Rocker arm wheel type ground unmanned platform

Abstract

The invention discloses a rocker arm wheel type ground unmanned platform. The rocker arm wheel type ground unmanned platform is characterized by comprising a vehicle body and six independent wheel systems, and the wheel systems are symmetrically arranged on the two sides of the vehicle body; in the wheel systems, hub motors are arranged in wheel drive units located on the outer side of the vehicle body so that the ground unmanned platform can be driven and walk, the wheel drive units are connected with the vehicle body through rocker arm transmission units; and the rocker arm transmission units are connected to the wheel drive units through rocker arms externally hung on the side portion of the vehicle body in a suspension manner, rocker arm drive motors are used for making the rocker arms rotate on the outer side of the vehicle body with the axes of rocker arm bearings as rotary axes, and different motion postures of the ground unmanned platform are obtained. The six independent wheel systems control the positions of the respective rocker arms and the rotation speeds and the torque of the respective wheels so that the ground unmanned platform can adapt to various complex terrains, and the requirement for all-terrain passage is met.

Description

technical field [0001] The invention belongs to the technical field of ground unmanned vehicles, and in particular relates to a rocker-arm wheeled ground unmanned platform. Background technique [0002] The ground unmanned platform is a comprehensive system integrating multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. With the rapid development of modern science and technology, the ground unmanned mobile platform has developed rapidly in terms of intelligence, action accuracy, and quick response. Many advantages make the ground unmanned platform have great potential in future wars, precision agriculture, intelligent transportation and other fields. Great application prospects. For ground unmanned platforms, good passability is one of the most important performances, especially when operating in an unstructured environment, good terrain adaptability is required. As a general-purpose walking system stru...

AI Technical Summary

Problems solved by technology

However, the grounding ratio of the wheel type is large, and it is prone to slipping and subsidence in muddy, sandy and snowy terrains. It has poor passability and is difficult to overcome terrain obstacles such as ditches and steps. big limit

In terms of adaptability, ordinary crawler-type unmanned ground platforms have the advantages of good off-road performance, strong ability to climb slopes, overcome obstacles, and cross ditches, but they also have disadvantages such as poor turning performance and high energy consumption.

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