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Method for controlling running of wheeled interplanetary exploration patrol vehicle

A technology for interstellar detection and travel control, applied to extraterrestrial vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as difficult control and complex mechanisms, and achieve the effects of simple structural control, reduced resistance, and improved passing capacity

Inactive Publication Date: 2011-05-04
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this walking control method has better passing ability than wheeled vehicles, the mechanism is too complicated and the control is difficult.

Method used

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  • Method for controlling running of wheeled interplanetary exploration patrol vehicle
  • Method for controlling running of wheeled interplanetary exploration patrol vehicle
  • Method for controlling running of wheeled interplanetary exploration patrol vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] As shown in Figure 1, the wheeled interstellar exploration patrol vehicle has six wheels, which are respectively arranged on the left and right sides of the vehicle. As shown in Figure 2, each wheel 1 is connected to the vehicle body through a wheel column 2, the vehicle body is provided with a driver 3 for swinging the wheel column, and the connecting end of the wheel column 2 and the wheel 1 is provided with a The drive 4 that makes the wheel 1 rotate.

[0042] When controlling the vehicle to walk, when the wheel column swings from back to front, the wheels connected to it roll and rotate forward to reduce the resistance of the swing; when the wheel column swings from front to back, the wheels connected to it stop rotating to increase The thrust of the soil against the wheel. The driving force of the vehicle is realized by using the force difference between the ground and the wheels that swing in two directions.

[0043] As shown in Figure 3, when the wheel column s...

Embodiment 2

[0064] As shown in Figure 1, the wheeled interstellar exploration patrol vehicle has six wheels, which are respectively arranged on the left and right sides of the vehicle. As shown in Figure 2, each wheel 1 is connected to the suspension system through the wheel column 2, the suspension system is provided with a driver 3 for swinging the wheel column, and a driver 3 is provided at the connection end of the wheel column 2 and the wheel 1 to make the wheel 1 rotate. drive 4.

[0065] When the vehicle is controlled to walk, when the wheel column swings from back to front, the wheels connected to it roll and rotate forward; when the wheel column swings from front to back, the wheels connected to it stop rotating.

[0066] As shown in Figure 3, when the wheel column swings forward, the angular velocity of the wheel column swing has the following relationship with the rotation speed of the wheel connected to it:

[0067] As shown in Figure 3, when the wheel column swings back, t...

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Abstract

The invention relates to a method for controlling running of a wheeled interplanetary exploration patrol vehicle. When the vehicle runs, and a wheel upright post swings forwards from backwards, a wheel connected with the wheel upright post rolls and rotates forward to reduce resistance of swing; when the wheel upright post swings backwards from forwards, the wheel connected with the wheel uprightpost stops rotating to increase thrust of soil to the wheel. Vehicle running can be realized by utilizing the difference of acting force of the ground to the wheel between swings in two directions. The method realizes step running of the vehicle, and not only is simple in structure control, but also can greatly improve the trafficability of the vehicle on loose ground and a loose slope; meanwhile, the method can realize necessary functions of entire vehicle furl and the like to a deep space exploration vehicle.

Description

technical field [0001] The invention relates to a walking control method of a wheeled vehicle, in particular to a walking control method of a wheeled interstellar detection patrol vehicle. Background technique [0002] Most of the current interstellar exploration and inspection vehicles use wheeled vehicles as the main configuration. Wheeled vehicles have the advantages of simple mechanical structure, fast movement speed, and easy control. However, compared with the requirements for interstellar and lunar surface exploration, its cross-country capability cannot meet the requirements. At the end of April 2005, the US "Opportunity" Mars rover was unable to move due to driving on a 30 cm high sand pile and was trapped. up to 1 month. Therefore, people focus on changing the walking control method of wheeled vehicles. After searching the prior art documents, it is found that the Chinese patent publication number is CN 1546289A, the publication date is November 17, 2004, and th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D61/10B64G1/16B62D57/028
Inventor 苏波杨树岭李春明韩小玲江磊蔡文斌卢国轩姚其昌何亚丽
Owner CHINA NORTH VEHICLE RES INST
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