And after the three shafts cross the lower edge of the trench, all the axles and wheels return to the initial positions, and the trench descending is finished. After the three-axis unmanned vehicle descends the trench, the three-axis unmanned vehicle can continuously drive for a certain distance and then ascend the trench because the width of the trench exceeds the overtoppable range and is larger than the length of the vehicle body.
7) Judging whether the lifting edge of the trench is reached, when the lifting edge of the trench is reached, working the second three-position four-way electromagnetic directional valve G7 at the lower position, extending the second one-way hydraulic cylinder G6, working the first three-position four-way electromagnetic directional valve A3 and the first three-position four-way electromagnetic directional valve D3 at the upper position, contracting the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1, moving a shaft forward to the extreme position, and then locking and retracting the wheel; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, the second three-position four-way electromagnetic reversing valve H7 works at the lower position, the second one-way hydraulic cylinder H6 contracts, and the two-axle suspension is lifted, moved forwards to the extreme position and then locked; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, the second three-position four-way electromagnetic reversing valve K7 works at the upper position, the second one-way hydraulic cylinder K6 extends out, and the triaxial suspension is lowered, moved back to the extreme position and then locked.
8) After two front wheels of a shaft cross the upper edge of the trench, a first three-position four-way electromagnetic directional valve A3, a first three-position four-way electromagnetic directional valve D3, a first three-position four-way electromagnetic directional valve C3 and a first three-position four-way electromagnetic directional valve F3 work at the lower position, a first one-way hydraulic cylinder A1, a first one-way hydraulic cylinder D1, a first one-way hydraulic cylinder C1 and a first one-way hydraulic cylinder F1 extend out, and the wheels of the shaft and the three shaft are released to the limit positions.
9) After the two middle wheels of the two shafts reach the upper edge of the trench, the first three-position four-way electromagnetic directional valve B3 and the first three-position four-way electromagnetic directional valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, and the two-shaft suspension gradually rises to the limit position; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, and the three shafts retract to the initial position.
10) And after the two rear wheels of the three shafts cross the upper edge of the trench, returning the axle and the wheels to the initial positions, and ending the trench crossing.
The above steps 7) to 10) are similar to the trench-up operation in the trench-down steps of steps 1) to 6), and therefore they are not further described above, and the corresponding features of steps 7) to 10) can be referred to the relevant descriptions of steps 1) to 6).
In conclusion, the method for crossing the trench by adopting the steps 1) to 10) can realize the method for crossing the trench by firstly putting the trench down and then putting the trench up, so that the method for crossing the trench by adopting the three-axis unmanned vehicle is more perfect and has stronger adaptability.
It should be noted that the extreme position mentioned in the trench crossing method of the three-axis unmanned vehicle can be adjusted to a proper position as required without reaching the extreme position.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a car control system is synthesized to triaxial unmanned car which characterized in that, should synthesize car control system and include:
the suspension control system is arranged on a suspension of the three-axis unmanned vehicle and at least comprises a suspension lifting system and a wheel base adjusting system; the chassis lifting system is used for adjusting the height of the corresponding wheels of the three-axis unmanned vehicle to realize chassis lifting of the three-axis unmanned vehicle, and the wheelbase adjusting system is used for changing the horizontal position of the corresponding axles of the three-axis unmanned vehicle to realize wheelbase adjustment of the three-axis unmanned vehicle;
the steering control system is arranged on a suspension of the three-axis unmanned vehicle, is connected with wheels and is used for realizing high-speed front wheel steering or low-speed four-wheel steering of the three-axis unmanned vehicle;
the power supply system is arranged on a suspension of the three-axis unmanned vehicle, is connected with the suspension lifting system, the wheelbase adjusting system and the steering control system and provides power;
the vehicle running power system is arranged on the body of the three-axis unmanned vehicle, is connected with all wheels and is used for providing hydraulic power drive or oil-electricity hybrid power drive for the rotation of all the wheels.
2. The three-axis unmanned vehicle integrated vehicle control system of claim 1, wherein the vehicle travel power system is configured to provide hydraulic power drive for rotation of all wheels;
the vehicle running power system comprises a hydraulic control valve group, a left wheel driving system and a right wheel driving system which are communicated with the hydraulic control valve group, and the left wheel driving system and the right wheel driving system have the same structure;
the left wheel driving system comprises wheel hub hydraulic motors and fifth three-position four-way electromagnetic reversing valves, as well as a sixth three-position four-way electromagnetic reversing valve and a first high-pressure energy accumulator, wherein the number of the wheel hub hydraulic motors and the number of the fifth three-position four-way electromagnetic reversing valves are equal to that of the left wheels; the hydraulic control system comprises a hydraulic control valve group, wheel hub hydraulic motors, a hydraulic control valve group and a hydraulic control system, wherein the wheel hub hydraulic motors are respectively connected with a left wheel, each wheel hub hydraulic motor is connected with two working oil ports of a fifth three-position four-way electromagnetic reversing valve, and an oil inlet and an oil outlet of the fifth three-position four-way electromagnetic reversing valve are communicated with the hydraulic control valve group; an oil inlet and an oil outlet of the sixth three-position four-way electromagnetic reversing valve are both connected with the hydraulic control valve group, one working oil port of the sixth three-position four-way electromagnetic reversing valve is connected with the first high-pressure energy accumulator, and the other working oil port of the sixth three-position four-way electromagnetic reversing valve is closed.
3. The comprehensive vehicle control system of the three-axis unmanned vehicle of claim 2, wherein the vehicle driving power system further comprises a first oil tank, a first overflow valve, an engine and a first variable hydraulic pump, the engine is connected with the first variable hydraulic pump, an oil inlet and an oil outlet of the first variable hydraulic pump are both communicated with the hydraulic control valve bank, the first oil tank is communicated with the first overflow valve, and the first overflow valve is communicated with the hydraulic control valve bank.
4. The comprehensive vehicle control system of the three-axis unmanned vehicle of claim 1, wherein the suspension lifting system mainly comprises a first one-way hydraulic cylinder, a first three-position four-way electromagnetic directional valve, a first one-way valve and a first throttle valve, a hydraulic rod of the first one-way hydraulic cylinder is connected with a wheel, two working oil ports of the first three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the first one-way hydraulic cylinder, an oil inlet of the first three-position four-way electromagnetic directional valve is sequentially communicated with the first one-way valve and the first throttle valve, and oil return ports of the first throttle valve and the first three-position four-way electromagnetic directional valve are both communicated with a power supply system pipeline.
5. The comprehensive vehicle control system of the three-axis unmanned vehicle of claim 1, wherein the wheelbase adjusting system comprises a second one-way hydraulic cylinder, a second three-position four-way electromagnetic directional valve, a second one-way valve and a second throttle valve, the second one-way hydraulic cylinder is rigidly connected to the vehicle body of the three-axis unmanned vehicle, a hydraulic rod of the second one-way hydraulic cylinder is fixedly connected to the vehicle axle, two working oil ports of the second three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the second one-way hydraulic cylinder, an oil inlet of the second three-position four-way electromagnetic directional valve is sequentially communicated with the second one-way valve and the second throttle valve, and oil return ports of the second throttle valve and the second three-position four-way electromagnetic directional valve are both communicated with the power supply system pipeline.
6. The comprehensive vehicle control system of the three-axis unmanned vehicle of claim 1, wherein the steering control system comprises a wheel steering arm, a two-way hydraulic cylinder, a third throttle valve and a third three-position four-way electromagnetic directional valve, the wheel steering arm is rotatably connected to the suspension and fixedly connected with the wheel, two hydraulic cylinders of the two-way hydraulic cylinder are respectively rotatably connected to two wheel steering arms on the same axle, two working oil ports of the third three-position four-way electromagnetic directional valve are respectively communicated with two working cylinder pipelines of the two-way hydraulic cylinder, an oil inlet of the third three-position four-way electromagnetic directional valve is communicated with the third throttle valve, and oil return ports of the third throttle valve and the third three-position four-way electromagnetic directional valve are both communicated with the power supply system pipeline.
7. The comprehensive vehicle control system of the three-axis unmanned vehicle of claim 1, wherein the power supply system comprises a motor, a second variable hydraulic pump, a filter, a second oil tank and a third one-way valve, a driving shaft of the motor is connected with the second variable hydraulic pump, an inlet of the second variable hydraulic pump is sequentially communicated with the filter and the second oil tank, a liquid return pipeline is further communicated between the filter and the second oil tank, an outlet of the second variable hydraulic pump is communicated with an inlet end of the third one-way valve, an outlet end of the third one-way valve is communicated with a liquid outlet pipeline, and the liquid outlet pipeline and the liquid return pipeline are communicated with the suspension lifting system, the wheelbase adjusting system and the steering control system to form a circulation pipeline system.
8. The triaxial unmanned vehicle integrated vehicle control system of claim 7, wherein the power supply system further comprises a second overflow valve, one port of the second overflow valve is communicated between the third check valve and the second variable displacement hydraulic pump, and the other port of the second overflow valve is communicated with the liquid return pipeline;
the power supply system also comprises a second high-pressure energy accumulator and a fourth three-position four-way electromagnetic directional valve, wherein an oil inlet and an oil return port of the fourth three-position four-way electromagnetic directional valve are respectively communicated with two ports of a second overflow valve, one of two working oil ports of the fourth three-position four-way electromagnetic directional valve is communicated with the second high-pressure energy accumulator, and the other working oil port is closed.
9. A three-axis unmanned vehicle at least comprises a chassis consisting of wheels, axles, a suspension and a frame, and is characterized in that the chassis is also provided with the comprehensive vehicle control system of the three-axis unmanned vehicle as claimed in any one of claims 1 to 8.
10. The obstacle crossing method of the three-axis unmanned vehicle is characterized by comprising the following steps of:
s1, judging whether the height of the obstacle can be increased, if yes, executing the following obstacle-crossing operation;
s2 the second three-position four-way electromagnetic reversing valve G7 and the second three-position four-way electromagnetic reversing valve H7 work at the lower position, the second one-way hydraulic cylinder G8 extends out, the second one-way hydraulic cylinder H8 contracts, and the first shaft and the second shaft move forwards to the limit positions and are locked;
s3, whether two front wheels on one shaft contact with an obstacle or not is detected, after the two front wheels contact with the obstacle, a first three-position four-way electromagnetic directional valve B3 and a first three-position four-way electromagnetic directional valve E3 work at the lower position, a first one-way hydraulic cylinder B1 and a first one-way hydraulic cylinder E1 extend out, and a two-shaft suspension is adjusted to be at a proper position by referring to the height of the obstacle; the first three-position four-way electromagnetic reversing valve A3 and the first three-position four-way electromagnetic reversing valve D3 work at the upper position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 contract, a lifting wheel is arranged at the extreme position, and a shaft is waited to cross an obstacle;
after the first shaft of S4 passes through an obstacle, the first three-position four-way electromagnetic directional valve A3 and the first three-position four-way electromagnetic directional valve D3 work at the lower position, the first one-way hydraulic cylinder A1 and the first one-way hydraulic cylinder D1 extend out, the second three-position four-way electromagnetic directional valve G7 works at the upper position, the second one-way hydraulic cylinder G6 retracts, and the whole first shaft returns to the initial position; the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the upper position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 contract, the second shaft retracts wheels according to the height of the obstacle, after the highest point of the obstacle is crossed, the first three-position four-way electromagnetic reversing valve B3 and the first three-position four-way electromagnetic reversing valve E3 work at the lower position, the first one-way hydraulic cylinder B1 and the first one-way hydraulic cylinder E1 extend out, the second shaft gradually releases the wheels to be contacted with the obstacle, and the second shaft waits for the second shaft to cross the obstacle;
after the S5 biaxial passes through the obstacle, the biaxial returns to the initial position; the second three-position four-way electromagnetic directional valve H7 works at the upper position, the second one-way hydraulic cylinder H6 extends out, and the second shaft moves backwards to the rear limit position and is locked; the first three-position four-way electromagnetic reversing valve C3 and the first three-position four-way electromagnetic reversing valve F3 work at the upper position, the first one-way hydraulic cylinder C1 and the first one-way hydraulic cylinder F1 contract, the three shafts retract to proper positions, and the three shafts wait for the three shafts to cross the obstacle;
and S6, after the three shafts cross the obstacle, the two shafts and the three shafts integrally return to the initial position and are locked, and obstacle crossing is finished.
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CN114560011A (en) * 2022-03-29 2022-05-31 福州大学 System and method for improving dead time safety of wheel steering clamp of heavy multi-axle vehicle
CN114560011B (en) * 2022-03-29 2023-01-03 福州大学 System and method for improving dead time safety of wheel steering clamp of heavy multi-axle vehicle
CN116620402A (en) * 2023-07-25 2023-08-22 山西诺浩机电工程有限公司 Synchronous steering structure of loader
CN116620402B (en) * 2023-07-25 2023-10-20 山西诺浩机电工程有限公司 Synchronous steering structure of loader

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