CN116001937B - Rapid obstacle surmounting vehicle and control method thereof - Google Patents
Rapid obstacle surmounting vehicle and control method thereof Download PDFInfo
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- CN116001937B CN116001937B CN202310308185.1A CN202310308185A CN116001937B CN 116001937 B CN116001937 B CN 116001937B CN 202310308185 A CN202310308185 A CN 202310308185A CN 116001937 B CN116001937 B CN 116001937B
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Abstract
The invention discloses a rapid obstacle crossing vehicle and a control method thereof, wherein the rapid obstacle crossing vehicle comprises a four-wheel chassis, a controller, a force sensor, a double-rotor elevation angle adjusting device, a spring-connecting rod-ratchet wheel based bouncing pushing device and a mobile platform; the double-rotor elevation angle adjusting device is arranged at the front end of the four-wheel chassis and is used for adjusting the elevation angle of the vehicle body before taking off by providing lifting force; the bouncing pushing device is arranged at the rear end of the four-wheel chassis through the moving platform, and position compensation is carried out through movement of the moving platform, so that the bouncing pushing device is contacted with the ground at the moment of taking off; the force sensor is arranged on the four-wheel chassis suspension and is used for measuring and calculating the weight of the vehicle and transmitting the weight to the controller; the controller is arranged on the four-wheel chassis and is used for calculating the lift force required to be provided by the double-rotor elevation angle adjusting device and the moving distance of the moving platform. The invention can realize continuous fast running and jump state switching and solve the problem of fast obstacle surmounting of the vehicle on the off-road surface.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a rapid obstacle crossing vehicle and a control method thereof.
Background
The existing vehicles can only choose to bypass when facing obstacles such as pits, bulges and the like, and the movement capability of the existing vehicles on off-road roads is limited. If the vehicle can jump over the obstacle rapidly during running, the movement efficiency of the vehicle can be improved remarkably.
While the most common existing configuration with bouncing capability is a spring-link-ratchet combination with good bouncing capability, it is generally applied to legged robotic platforms, with fewer configurations applied to wheeled platforms. The existing spring-based bouncing vehicle platform is generally based on a two-wheeled platform, and has the following disadvantages: (1) it is difficult to achieve continuous fast running, skip state switching; (2) the posture is difficult to keep stable during jumping; (3) jump direction and height are difficult to continuously vary.
The vehicle jump function can be realized by pulling up the vehicle body through the rotor, but the existing jump vehicle platform based on the rotor has higher requirement on the system weight reduction, and is difficult to bear heavier load. In addition, it is often necessary to stop the vehicle to switch the flight and running modes, and it is difficult to realize continuous rapid running and jump state switching.
Disclosure of Invention
In view of the above, the invention provides a fast obstacle surmounting vehicle and a control method thereof, which can realize continuous fast running and jump state switching and solve the problem of fast obstacle surmounting of the vehicle on off-road roads.
The technical scheme adopted by the invention is as follows:
a fast obstacle surmounting vehicle comprises a four-wheel chassis, a controller, a force sensor, a double-rotor elevation angle adjusting device, a spring-connecting rod-ratchet wheel-based bouncing pushing device and a mobile platform;
the double-rotor elevation angle adjusting device is arranged at the front end of the four-wheel chassis and is used for adjusting the elevation angle of the vehicle body before taking off by providing lifting force; the bouncing pushing device is arranged at the rear end of the four-wheel chassis through the moving platform, and position compensation is carried out through movement of the moving platform, so that the bouncing pushing device is contacted with the ground at the moment of taking off; the force sensor is arranged on the four-wheel chassis suspension and is used for measuring and calculating the weight of the vehicle and transmitting the weight to the controller; the controller is arranged on the four-wheel chassis and is used for calculating the lift force required to be provided by the double-rotor elevation angle adjusting device and the moving distance of the moving platform.
Further, the double-rotor elevation angle adjusting device comprises a double rotor, a rotor elevation angle rotating shaft, an angle locking mechanism and a rotating shaft bracket;
the double rotors are driven by a motor, a rotor elevation rotating shaft is arranged on the motor, and the motor is erected on a rotating shaft bracket through the rotor elevation rotating shaft; the rotating shaft support is provided with an angle locking mechanism which is used for limiting the rotating shaft of the elevation angle of the rotor wing so that the rotor wing is kept in a vertical state.
Further, the angle locking mechanism is a limiting groove, the upper part of the limiting groove is semicircular, and the lower part of the limiting groove is rectangular; when the double-rotor elevation angle adjusting device provides lift force, the rotor elevation angle rotating shaft is matched with the upper part of the limiting groove; when the double-rotor elevation angle adjusting device provides downward pressure, the rotor elevation angle rotating shaft is matched with the lower part of the limiting groove.
Further, the angle locking mechanism is a steering engine.
Further, the bouncing pushing device comprises a pushing rod, a spring guide rod, a ratchet wheel, a traction rope, a release mechanism, a driving mechanism and a disc ratchet wheel;
two traction ropes are respectively arranged on two sides, one end of each traction rope is wound on the disc ratchet wheel, and the other end of each traction rope is fixed on the moving platform after bypassing the end part of the pushing rod; the disc ratchet wheel is driven by a driving mechanism; the pushing rod is fixedly connected between the end parts of the two spring guide rods, the springs are sleeved on the spring guide rods, and the springs are compressed when the traction ropes are tightened; the other end of the spring guide rod is matched with the ratchet wheel, and the release mechanism is used for driving the ratchet wheel to retract and release the spring.
Further, the bouncing pushing device is fixed on a moving platform, and the moving platform is driven by a screw motor and a screw nut to move along a chute on the four-wheel chassis.
A control method of a fast obstacle surmounting vehicle, comprising the following steps:
step one, according to the control instruction of the take-off elevation angle, a controller calculates the lift force required to be provided by the double-rotor elevation angle adjusting device, and then controls the lift force to realize the take-off elevation angle;
according to the control instruction of the spring compression stroke, the bouncing push device based on the spring, the connecting rod and the ratchet wheel provides bouncing force;
the controller calculates the grounding distance required by the jump pushing device for compensating the distance required by the forward movement or the backward movement of the mobile platform according to the jump elevation angle and the spring compression stroke, and controls the mobile platform to move in place;
step two, the four-wheel chassis runs according to the vehicle speed control instruction, and at the jumping moment, the bouncing pushing device supports the ground to push the vehicle to jump;
step three, in the jumping and emptying process, the mobile platform drives the jumping pushing device to return to the original position; meanwhile, the jump gesture of the vehicle in the air is adjusted through the lift force provided by the double-rotor elevation angle adjusting device.
Further, a depression force is applied to the vehicle by controlling the dual rotor elevation adjustment device.
In the third step, a new control instruction of the spring compression stroke may be executed after the bouncing push device is reset.
Further, the grounding distance in the third step is as follows:
wherein,,is the compression of the spring>The ground connection distance required by the bouncing push device when the elevation angle of the vehicle body is 0 degree is theta, r is the elevation angle of the vehicle body, r is the radius of the rear wheel, beta is the included angle between the bouncing push device and the vehicle body, and d is the distance from the center of the rear wheel to the center of mass of the vehicle.
The beneficial effects are that:
1. the vehicle elevation angle adjusting device based on the double rotor wings and the bouncing pushing device based on the spring-connecting rod-ratchet wheel can work independently relative to the chassis of the vehicle, so that the vehicle keeps high maneuverability on off-road roads, namely, the vehicle can directly cross barriers such as pits or bulges in a bouncing way in a static or running state, and the trafficability of the vehicle on the off-road roads is improved;
secondly, the spring-connecting rod-ratchet wheel-based bouncing pushing device can push heavier load, and if necessary, the double rotor wings can pull up the car body, so that the bouncing platform has strong transportation capability.
2. The double-rotor elevation angle adjusting device can be reused, can be used for providing lifting force, can also provide downward pressure, increases the attachment limit on a low-attachment road surface, and can improve the trafficability of a vehicle on the low-attachment road surface.
3. By adjusting the elevation angle of the vehicle body and utilizing the compression stroke of the spring in the bouncing pushing device, the device can realize stepless regulation and control on the jump distance and the jump height.
4. Under the condition of determining the compression stroke of the springs, the jump capability of the platform can be further enhanced by lift force provided by the double-rotor elevation angle adjusting device, inertia existing during the movement of the vehicle body and the like.
5. The angle locking mechanism adopts the form of the limit groove, so that the posture of the double rotor wings relative to the vehicle body can be ensured to be in the vertical direction under the condition of different vehicle body elevation angles, and the requirement of light weight is met.
6. After the bouncing push device is reset, a new control instruction of the spring compression stroke can be executed, and the time interval between continuous jumps can be reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a dual rotor elevation adjustment apparatus.
Fig. 3 is a schematic view of an angle locking mechanism.
Fig. 4 is a schematic structural diagram of the bouncing push device.
Fig. 5 is a partial schematic view of the bouncing push device.
Fig. 6 is a schematic diagram of connection of a mobile platform.
Fig. 7 is a flow chart of a control method.
FIG. 8 is a dimensional relationship of the pop-up device to the body.
FIG. 9 is a graph of push rod grounding length versus vehicle elevation.
The device comprises a 1-four-wheel chassis, a 2-double-rotor elevation angle adjusting device, a 3-bouncing pushing device, a 4-controller, a 5-double-rotor, a 6-contraction motor, a 7-traction rope, an 8-spring, a 9-disc ratchet wheel, a 10-spring guide rod, an 11-ratchet wheel, a 12-moving platform, a 13-pushing rod, a 14-releasing motor, a 15-cam disc, a 16-lead screw motor, a 17-lead screw nut, an 18-angle locking mechanism, a 19-rotor elevation angle rotating shaft, a 20-sliding groove and a 21-force sensor.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a rapid obstacle crossing vehicle, which is shown in fig. 1 and comprises a four-wheel chassis 1, a controller 4, a force sensor 21, a double-rotor elevation angle adjusting device 2, a spring-connecting rod-ratchet-based bouncing pushing device 3 and a mobile platform 12. The whole vehicle mass is distributed uniformly on the left side and the right side of the central axis of the four-wheel chassis 1.
The four-wheel chassis 1 can be a chassis with an ackerman steering structure, front wheels are steered, and rear wheels are driven by a motor. The rear wheel drive is to not affect the driving force after the twin rotor 5 pulls the front axle of the vehicle off the ground. The force sensor 21 is integrated in the suspension of the four-wheel chassis 1, measures the overall mass of the vehicle by the pressure exerted by the suspension elastic element, and transmits the data to the controller 4. The controller 4 is arranged on the four-wheel chassis 1 and is used for calculating the lift force required to be provided by the double-rotor elevation angle adjusting device 2 and the moving distance of the moving platform 12.
The double-rotor elevation angle adjusting device 2 is arranged at the front end of the four-wheel chassis 1 and is used for adjusting the elevation angle of the vehicle body before taking off by providing lifting force; as shown in fig. 2, the dual-rotor elevation angle adjusting device 2 comprises a dual rotor 5, a rotor elevation angle rotating shaft 19, an angle locking mechanism 18 and a rotating shaft bracket; the double rotor 5 has pitching degree of freedom relative to the four-wheel chassis 1, the double rotor 5 is driven by a motor, a rotor elevation rotating shaft 19 is arranged on the motor, and the motor is erected on a rotating shaft bracket through the rotor elevation rotating shaft 19; the shaft support is provided with an angle locking mechanism 18 for limiting the rotor elevation shaft 19 so as to keep the rotor elevation shaft in a vertical state.
As shown in fig. 3, the angle locking mechanism 18 may be a limit slot, where the upper portion of the limit slot is a semicircle, and the lower portion of the limit slot is a rectangle; when the double-rotor elevation angle adjusting device 2 provides lift force, the rotor elevation angle rotating shaft 19 moves upwards and is matched with the upper part of the limiting groove, so that the pitching degree of freedom of the double-rotor 5 relative to the four-wheel chassis 1 is released, and the lift force of the double-rotor 5 is ensured to be vertically upwards; when the dual-rotor elevation angle adjusting device 2 does not provide lift force or reversely rotates to provide downward pressure, the rotor elevation angle rotating shaft 19 moves downwards to be matched with the lower part of the limiting groove, so that the dual-rotor 5 is passively limited, and the fact that the pressure provided by the dual-rotor 5 when reversely rotating is vertical to the chassis is ensured to be downward.
The angle locking mechanism 18 can also be a steering engine, and the steering engine is used for controlling the gesture of the double-rotor wing 5 relative to the vehicle body so as to ensure that the double-rotor wing 5 is in the vertical direction under different vehicle body elevation angles.
The bouncing pushing device 3 is arranged at the rear end of the four-wheel chassis 1 through a moving platform 12, and as shown in fig. 4 and 5, the bouncing pushing device 3 comprises a pushing rod 13, a spring 8, a spring guide rod 10, a ratchet wheel 11, a traction rope 7, a release mechanism, a driving mechanism and a disc ratchet wheel 9; the plane formed by the symmetrically arranged compression springs 8 and the spring guide rods 10 passes through the center of mass of the vehicle platform, so that the torque of the bouncing force provided by the bouncing push device 3 acting on the vehicle body is reduced, and the gesture stability during the bouncing process is improved.
The driving mechanism adopts a shrink motor 6, and two disc ratchet wheels 9 are respectively fixed on output shafts at two sides of the shrink motor 6; two traction ropes 7 are arranged on two sides separately, one end of each traction rope 7 is wound on the disc ratchet 9, and the other end of each traction rope bypasses the end part of the pushing rod 13 and is fixed on the moving platform 12; the disc ratchet wheel 9 is driven by the contracting motor 6, so that the mechanical advantage of labor saving of the pulley block can be exerted, the torque required by the contracting motor 6 is reduced, and the size and the weight are reduced. The pushing rod 13 is fixedly connected between the end parts of the two spring guide rods 10, the springs 8 are sleeved on the spring guide rods 10, and when the traction ropes 7 are tightened, the springs 8 are compressed; the other end of the spring guide rod 10 is matched with the ratchet wheel 11, and the release mechanism is used for driving the ratchet wheel 11 to retract and release the spring 8.
After the spring 8 is compressed, the traction rope 7 is wound on the disc ratchet 9. Since the disc ratchet 9 has a unidirectional freedom, the disc ratchet 9 integrally rotates with the shrink motor 6 when the traction rope 7 is tightened. When the compression spring 8 is released, the disc ratchet wheel 9 can rotate freely in one direction, and the traction rope 7 is released, so that the extension of the compression spring 8 and the quick ground supporting of the pushing rod 13 are not affected. Keeping the traction rope 7 long at all times is a desired length and reduces energy losses.
The release mechanism comprises a release motor 14 and a cam disc 15, and the release motor 14 drives the cam disc 15 to rotate, so that the ratchet wheels 11 on two sides do adduction and extension reciprocating motion. When the spring 8 is compressed, the spring guide rod 10 is retracted. Due to the design of the ratchet 11, the guide bar 10 can be retracted but cannot be released. When the bouncing push device 3 needs to bounce the vehicle, the release motor 14 drives the cam disc 15 to rotate, so that the ratchet wheel 11 is retracted and is not meshed with teeth on the spring guide rod 10 any more, the spring 8 pushes the spring guide rod 10, and the push rod 13 is grounded to bounce the vehicle.
The bouncing push 3 is mounted on a mobile platform 12. As shown in fig. 6, the chassis at two sides of the moving platform 12 are provided with sliding grooves 20, and the moving platform 12 can be driven by a screw motor 16 and a screw nut 17 to move back and forth, so that the push rod 13 can be contacted with the ground at the moment before taking off.
In another embodiment, the mobile platform 12 may have both translational and rotational degrees of freedom, i.e., with a vehicle body elevation angle, which meets the requirements of the ground contact distance of the push rod 13 under the influence of the vehicle body elevation angle and the amount of spring compression by simultaneously rotating and pushing the push rod 13 in the ground direction.
The vehicle platform runs on a flat road surface in a mode of rear wheel driving and front wheel steering. Jumping can be achieved by cooperatively controlling the chassis 1, the elevation adjustment means 2 and the bouncing push means 3 to span an obstacle when encountering a pit or a raised obstacle.
As shown in fig. 7, the control method flow is as follows:
in the preparation phase before jumping, as shown in fig. 5, according to the control instruction of the jump elevation angle, the controller 4 calculates the lift force required to be provided by the dual-rotor elevation angle adjusting device 2 according to the total weight of the vehicle platform (including the weight of the vehicle, the weight of the cargo, etc.), the vehicle size (including the distance from the center of mass to the rear axle and the distance from the front axle to the rear axle), etc., and calculates the lift force based on the lift force provided by the dual-rotor 5 and the moment balance of the total weight of the vehicle platform relative to the rear axle of the vehicle, and then controls the dual-rotor 5 of the dual-rotor elevation angle adjusting device 2 to realize the jump elevation angle.
According to the control instruction of the spring compression stroke, the spring-connecting rod-ratchet-based bouncing pushing device 3 provides bouncing force; the method comprises the following steps: the contracting motor 6 in the bouncing push device 3 compresses the spring 8 by tightening the traction rope 7, the contracted traction rope 7 is coiled on the disc ratchet 9, and the spring guide rod 10 is limited by the ratchet 11 to prevent the spring 8 from being passively released.
Because the distance between the push rod 13 and the ground will change under the influence of the elevation angle of jump, the compression stroke of spring and the size of the platform, the controller 4 needs to calculate the distance that the mobile platform 12 needs to move forward or backward according to the control command of the elevation angle of jump, the control command of the compression stroke of spring, the size of the four-wheel chassis 1, the size of the jump push device 3, the included angle between the jump push device 3 and the vehicle chassis 1, etc., to compensate the grounding distance required by the jump push device 3, and drive the mobile platform 12 to move to a designated position through the lead screw motor 16 and the lead screw nut 17, so as to ensure that the push rod 13 can contact with the ground at the moment before jump under any combination of the elevation angle of jump and the compression stroke of spring.
As shown in fig. 8, let the elevation angle of the vehicle body be θ, the included angle between the straight line PQ where the push rod 13 is located and the vehicle body be β, P be the centroid, Q be the grounding point of the push rod 13, and because the fixed position of the push rod 13 and the vehicle body 1 is located near the centroid, PQ can be regarded as the length required for grounding the push rod 13 under the current conditions of θ and α. M is the center of the rear wheel, r is the radius of the rear wheel, N is the grounding point of the rear wheel, alpha is the included angle between the push rod 13 and the vertical direction, and d is the distance from the center of the rear wheel to the mass center of the vehicle. From the geometrical relationship, it can be deduced that:
wherein the method comprises the steps ofIs the length of the segment PQ. Let->The push rod 13 is grounded by a desired lengthAnd elevation angle->As shown in FIG. 9, it can be seen that the length of the push rod 13 required for grounding gradually decreases when the elevation angle of the vehicle body is smaller than about 45 degrees, and the length of the push rod 13 required for grounding gradually decreases when the elevation angle of the vehicle body is too largeAnd (3) increasing. Since the amount of spring compression is an independent control amount, the moving platform 12 is required to move the push rod 13 so that the push rod 13 is grounded before the moment of take-off. The displacement compensation amount is as follows:
wherein,,for the spring compression amount, the ++can be obtained by conversion according to the spring compression instruction>To the ground distance required for the push rod 13 in its initial position during non-bouncing. With the present platform configuration, since the angle β between the push rod 13 and the vehicle body 1 is a fixed value, therefore +.>The ground contact distance required for the push rod 13 is set to 0 degrees for the elevation angle of the vehicle body.
Step two, the four-wheel chassis 1 runs according to the vehicle speed control instruction, and at the jump moment, the release motor 14 rotates the cam disc 15 to enable the ratchet wheel 11 to release the spring 8, and the traction rope 7 is also released because of unidirectional free rotation of the disc ratchet wheel 9, so that the push rod 13 rapidly supports the ground to push the vehicle to jump.
Step three, in the jumping and emptying process, the mobile platform 12 drives the jumping pushing device 3 to return to the original position, so that the pushing rod 13 is prevented from colliding with the ground when the vehicle falls to the ground, and the stability of the landing process is prevented from being influenced; and meanwhile, the jump posture of the vehicle in the air is adjusted through the lifting force provided by the double-rotor elevation angle adjusting device 2. Removing the lifting force, wherein the vehicle body is in a free jumping state; increasing the lift force, the vehicle body has an elevation angle; the vehicle body has a depression angle by providing a depression force.
In addition, if there is a new control command for the compression stroke of the spring, the bouncing push device 3 can perform the compression of the spring 8 and the release of the traction rope 7 again, so as to reduce the time interval between continuous hops.
When encountering low adhesion road surfaces such as ice, the dual rotor 5 is controlled to rotate, so that a downward pressure can be applied to the vehicle platform, and the ground adhesion limit is further increased, thereby improving the passing speed of the vehicle platform.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The rapid obstacle crossing vehicle is characterized by comprising a four-wheel chassis, a controller, a force sensor, a double-rotor elevation angle adjusting device, a spring-connecting rod-ratchet wheel-based bouncing pushing device and a mobile platform;
the double-rotor elevation angle adjusting device is arranged at the front end of the four-wheel chassis and is used for adjusting the elevation angle of the vehicle body before taking off by providing lifting force; the bouncing pushing device is arranged at the rear end of the four-wheel chassis through the moving platform, and position compensation is carried out through movement of the moving platform, so that the bouncing pushing device is contacted with the ground at the moment of taking off; the force sensor is arranged on the four-wheel chassis suspension and is used for measuring and calculating the weight of the vehicle and transmitting the weight to the controller; the controller is arranged on the four-wheel chassis and is used for calculating the lift force required to be provided by the double-rotor elevation angle adjusting device and the moving distance of the moving platform.
2. The rapid obstacle surmounting vehicle of claim 1, wherein the dual-rotor elevation adjustment means comprises a dual rotor, a rotor elevation shaft, an angle locking mechanism, and a shaft support;
the double rotors are driven by a motor, a rotor elevation rotating shaft is arranged on the motor, and the motor is erected on a rotating shaft bracket through the rotor elevation rotating shaft; the rotating shaft support is provided with an angle locking mechanism which is used for limiting the rotating shaft of the elevation angle of the rotor wing so that the rotor wing is kept in a vertical state.
3. The rapid obstacle surmounting vehicle according to claim 2, wherein the angle locking mechanism is a limit groove, the upper part of the limit groove is semicircular, and the lower part of the limit groove is rectangular; when the double-rotor elevation angle adjusting device provides lift force, the rotor elevation angle rotating shaft is matched with the upper part of the limiting groove; when the double-rotor elevation angle adjusting device provides downward pressure, the rotor elevation angle rotating shaft is matched with the lower part of the limiting groove.
4. The rapid obstacle surmounting vehicle of claim 2, wherein the angle locking mechanism is a steering engine.
5. The rapid obstacle detouring vehicle of any one of claims 1-4, wherein the bouncing pushing means comprises a pushing bar, a spring guiding bar, a ratchet, a haulage rope, a release mechanism, a driving mechanism and a disc ratchet;
two traction ropes are respectively arranged on two sides, one end of each traction rope is wound on the disc ratchet wheel, and the other end of each traction rope is fixed on the moving platform after bypassing the end part of the pushing rod; the disc ratchet wheel is driven by a driving mechanism; the pushing rod is fixedly connected between the end parts of the two spring guide rods, the springs are sleeved on the spring guide rods, and the springs are compressed when the traction ropes are tightened; the other end of the spring guide rod is matched with the ratchet wheel, and the release mechanism is used for driving the ratchet wheel to retract and release the spring.
6. The rapid obstacle surmounting vehicle of claim 5, wherein the bouncing push device is fixed to a moving platform, and the moving platform is driven by a screw motor and a screw nut to move along a chute on the four-wheel chassis.
7. The control method of the fast obstacle surmounting vehicle is characterized by comprising the following steps of:
step one, according to the control instruction of the take-off elevation angle, a controller calculates the lift force required to be provided by the double-rotor elevation angle adjusting device, and then controls the lift force to realize the take-off elevation angle;
according to the control instruction of the spring compression stroke, the bouncing push device based on the spring, the connecting rod and the ratchet wheel provides bouncing force;
the controller calculates the grounding distance required by the jump pushing device for compensating the distance required by the forward movement or the backward movement of the mobile platform according to the jump elevation angle and the spring compression stroke, and controls the mobile platform to move in place;
step two, the four-wheel chassis runs according to the vehicle speed control instruction, and at the jumping moment, the bouncing pushing device supports the ground to push the vehicle to jump;
step three, in the jumping and emptying process, the mobile platform drives the jumping pushing device to return to the original position; meanwhile, the jump gesture of the vehicle in the air is adjusted through the lift force provided by the double-rotor elevation angle adjusting device.
8. The method of controlling a fast obstacle surmounting vehicle according to claim 7, wherein the vehicle is subjected to a downward pressure by controlling the dual rotor elevation adjustment means.
9. The method of claim 7, wherein in the third step, the control command of the new spring compression stroke is executed after the bounce pushing device is reset.
10. The control method of a rapid obstacle surmounting vehicle according to any one of claims 7 to 9, wherein the grounding distance in the first step is:
wherein,,is the compression of the spring>The grounding distance required by the bouncing pushing device when the elevation angle of the vehicle body is 0 DEG, and theta is the elevation angle of the vehicle bodyThe angle r is the radius of the rear wheel, beta is the included angle between the bouncing pushing device and the vehicle body, d is the distance from the center of the rear wheel to the center of mass of the vehicle, s is the displacement compensation quantity, and +.>The length required by grounding of the push rod under the current conditions of theta and alpha, wherein alpha is the included angle between the push rod and the vertical direction.
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