Three-axis unmanned vehicle and its integrated vehicle control system, and obstacle surmounting method

Abstract

The invention discloses a comprehensive vehicle control system for a three-axis unmanned vehicle, comprising: a suspension control system, the suspension system at least including a suspension lifting system and a wheelbase adjustment system; the suspension lifting system is used to adjust the three-axis unmanned vehicle The corresponding wheel height of the three-axis unmanned vehicle is used to realize the chassis lifting of the three-axis unmanned vehicle. The wheelbase adjustment system is used to change the corresponding axle level position of the three-axis unmanned vehicle to realize the wheelbase adjustment of the three-axis unmanned vehicle; the steering control system is used for Realize the 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 wheelbase adjustment system and the steering control system to provide power; the vehicle driving power system is used to provide all Wheel-turning hydraulic power drive or hybrid electric drive. The invention can change the chassis height, wheel direction and wheelbase of the unmanned vehicle, and improves the diversity, high passability and stability of the unmanned vehicle during driving.

Description

technical field [0001] The present invention relates to the technical field of ground mobile platforms, specifically a three-axis unmanned vehicle, and based on the three-axis unmanned vehicle, the present invention also provides an integrated vehicle control system and an obstacle surmounting method for the three-axis unmanned vehicle. Background technique [0002] As an important part of the future unmanned driving system, unmanned vehicles are developing in the direction of autonomy, collaboration, and diversification. With the advancement of technology, unmanned vehicles will have stronger task execution capabilities and a better environment Adaptability, developing in the direction of miniaturization, light weight, and intelligence, and can be seamlessly integrated with manned driving systems or other unmanned driving systems. [0003] For the walking and driving system of unmanned vehicles, in order to meet the development direction from performing reconnaissance and s...

AI Technical Summary

Problems solved by technology

[0005] In the traditional wheeled chassis, since the center of gravity and height of the chassis structure of the whole vehicle are fixed, the position and height of the axles and wheels are also basically fixed, so the pressure ratio of the body weight distribution to each axle is constant. When driving on complex terrain, it will seriously affect the balance of the unmanned vehicle, causing the unmanned vehicle to appear unstable, roll over, slip, etc. when driving, turning, overcoming obstacles or crossing trenches, etc., and even cannot realize the corresponding functions

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