Field all-terrain special target intelligent searching vehicle

Abstract

The invention discloses a field all-terrain special target intelligent searching vehicle, which relates to the field of intelligent mobile equipment, and comprises a front-section module vehicle body connected with a rear-section integrated vehicle body through a hinge linkage mechanism; the front-section module vehicle body comprises a vehicle frame, a first-stage driving system and a second-stage driving system. The two sides of the vehicle frame are each provided with a rotationally-connected planet carrier. The primary driving system is used for driving the main gear to rotate; the output end of the secondary driving system is eccentrically connected with the planet carrier, and the secondary driving system is used for outputting eccentric torque for the planet carrier so as to drive the planet carrier to rotate relative to the frame; a multi-degree-of-freedom rotating arm is further arranged on the rear-section integrated vehicle body, and an infrared vision device is arranged on the multi-degree-of-freedom rotating arm. By the adoption of the scheme, dynamic obstacle crossing can be achieved through the front-driving front-section module vehicle body, and altitude difference terrains are overcome; and multi-angle infrared detection can be carried out, and the system is widely applied to tasks such as search, investigation and rescue in a complex field environment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mobile equipment, and in particular to a field all-terrain special target intelligent search vehicle. Background Art

[0002] Currently, with the rapid development of intelligent equipment in special operations and emergency response, ground robots with autonomous mobility and perception capabilities are becoming an indispensable key tool. However, in the process of carrying out tasks, especially in complex terrain environments such as post-disaster search and rescue, battlefield inspections, unmanned surveillance, fire scene surveys, and plateau exploration, existing ground mobile platforms still face a series of technical bottlenecks: First, there's the issue of poor terrain adaptability. While traditional wheeled systems offer high mobility, they're prone to tire slippage, single-wheel suspension, stagnation, and even rollover when navigating complex terrain like gravel, slopes, gullies, and bumps. Tracked systems, while offering a certain level of adhesion, are limited in steering response, obstacle-crossing flexibility, and dynamic coordination, lacking the ability to coordinate postures with multiple degrees of freedom.

[0003] Secondly, limited perception capabilities and insufficient infrared coverage. Existing platforms often rely on fixed forward-facing cameras or narrow-angle thermal imagers, which can only perceive a local area directly in front of them. In environments such as smoke, fire, darkness, and obstructions, they have large blind spots. They also lack the ability to actively detect and track heat sources from multiple angles, significantly limiting their mission intelligence. Summary of the Invention

[0004] The present invention aims to solve the shortcomings of the existing technology and to provide an all-terrain special target intelligent search vehicle for the field. By adopting this solution, the front module body of the front drive can achieve dynamic obstacle crossing and overcome the high and low terrain; and can perform multi-angle infrared detection, which is widely applicable to search, reconnaissance, rescue and other tasks in complex field environments.

[0005] The present invention is achieved through the following technical solutions: A field all-terrain special target intelligent search vehicle, comprising: A front modular car body connected to the rear integrated car body via an articulated linkage mechanism; The front-end modular vehicle body includes a vehicle frame, a primary drive system, and a secondary drive system. Both sides of the vehicle frame are provided with a rotatably connected planetary carrier. The planetary carrier includes a planetary gear set rotatably connected to the center and a plurality of planetary gears rotatably connected to the periphery and evenly distributed. The planetary gear set includes a main gear located in the center and a plurality of sub-gears meshing with the main gear on the periphery. Each sub-gear is in driving connection with a corresponding planetary gear. The primary drive system is used to drive the main gear to rotate; The output end of the secondary drive system is eccentrically connected to the planet carrier and is used to output an eccentric torque to the planet carrier to drive the planet carrier to rotate relative to the vehicle frame; Tracks are provided at the bottom of both sides of the rear section integrated vehicle body, and a multi-degree-of-freedom rotating arm is also provided on the rear section integrated vehicle body. An infrared vision device is provided on the multi-degree-of-freedom rotating arm, and the infrared vision device includes an infrared imaging module, a laser ranging module and an image recognition processing module.

[0006] Compared with the existing technologies, which have the problems of poor terrain adaptability, limited perception capabilities, and insufficient infrared coverage, the present invention provides a field all-terrain special target intelligent search vehicle. By adopting this solution, the front-end modular vehicle body can achieve dynamic obstacle crossing and overcome high-difference terrain; and can perform multi-angle infrared detection, which is widely applicable to search, reconnaissance, rescue and other tasks in complex field environments. The specific solution includes a front-end modular vehicle body and a towed rear-end integrated vehicle body, which respectively assume the propulsion perception function and energy control function. This design has the advantages of flexible replacement, rapid deployment and structural separation. When the front section is damaged or needs to be expanded, it can be maintained and upgraded separately, ensuring the long-term efficient operation and mission adaptability of the entire vehicle. The rear-section integrated vehicle body also has a driving function, and the two are connected by an articulated linkage mechanism to achieve changes in relative angles; in order to achieve obstacle crossing, the front-section module vehicle body includes a frame and planetary carriers located on both sides of the frame. The middle part of the planetary carrier is equipped with a matching planetary gear set, that is, the main gear in the center of the planetary gear set is driven by the primary drive system to rotate, and the main gear drives several, preferably three, 120° symmetrically arranged and located around the main gear to rotate, and the power is transmitted to the three outermost planetary gears through the secondary gears to drive the three planetary gears to rotate, achieving equidistant synchronization and enhancing the omnidirectional movement ability of the front-section module vehicle body on flat and slippery roads. Several planetary carriers can also be added between the two planetary carriers. Furthermore, because the central portion of the planetary carrier is pivotally connected to the vehicle frame, when the secondary drive system applies an eccentric torque to the planetary carrier, it simultaneously drives the entire carrier to rotate about the frame, thereby achieving a rollover. This allows the secondary drive system to passively or actively drive the planetary carrier over an obstacle when the soil information detection module detects a forward obstacle. The planetary carrier's sides are preferably concave, and its triangular structure minimizes steps. After overcoming the obstacle, the rear integrated vehicle body is driven to move forward in a stable, synchronized manner. The rear integrated vehicle body features an adaptive auxiliary track system at the bottom, flanked by retractable track modules equipped with an electric drive motor, tensioning mechanism, and adhesion detection module. These tracks, utilizing existing technology, autonomously determine whether to intervene in the propulsion task based on ground friction, load slip, and wheel speed error. These tracks incorporate intelligent engagement, differential control, and redundancy compensation, providing additional propulsion in harsh environments such as soft, wet, and snowy terrain, effectively improving the vehicle's maneuverability and escape efficiency.

[0007] The search vehicle is equipped with a 360° robotic arm infrared search device on top, forming an omnidirectional, multi-degree-of-freedom infrared image search and tracking system. Preferably, an infrared vision device driven by a six-degree-of-freedom rotating arm is installed on the top of the vehicle body, including a high-sensitivity infrared imaging module, a laser ranging module, and an embedded AI image recognition processor. The system can perform heat source target scanning, intelligent classification, trajectory locking, and regional rescanning within a panoramic field of view. It is particularly suitable for searching for living targets in low-visibility complex environments such as nighttime, obstructions, and smoke. It has multimodal target recognition, autonomous positioning, and dynamic tracking capabilities, making it suitable for complex field operation scenarios. The multi-axis robotic arm, infrared thermal imaging module, laser ranging module, and image recognition processing unit have 360-degree rotation search, target recognition, dynamic tracking, and target mapping capabilities, and support day and night operations and identification in harsh environments. In addition, a soil detection device and a camera acquisition module are installed at the bottom of the front end of the frame of the front module body. The soil detection module has the function of collecting parameters such as humidity, conductivity, and pH value. The camera module uses a wide-angle low-light lens combined with a Raspberry Pi computing unit to achieve low-light visual recognition, enhance the platform's environmental modeling capabilities and self-perception capabilities, and realize pre-detection and judgment of steps.

[0008] As a further optimization, the rear-end integrated vehicle body also houses a power supply system and control system. The control system includes a navigation and communication module, a path planning module, and modular expansion interfaces. This solution incorporates a power supply system, path planning module, navigation and communication unit, and modular expansion interfaces, enabling automated mission execution, remote control, status feedback, and multi-vehicle collaborative operation, and is compatible with a variety of sensors and actuators for expanded applications. The rear-end vehicle body integrates a controller with real-time image processing and decision-making capabilities, supporting strategies such as heat mapping, path reconstruction, obstacle avoidance, point of interest annotation, autonomous following, and dynamic avoidance. The system dynamically assesses the surrounding environment using a multi-source information fusion algorithm (infrared, IMU, vision, and wheel speed), ensuring the platform can autonomously perform search, navigation, and feedback decisions even when unmanned. The rear-end vehicle body houses a high-performance lithium-ion battery pack, power distribution and protection system, CAN bus communication control module, and remote communication antenna assembly. The platform supports 5G remote dispatch, Wi-Fi image transmission, LoRa relay, and local ad hoc network communications. It features remote task dispatching, local breakpoint resumption, status feedback, and multi-node data collaboration, ensuring stable and reliable system operation and uninterrupted missions. Service expansion capabilities and standard interface design: The platform reserves multiple mounting interface slots compatible with industry-standard interfaces (such as CAN, USB 3.0, HDMI, Ethernet, and UART). It supports external sensors (gas probes, smoke alarms, and lidar), robotic arms (for sampling and handling), signal lights, and announcers, meeting the needs of multi-task expansion and rapid task switching. The system's networked ground collaborative operation system utilizes environmentally adaptive synchronization technology to integrate multi-source sensor data, achieving high-precision collaborative control in complex terrain. It employs a dual-band ad hoc network architecture, ensuring network stability in harsh environments through dynamic frequency band switching and a layered communication mechanism. A flexible task distribution model is constructed, with dynamic weight allocation and fault-tolerant migration strategies based on real-time load, transcending the limitations of static task planning.

[0009] Further optimization is made, in order to achieve height buffering and angle changes between the front and rear car bodies, the frame extends rearward to the middle of the rear integrated car body, and notches are opened on both sides of the middle position of the rear integrated car body. The notches on both sides are connected to the front module car body through the articulated linkage mechanism; The articulated linkage mechanism includes an upper articulated arm, a lower articulated arm, a base, and a hydraulic damper. The upper articulated arm is fixed to the rear side of the frame, and the lower articulated arm is fixed to the notch. The two ends of the base are respectively articulated to the upper articulated arm and the lower articulated arm. The articulated connection enables the front module body and the rear integrated body to have a rotation angle change in height. The upper hinged arm is hinged with a first connecting rod on the side below the base, and the lower hinged arm is hinged with a second connecting rod on the side below the base, and the first connecting rod and the second connecting rod are both inclined downwardly toward each other; The hydraulic damper is hinged to the base, and the output end of the hydraulic damper extends downward; the lower ends of the first connecting rod and the second connecting rod are respectively hinged to the two sides of the output end of the hydraulic damper; the hinge direction of the first connecting rod and the second connecting rod is the same as the hinge direction of the base end. In this solution, a bottom plate can be set at the middle part of the outer side of the upper hinged arm to form an L shape, which can be connected to the bottom of the rear end of the front module body by bolts; a top plate is set on the outer top surface of the lower hinged arm to form an L shape, which can be connected to the top surface of the notch of the rear integrated body by bolts; by hinged at both ends of the base, the hydraulic damper, and the first connecting rod and the second connecting rod, a connecting rod mechanism is formed to adapt to the reciprocating angle changes.

[0010] Further optimization, in order to form a stable walking structure, the planetary carrier includes two oppositely arranged triangular plates, and the planetary gears are rotatably connected between the two triangular plates; each transmission shaft of the planetary gear set and all the planetary gears passes through the two triangular plates and is rotatably connected to the triangular plates.

[0011] Further optimization, in order to simplify the structure and achieve coaxial output while driving rotation and flipping, the first-stage drive system includes a solid main shaft, the middle part of the planetary carrier is connected to the solid main shaft for horizontal rotation, and two triangle plates are respectively passed through the two ends of the solid main shaft; the solid main shaft is located at one end outside the planetary carrier and is fixedly connected to the main gear; The secondary drive system includes a hollow main shaft, which is coaxially sleeved on the solid main shaft and is rotationally connected to the solid main shaft through a composite rolling bearing group; an eccentric connector is also sleeved on the hollow main shaft, and the eccentric connector is eccentrically connected to the outer triangular plate. In this solution, a solid main shaft for realizing self-rotation and a hollow main shaft for realizing flipping are provided. The hollow main shaft and the solid main shaft are coaxially arranged, and a composite rolling bearing group is provided between the two to realize axial decoupling; the solid main shaft is inserted into the interior of the hollow main shaft and can rotate independently, and is used for self-rotation drive, and is not disturbed by the flipping movement of the hollow main shaft, ensuring that the dual power system can work independently or in coordination, and improving system stability and control flexibility. The hollow main shaft and the solid main shaft are coaxially nested, and multi-stage rolling bearings are provided between them to form a torque isolation structure, so that the two main shafts can realize their own independent rotation without interference. This decoupling design not only solves the common mutual interference problem in the compound power input system, but also improves the mechanism's recognition and switching accuracy of multi-mode motion states, extends the transmission life of the entire machine, and ensures motion reliability and structural coordination under complex operating conditions.

[0012] Further optimization, in order to improve the obstacle-crossing capability of the mechanism and maintain a stable climbing posture, the eccentric connecting member adopts a fixed flange, the middle part of which is fixedly sleeved on the hollow main shaft; the fixed flange is evenly distributed around the circumference with a plurality of coaxially arranged arc holes, and the connecting shaft on each pinion of the planetary gear set passes through the arc holes; The inner edge of the center of the arcuate hole is provided with a notch for accommodating the connecting shaft. In this solution, the eccentric connecting member is a fixed flange, which is fixedly mounted on the hollow main shaft, allowing the fixed flange and the hollow main shaft to rotate synchronously. The circumferential ends of the fixed flange are coaxially provided with arcuate holes, through which the connecting shaft, which is inserted by the pinion gear, passes. This allows the connecting shaft to move along the arcuate holes as the hollow main shaft rotates the fixed flange. When it reaches the end of the arcuate hole, the fixed flange continues to rotate and applies force to the connecting shafts, exerting an eccentric torque in the same direction on the eccentric circumferential position of the planetary carrier, thereby causing the entire planetary carrier to tilt. Therefore, the two-stage drive system drives the rotation of the hollow main shaft, which in turn, through the fixed flange and the carrier body, drives the entire set of planetary gears to tilt around the solid main shaft, switching to "crossing mode" and enabling the wheel set to actively climb steps and adapt to uneven roads, thereby improving the mechanism's obstacle-crossing capability. Furthermore, fixed flanges can be provided on both sides of the planetary carrier.

[0013] Further optimization, in order to realize the separate driving of the solid main shaft and the hollow main shaft, the primary drive system further includes a primary motor and a first sprocket set; the solid main shaft is provided with a transmission tooth on one end located inside the planetary carrier, and the transmission tooth on the output end of the primary motor is connected to the transmission tooth on the solid main shaft through the first sprocket set; The secondary drive system also includes a secondary motor and a second sprocket set. The hollow main shaft, located inside the planetary carrier, is fitted with transmission teeth. The transmission teeth on the output shaft of the secondary motor are connected to the transmission teeth on the hollow main shaft via the second sprocket set. In this embodiment, the primary and secondary motors are fixed to the vehicle frame and can be arranged side by side. Both motors have input shafts at both ends, connected to bearing blocks on the vehicle frame. The primary motor's output is coupled to a solid main shaft via the first sprocket set. The outer end of the solid main shaft is connected to a planetary gear set, driving the sun gear at the center of the planetary gear set and synchronously rotating three symmetrically arranged pinion gears. The secondary motor's output is coupled to the hollow main shaft via the second sprocket set. When a height difference obstacle or step boundary is detected ahead, the mechanism switches to a flipping mode, activating the secondary motor. The secondary motor drives the hollow main shaft via the second sprocket set. The hollow main shaft has a fixing flange on its exterior, forming a fixed connection to the planetary carrier. This drives the entire wheel assembly to flip along its transverse axis, enabling dynamic adjustment of the wheel assembly angle and enabling the wheel to actively operate in a vertical direction. This action is automatically triggered by the vehicle's main control system in conjunction with the vision module, without the need for human intervention, significantly improving the mechanism's proactiveness and intelligence in overcoming obstacles.

[0014] Further optimizations are needed to achieve stable power transmission. The planetary gearset is located outside the planetary carrier, and each pinion and each planetary gear has a coaxially arranged synchronous gear extending outward. The synchronous gear on each pinion is connected to the synchronous gear on the corresponding planetary gear via a synchronous belt. This solution includes a synchronous transmission system comprising synchronous gears, a synchronous belt, and a rotating shaft mounted within the planetary gear housing. Each planetary pinion and the planetary gear below it are rotationally connected to the planetary carrier via a rotating shaft. The synchronous belt and synchronous gear, mounted within the planetary gear housing, distribute power to achieve precise control of the mechanism during forward movement, cornering, and U-turns. This structure improves wheel stability while enhancing drive response speed and transmission efficiency. Each planetary gear has an independent power input channel and adaptive suspension interface, allowing the wheelset to automatically press against the road surface according to ground undulations, reducing vibration and improving traction stability. The outer shell is coated with a high-strength composite rubber material to effectively absorb shock. Furthermore, the three wheelsets utilize synchronous belts for flexible transmission, combined with a differential linkage structure, to maintain balanced power output even in complex surface adhesion conditions (such as one wheel hanging in the air or on muddy surfaces). Furthermore, the contact end surfaces of the planetary gears are fitted with replaceable rubber track pads with a thickness of 8–12mm and a Shore hardness of 70A–85A to enhance terrain adhesion and ground contact cushioning.

[0015] A further optimization, to provide guidance and support during the rollover process, includes a stabilizing block located between two triangular plates. Each transmission shaft of the planetary gear set passes through the stabilizing block. In this solution, the stabilizing block is located in the center of the planetary carrier and provides a certain amount of mass. The stabilizing block comprises two small triangular plates, with several rolling bearings sandwiched between them. The connecting shaft and hollow main shaft of each planetary pinion pass through the rolling bearings on the stabilizing block. Therefore, the stabilizing block rotates synchronously with the planetary carrier. This structure not only provides guidance and support for the wheel set during rollover, but also absorbs transient impact loads caused by sudden angle changes during obstacle traversal. This structure extends the fatigue life of the structure and improves mechanical stability and safety during obstacle traversal. It thus provides a triple function of rotational limiter, anti-vibration buffer, and anti-torsion reinforcement, ensuring structural rigidity during large-angle rollovers, thereby improving reliability and vehicle life during obstacle traversal. Furthermore, a fixed shaft can be added to the stabilizing block. Its ends are rotatably connected to the two sides of the planetary carrier and inserted into the arc-shaped holes of the fixing flange. The stabilizing block and the two symmetrical small wheels form an asymmetric stabilizing triangle. When the wheel set flips over or some wheels lose adhesion, the central stabilizing block plays a role of temporary support and posture control, limiting the wheel frame rollover, absorbing impact force, optimizing the overturning posture, and realizing structural deformation suppression and reliable obstacle crossing guarantee.

[0016] In a further optimization, the fixing flange has a groove on the side facing the external triangular plate, and the groove is used to buckle the bearing in the middle of the inner side of the triangular plate; A plurality of fixing plates are evenly distributed around the circumference of the fixing flange, each of which is fixedly connected to the triangular plate and has a notch on its inner side for the circumferential end of the fixing flange to rotate through; The stabilizing block is circumferentially provided with several columns, each connected to the stabilizing block and the fixing plate at both ends. In this embodiment, a groove is formed in the middle of the side of the fixing flange, with the circumferential ends flush with the top of the groove. This allows the fixing flange to securely hold the bearing on the inner side of the triangular plate, while also allowing the circumferential ends of the fixing flange to rest close to the triangular plate. Several fixing plates are also provided on the triangular plate to limit the circumferential ends of the fixing flange, and the columns limit the distance between the triangular plate and the stabilizing block.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The present invention provides an all-terrain, special-target intelligent search vehicle for outdoor use, designed for performing search and rescue, reconnaissance, and inspection tasks in complex outdoor environments. This vehicle integrates key technologies such as a planetary gear drive structure, wheel-track hybrid propulsion, spatially linked attitude adjustment, infrared search, and multi-sensor fusion navigation control. This vehicle falls within the scope of applied research, integrating an intelligent robotic ground mobile chassis with a perception control system. It is suitable for a variety of high-risk, high-terrain complexity, and high-precision sensing applications, including search and rescue at natural disaster sites, unmanned border patrols, military tactical reconnaissance, detection of hazardous areas in mines and forests, fire smoke perception, and complex outdoor scientific research operations.

[0018] 2. The present invention provides a field all-terrain special target intelligent search vehicle, which adopts a front and rear split body frame structure. Its core component is the front section of the active linkage all-terrain planetary wheel moving mechanism, which includes a central drive wheel, a plurality of annularly arranged satellite wheel groups, a linkage transmission assembly and a flexible support device. The planetary wheel group has the characteristics of large flip angle, good ground continuity, strong terrain adhesion, etc., and can complete actions such as climbing over obstacles, climbing steep slopes and rotating on the spot through synchronous linkage. The auxiliary adaptive track system further improves stability in soft terrain. The top of the vehicle body is integrated with an omnidirectional multi-degree-of-freedom infrared image search and tracking system to achieve high-precision target perception and environmental adaptability. The device is particularly suitable for high-mobility scenarios such as post-disaster search and rescue, complex terrain inspections and tactical reconnaissance, and has excellent obstacle crossing capabilities, structural robustness and modular expandability.

[0019] 3. This invention provides an all-terrain, special-target intelligent search vehicle for outdoor use, capable of multi-environment deployment and multi-vehicle collaborative control. The vehicle can adapt to complex terrains such as mountains, forests, snowfields, fire scenes, and deserts. Through parameter configuration, it can adapt to specialized environments such as low pressure on plateaus, high-temperature fire scenes, and high-humidity landslides. The system supports multi-vehicle synchronous control, self-organizing network linkage, and regional multi-point task distribution, establishing a networked system for ground-based collaborative operations, improving emergency response efficiency and overall mission execution capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings: Figure 1 This is a schematic diagram of the overall axial structure of a field all-terrain special target intelligent search vehicle provided by the present invention; Figure 2This is another axial overall structural diagram of a field all-terrain special target intelligent search vehicle provided by the present invention; Figure 3 A side view of a field all-terrain special target intelligent search vehicle provided by the present invention; Figure 4 A side sectional view of the front module body provided by the present invention; Figure 5 A front side sectional view of the front module body provided by the present invention; Figure 6 An axial schematic diagram of the planet carrier provided by the present invention; Figure 7 Another axial schematic diagram of the planet carrier provided by the present invention; Figure 8 This is an axial schematic diagram of the eccentric connecting member provided by the present invention; Figure 9 An internal structural diagram of a planetary gear set provided by the present invention; Figure 10 An analysis diagram of the pre-attitude advance response of the planetary carrier provided by the present invention in an obstacle crossing environment; Figure 11 A schematic diagram of the position of the multi-degree-of-freedom rotating arm provided by the present invention; Figure 12 A schematic structural diagram of the multi-degree-of-freedom rotating arm provided by the present invention; Figure 13 A schematic diagram of the structure of a multi-degree-of-freedom rotating arm provided by the present invention; Figure 14 A schematic structural diagram of the soil detection device provided by the present invention; Figure 15 This is a flow chart of the collaborative operation system for multi-vehicle collaborative control and task distribution in a complex environment provided by the present invention.

[0021] Markings and corresponding parts names in the accompanying drawings: 1-Planet carrier, 2-Front section modular body, 3-Soil detection device, 4-Crawler, 5-Multi-degree-of-freedom rotating arm, 6-Rear section integrated body, 7-Articulated linkage mechanism, 8-First-stage motor, 9-Input shaft, 10-Solid spindle, 11-First sprocket set, 12-Second sprocket set, 13-Hollow spindle, 14-Stabilizer block, 1401-Column, 15-Fixed plate, 16-Eccentric connector, 1601-Arc hole, 17-Planetary gear set, 18-Synchronous wheel, 19-Transmission shaft, 20-Axle, 21-Second-stage motor, 22-Upper articulated arm, 23-Lower articulated arm, 24-Base, 25-Hydraulic damper, 26-Planetary gear. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0023] Example 1: This example 1 provides a field all-terrain special target intelligent search vehicle, such as Figures 1-14 As shown, it includes: a front module body 2, which is connected to a rear integrated body 6 via an articulated linkage mechanism 7; The front-end modular vehicle body 2 includes a vehicle frame, a primary drive system, and a secondary drive system. A planetary carrier 1 is rotatably connected on both sides of the vehicle frame. The planetary carrier 1 includes a planetary gear set 17 rotatably connected to the center and a plurality of planetary gears 26 rotatably connected to the periphery. The planetary gear set 17 includes a main gear located in the center and a plurality of sub-gears meshing with the main gear on the periphery. Each sub-gear is in driving connection with a corresponding planetary gear 26. The primary drive system is used to drive the main gear to rotate; The output end of the secondary drive system is eccentrically connected to the planet carrier 1 and is used to output an eccentric torque to the planet carrier 1 to drive the planet carrier 1 to rotate relative to the vehicle frame; Tracks 4 are provided at the bottom of both sides of the rear section integrated vehicle body 6, and a multi-degree-of-freedom rotating arm 5 is also provided on the rear section integrated vehicle body 6. An infrared vision device is provided on the multi-degree-of-freedom rotating arm 5, and the infrared vision device includes an infrared imaging module, a laser ranging module and an image recognition processing module.

[0024] In contrast to existing technologies, which suffer from poor terrain adaptability, limited perception capabilities, and insufficient infrared coverage, the present invention provides an all-terrain, special-target intelligent search vehicle for outdoor use. This solution utilizes a front-drive modular vehicle body 2 to achieve dynamic obstacle traversal and overcome uneven terrain. It also performs multi-angle infrared detection, making it widely applicable to search, reconnaissance, and rescue missions in complex outdoor environments. Specifically, the front-drive modular vehicle body 2 is connected to a towed rear-drive integrated vehicle body 6, each responsible for propulsion and perception, and energy control. This design offers the advantages of flexible replacement, rapid deployment, and structural separation. If the front-drive vehicle body is damaged or requires expansion, it can be independently maintained and upgraded, ensuring the vehicle's long-term, efficient operation and mission adaptability. The rear-section integrated body 6 also has a driving function, and the two are connected by an articulated linkage mechanism 7 to achieve changes in relative angles; in order to achieve obstacle crossing, the front-section module body 2 includes a frame and planetary carriers 1 located on both sides of the frame. The middle part of the planetary carrier 1 is equipped with a matching planetary gear set 17, that is, the main gear at the center of the planetary gear set 17 is driven by the primary drive system to rotate, and the main gear drives several, preferably three, 120° symmetrically arranged and located around the main gear to rotate, and the power is transmitted to the three outermost planetary gears 26 through the pinion gears to drive the three planetary gears 26 to rotate, achieving equidistant synchronization and enhancing the omnidirectional mobility of the front-section module body 2 on flat and slippery roads. Several planetary carriers 1 can also be added between the two planetary carriers 1. Furthermore, because the central portion of the planetary carrier 1 is pivotally connected to the vehicle frame, when the secondary drive system applies an eccentric torque to the planetary carrier 1, it simultaneously drives the entire planetary carrier 1 to rotate about the vehicle frame, thereby achieving a rollover. Consequently, when the soil information detection module detects an obstacle ahead, the secondary drive system can propel the planetary carrier 1 passively or actively over the obstacle. The planetary carrier 1's sides are preferably concave, and its triangular structure allows for optimal step avoidance. After overcoming the obstacle, the rear integrated vehicle body 6 is then driven to move forward in a stable, synchronous manner. The rear integrated vehicle body 6 is equipped with an adaptive auxiliary track system 4 at its base, flanked by retractable track modules equipped with an electric drive motor, tensioning mechanism, and adhesion detection module. The track 4, utilizing existing technology, autonomously determines whether to intervene in the propulsion task based on ground friction, load slip, and wheel speed error. It features intelligent engagement, differential control, and redundancy compensation, providing additional driving force in harsh environments such as soft, wet, and snowy terrain, effectively improving the vehicle's maneuverability and escape efficiency.

[0025] The search vehicle is equipped with a 360° robotic arm infrared search device on top, forming an omnidirectional, multi-degree-of-freedom infrared image search and tracking system. Preferably, an infrared vision device driven by a six-degree-of-freedom rotating arm is installed on the top of the vehicle body, including a high-sensitivity infrared imaging module, a laser ranging module, and an embedded AI image recognition processor. The system can perform heat source target scanning, intelligent classification, trajectory locking, and regional rescanning within a panoramic field of view. It is particularly suitable for searching for living targets in low-visibility complex environments such as nighttime, obstructions, and smoke. It has multimodal target recognition, autonomous positioning, and dynamic tracking capabilities, making it suitable for complex field operation scenarios. The multi-axis robotic arm, infrared thermal imaging module, laser ranging module, and image recognition processing unit have 360-degree rotation search, target recognition, dynamic tracking, and target mapping capabilities, and support day and night operations and identification in harsh environments. In addition, a soil detection device 3 and a camera acquisition module are installed at the bottom of the front end of the frame of the front module body 2. The soil detection module has the function of collecting parameters such as humidity, conductivity, and pH value. The camera module uses a wide-angle low-light lens combined with a Raspberry Pi computing unit to achieve low-light visual recognition, improving the platform's environmental modeling and self-perception capabilities, so as to realize pre-detection and judgment of steps.

[0026] In this embodiment, the rear-end integrated vehicle body 6 is also equipped with a power supply system and control system. The control system includes a navigation and communication module, a path planning module, and a modular expansion interface. This solution, equipped with a power supply system, path planning module, navigation and communication unit, and modular expansion interface, enables automated task execution, remote control, status feedback, and multi-vehicle collaborative operation, and is compatible with a variety of sensors and actuators for expanded applications. The rear-end vehicle body integrates a controller with real-time image processing and decision-making capabilities, supporting strategies such as heat mapping, path reconstruction, path avoidance, point of interest annotation, autonomous following, and dynamic avoidance. The system dynamically assesses the surrounding environment using a multi-source information fusion algorithm (infrared, IMU, vision, and wheel speed), ensuring the platform can autonomously perform search, navigation, and feedback decisions even when unattended. The rear-end vehicle body includes a high-performance lithium battery pack, power distribution and protection system, CAN bus communication control module, and remote communication antenna assembly. The platform supports 5G remote dispatch, Wi-Fi image transmission, LoRa relay, and local ad hoc network communications. It features remote task dispatching, local breakpoint resumption, status feedback, and multi-node data collaboration, ensuring stable and reliable system operation and uninterrupted missions. Service expansion capabilities and standard interface design: The platform reserves multiple mounting interface slots compatible with industry-standard interfaces (such as CAN, USB 3.0, HDMI, Ethernet, and UART). It supports external sensors (gas probes, smoke alarms, and lidar), robotic arms (for sampling and handling), signal lights, and announcers, meeting the needs of multi-task expansion and rapid task switching. The system's networked ground collaborative operation system utilizes environmentally adaptive synchronization technology to integrate multi-source sensor data, achieving high-precision collaborative control in complex terrain. It employs a dual-band ad hoc network architecture, ensuring network stability in harsh environments through dynamic frequency band switching and a layered communication mechanism. A flexible task distribution model is constructed, with dynamic weight allocation and fault-tolerant migration strategies based on real-time load, transcending the limitations of static task planning.

[0027] In this embodiment, in order to achieve the buffering and angle change in the height direction between the front and rear car bodies, the frame extends backward to the middle of the rear integrated car body 6, and notches are opened on both sides of the middle position of the rear integrated car body 6. The notches on both sides are connected to the front module car body 2 through the articulated linkage mechanism 7; the articulated linkage mechanism 7 includes an upper articulated arm 22, a lower articulated arm 23, a base 24 and a hydraulic damper 25, the upper articulated arm 22 is fixed to the rear side of the frame, and the lower articulated arm 23 is fixed at the notch; the two ends of the base 24 are respectively articulated to the upper articulated arm 22 and the lower articulated arm 23, and the articulated connection can make A change in the rotation angle in height occurs between the front module body 2 and the rear integrated body 6; the upper articulated arm 22 is hinged to a first connecting rod on the side below the base 24, and the lower articulated arm 23 is hinged to a second connecting rod on the side below the base 24, and the first connecting rod and the second connecting rod are both inclined downward toward each other; the hydraulic damper 25 is hinged to the base 24, and the output end of the hydraulic damper 25 extends downward; the lower ends of the first connecting rod and the second connecting rod are respectively hinged to both sides of the output end of the hydraulic damper 25; the hinge direction of the first connecting rod and the second connecting rod at both ends is the same as the hinge direction of the end of the base 24. In this solution, a bottom plate can be set on the middle part of the outer side of the upper articulated arm 22 to form an L shape, which can be connected to the bottom of the rear end of the front module body 2 by bolts; a top plate is set on the top surface of the outer side of the lower articulated arm 23 to form an L shape, which can be connected to the top surface of the notch of the rear integrated body 6 by bolts; by hinged connection of the two ends of the base 24, the hydraulic damper 25 and the first connecting rod and the second connecting rod, a connecting rod mechanism is formed to adapt to the reciprocating angle changes.

[0028] In this embodiment, in order to form a stable walking structure, the planetary carrier 1 includes two oppositely arranged triangular plates, and the planetary gear 26 is rotatably connected between the two triangular plates; the planetary gear set 17 and each transmission shaft 19 of all planetary gears 26 pass through the two triangular plates and are rotatably connected to the triangular plates.

[0029] In this embodiment, in order to simplify the structure and realize coaxial output while driving rotation and flipping, the first-level drive system includes a solid main shaft 10, and the solid main shaft 10 is connected to the middle part of the planetary carrier 1 for transverse rotation, and two triangular plates are respectively passed through the two ends of the solid main shaft 10; the solid main shaft 10 is located at one end of the outer side of the planetary carrier 1 and is fixedly connected to the main gear; the second-level drive system includes a hollow main shaft 13, the hollow main shaft 13 is coaxially sleeved on the solid main shaft 10, and is rotationally connected to the solid main shaft 10 through a composite rolling bearing group; the hollow main shaft 13 is also sleeved on an eccentric connecting piece 16, and the eccentric connecting piece 16 is eccentrically connected to the outer triangular plate. In this solution, a solid main shaft 10 for self-rotation and a hollow main shaft 13 for flipping are provided. The hollow main shaft 13 and the solid main shaft 10 are arranged coaxially, and a composite rolling bearing group is provided between the two to achieve axial decoupling. The solid main shaft 10 is inserted into the hollow main shaft 13 and can rotate independently, used for self-rotation drive, and is not disturbed by the flipping movement of the hollow main shaft 13, ensuring that the dual power system can work independently or collaboratively, improving system stability and control flexibility. The hollow main shaft 13 and the solid main shaft 10 are arranged coaxially and nested, and multi-stage rolling bearings are provided between them to form a torque isolation structure, allowing the two main shafts to achieve independent rotation without interference. This decoupling design not only solves the common mutual interference problem in the composite power input system, but also improves the recognition and switching accuracy of the mechanism for multi-mode motion states, extends the transmission life of the entire machine, and ensures motion reliability and structural coordination under complex operating conditions.

[0030] In this embodiment, to improve the obstacle-crossing capability of the mechanism and maintain a stable climbing posture, the eccentric connecting member 16 is a fixed flange, the middle portion of which is fixedly sleeved on the hollow main shaft 13; the fixed flange is uniformly distributed around the circumference with a plurality of coaxially arranged arc holes 1601, and the connecting shaft on each pinion of the planetary gear set 17 passes through the arc holes 1601; A notch for circumventing the connecting shaft is provided at the inner edge of the center of the arc-shaped hole 1601. In this solution, the eccentric connecting member 16 adopts a fixed flange, which is fixedly mounted on the hollow main shaft 13 so that the fixed flange and the hollow main shaft 13 rotate synchronously. The circumferential ends of the fixed flange are provided with coaxially arranged arc-shaped holes 1601, and the connecting shaft of the sub-gear passing through the internal arc-shaped holes 1601 passes through the arc-shaped holes 1601. In this way, when the hollow main shaft 13 drives the fixed flange to rotate, the connecting shaft can move along the arc-shaped holes 1601. When it moves to the end of the arc-shaped hole 1601, the fixed flange continues to rotate and applies a force to the several connecting shafts, so as to apply an eccentric torque in the same direction to the eccentric circumferential position of the planetary carrier 1, thereby driving the entire planetary carrier 1 to flip. Therefore, the secondary drive system drives the hollow main shaft 13 to rotate, which in turn drives the entire set of planetary gears 26 to flip around the solid main shaft 10 through the fixed flange and the frame, switching to "crossing mode" and enabling the wheel set to actively climb steps and adapt to uneven roads, improving the mechanism's obstacle-crossing capabilities. Furthermore, fixed flanges can be provided on both sides of the planetary carrier 1.

[0031] In this embodiment, in order to realize the separate driving of the solid main shaft 10 and the hollow main shaft 13, the primary drive system further includes a primary motor 8 and a first sprocket set 11; the solid main shaft 10 is provided with a transmission tooth on one end located inside the planetary carrier 1, and the transmission tooth on the output end of the primary motor 8 is connected to the transmission tooth on the solid main shaft 10 through the first sprocket set 11; The secondary drive system also includes a secondary motor 21 and a second sprocket set 12. The hollow main shaft 13, located on one end inside the planetary carrier 1, is fitted with transmission teeth. The transmission teeth on the output shaft of the secondary motor 21 are connected to the transmission teeth on the hollow main shaft 13 via the second sprocket set 12. In this embodiment, the primary motor 8 and the secondary motor 21 are fixed to the vehicle frame and can be arranged side by side. Both ends of the primary motor 8 and the secondary motor 21 have input shafts 9 connected to bearing seats on the vehicle frame. The primary motor 8 outputs power through the first sprocket set 11 and the solid main shaft 10. The outer end of the solid main shaft 10 is connected to the planetary gear set 17, which drives the sun gear at the center of the planetary gear set 17 to rotate, causing the three symmetrically arranged pinion gears on the periphery to rotate synchronously. The secondary motor 21, coupled through the second sprocket assembly 12 and the hollow spindle 13, generates an output. When a height difference obstacle or step boundary is detected ahead, the mechanism switches to flip mode and activates the secondary motor 21. This drives the hollow spindle 13 through the second sprocket assembly 12. The hollow spindle 13, with its external fixing flange, forms a fixed connection with the planetary carrier 1, thereby driving the entire wheel set to flip along its transverse axis, dynamically adjusting the wheel set angle and enabling the wheel to actively operate in the vertical direction. This action is automatically triggered by the vehicle's main control system in conjunction with the vision module, requiring no human intervention, significantly enhancing the mechanism's proactive and intelligent obstacle-crossing capabilities.

[0032] In this embodiment, to achieve stable power transmission, the planetary gear set 17 is located outside the planetary carrier 1. Each pinion and each planetary gear 26 has a coaxially arranged synchronous gear 18 extending outward. The synchronous gear 18 on each pinion is connected to the synchronous gear 18 on the corresponding planetary gear 26 via a synchronous belt. This solution includes a synchronous transmission system comprising the synchronous gear 18, a synchronous belt, and a rotating shaft mounted within the housing of the planetary gear 26. Each planetary pinion and the underlying planetary gear 26 are rotationally connected to the planetary carrier 1 via the rotating shaft. This system, in conjunction with the synchronous belt mounted within the housing of the planetary gear 26, distributes power to the synchronous gear 18, enabling precise control of the mechanism during maneuvers such as forward movement, cornering, and U-turns. This structure improves wheel stability while enhancing drive response and transmission efficiency. Each planetary gear 26 has an independent power input channel and adaptive suspension interface, allowing the wheel set to automatically conform to the road surface based on terrain undulations, reducing vibration and improving traction stability. The housing is coated with a high-strength composite rubber material to effectively absorb shock. Furthermore, the three wheelsets utilize synchronous belts for flexible transmission, combined with a differential linkage structure, to maintain balanced power output even under complex ground conditions (such as one wheel suspended in the air or on muddy surfaces). Furthermore, the ground-contacting end faces of the planetary gears 26 are fitted with four replaceable rubber tracks, with a thickness of 8–12mm and a Shore hardness of 70A–85A, to enhance terrain adhesion and ground contact cushioning.

[0033] In this embodiment, to provide guidance and support during the rollover process, a stabilizing block 14 is included. This block is located between two triangular plates, and each transmission shaft 19 of the planetary gear set 17 passes through this block. In this embodiment, the stabilizing block 14 is located in the center of the planetary carrier 1 and provides a certain amount of mass for the planetary carrier 1. The stabilizing block 14 comprises two small triangular plates, with several rolling bearings sandwiched between them. The connecting shafts of each planetary pinion and the hollow main shaft 13 pass through the rolling bearings on the stabilizing block 14. Therefore, the stabilizing block 14 rotates synchronously with the planetary carrier 1. This structure not only provides guidance and support for the wheelset during rollover, but also absorbs transient impact loads caused by sudden angle changes during obstacle traversal. This structure extends the fatigue life of the structure and improves mechanical stability and safety during the obstacle traversal process. It thus performs the triple functions of rotational limiting, anti-vibration buffering, and anti-torsion reinforcement, ensuring structural rigidity during large-angle rollovers of the planetary carrier 1, thereby enhancing reliability during obstacle traversal and the life of the vehicle. Additionally, a fixed shaft can be added to the stabilizing block 14. The two ends of the fixed shaft are rotatably connected to the two sides of the planet carrier 1 and penetrate into the arc-shaped hole 1601 of the fixed flange. The stabilizing block 14 and the two symmetrical small wheels form an asymmetric stabilizing triangle. When the wheelset flips or some wheels lose adhesion, the central stabilizing block 14 provides temporary support and posture control, limiting the wheel carrier's rollover, absorbing impact forces, optimizing the overturning posture, and achieving structural deformation suppression and reliable obstacle crossing.

[0034] In this embodiment, the fixing flange has a groove on the side facing the outer triangular plate, and the groove is used to buckle the bearing in the middle of the inner side of the triangular plate; A plurality of fixing plates 15 are evenly distributed around the circumference of the fixing flange. Each fixing plate 15 is fixedly connected to the triangular plate and has a notch on its inner side for the circumferential end of the fixing flange to rotate through. The stabilizing block 14 is circumferentially provided with several columns 1401, each of which is connected to the stabilizing block 14 and the fixing plate 15 at both ends. In this embodiment, a groove is formed in the middle of the side of the fixing flange, with the circumferential end flush with the top of the groove. This allows the fixing flange to securely hold the bearing on the inner side of the triangular plate, while also allowing the circumferential end of the fixing flange to rest close to the triangular plate. Several fixing plates 15 are also provided on the triangular plate to limit the circumferential end of the fixing flange, and the columns 1401 limit the distance between the triangular plate and the stabilizing block 14.

[0035] Example 2: This example 2 is further optimized based on example 1. Figure 15As shown in the figure, a collaborative operation system process for multi-vehicle collaborative control and task distribution in complex environments is provided to realize intelligent judgment of terrain changes. The specific steps are as follows: Step 1, Data synchronization and preprocessing: The lidar point cloud data is aligned with the inertial navigation unit (IMU) data through the timestamp to eliminate motion distortion. The pressure sensor data (ground contact force) is combined with the IMU attitude data to estimate the terrain surface stiffness. Step 2, Fusion modeling: The extended Kalman filter (EKF) is used to fuse the lidar point cloud, IMU pose and pressure data. The formula is as follows:

[0036] Step 3: Dynamic marking is achieved through point cloud clustering (DBSCAN algorithm) to distinguish between passable areas and obstacles.

[0037] The pseudo code is as follows: def build_3d_terrain(lidar_frames, imu_data, pressure_data): 1. Data synchronization and preprocessing: aligned_data = synchronize_and_preprocess(lidar_frames, imu_data,pressure_data) 2. EKF fusion modeling: ekf = EKF() terrain_map = [] for data in aligned_data: ekf.predict(data['imu']) ekf.update(data['point'], data['pressure']) terrain_map.append(ekf.state[:3]) # Extract position (x, y, z) 3. Dynamic marking point_cloud = np.array([point['point'] for point in aligned_data]) marked_map = dynamic_marking(point_cloud) return marked_map The method for adjusting the track parameters to ensure the normal operation of the search vehicle is to dynamically adjust the track torque; this is achieved through the following steps: Step 1, slip rate calculation: in is the slip rate, is the number of revolutions of the track, is the actual speed of the search vehicle.

[0038] The slip rate is calculated based on the number of track revolutions and the actual driving speed of the search vehicle. The slip rate is an important indicator for measuring whether the track slips when in contact with the ground. By calculating the slip rate, the working status of the track can be monitored in real time, and parameters such as the track power output can be adjusted to ensure stable vehicle driving.

[0039] Step 2: Torque correction: ;in The slip rate threshold is set to determine whether the torque needs to be adjusted. is the final value of the track torque, is the slip rate, It is the original torque value of the track.

[0040] When the slip rate exceeds the set slip threshold, it indicates that the track is slipping to the point where intervention is necessary. In this case, torque should be reduced to minimize slip. When slip is severe, a moderate reduction in torque helps the track regain grip. Otherwise, no torque adjustment is necessary. Adjusting track torque according to this formula can effectively prevent slip or optimize power output, ensuring stable operation of the search vehicle.

[0041] The intelligent path planning and task execution control system achieves precise navigation through the following steps: Step 1: Scanning the position of a living being: A rear-facing scanning radar emits detection signals to acquire the three-dimensional coordinate data of the living being in real time. Step 2: Relative position calculation: Based on the acquired three-dimensional coordinate data, the positioning module calculates the relative distance and azimuth between the search vehicle's current coordinates and the coordinates of the living being. Step 3: Path planning: Based on the calculated relative distance and azimuth, the search vehicle generates an adjusted driving path, including direction, speed, and steering angle parameters. Step 4: Motion path control: The drive motor controller and steering motor controller execute this adjusted driving path, controlling the direction and speed of the drive wheels to gradually approach the living being. Step 5: Real-time path deviation correction: During the driving process, the distance deviation between the search vehicle and the living being is continuously monitored using detection radar and infrared thermal imaging. If the deviation exceeds a preset threshold, the system returns to step 2 for dynamic correction. Step 6: Feedback: When the position of the search vehicle and the living being reaches a preset range, all drive wheels of the search vehicle are locked to prevent the search vehicle from sliding or moving.

[0042] The intelligent classification module, based on 360° multi-degree-of-freedom infrared thermal imaging, integrates target grayscale, shape, and motion features with a lightweight neural network and adaptive threshold calibration technology to achieve heat source classification in complex environments. Tracking utilizes a combined Kalman filter and optical flow algorithm, coordinated with a six-degree-of-freedom robotic arm-driven infrared vision device for perspective adjustment, enabling continuous tracking of living objects. Regional rescanning inserts high-confidence regional rescanning tasks based on acquired 3D coordinate data, and confirms targets through a multi-cycle verification mechanism.

[0043] The steps for multi-vehicle collaborative control and task distribution in complex environments are as follows: Step 1: System initialization and environment adaptation; this step is achieved through the following steps: Step 1.1. Multi-source data acquisition: Topographic data is collected through satellite positioning, LiDAR, and environmental sensors (temperature, humidity, and air pressure) to construct a high-precision 3D map. Preconfigured parameters are automatically loaded based on the current environment type (plateau, fire scene, desert, etc.). Step 1.2. Global clock synchronization: The central controller sends synchronization signals using a high-precision timestamp protocol to calibrate all vehicle system clocks (error ≤ 1ms).

[0044] Step 2: Self-organizing network construction and optimization; this step is achieved through the following steps: Step 2.1, Dynamic Networking and Topology Generation: Vehicles build a minimum-hop mesh network based on communication quality (RSSI ≥ -75dBm) and mobility speed (≤ 30km / h) using the improved AODVjr protocol. The high-frequency band (5.8GHz) is used for interference mitigation in high-temperature fires, while the low-frequency band (2.4GHz) is used for long-distance communication. Step 2.2, Hierarchical Communication and Resource Allocation: Control commands (emergency stop, obstacle avoidance) are transmitted via dedicated TDMA time slots (period ≤ 20ms). Environmental data is compressed using lightweight CBOR encoding, and bandwidth is dynamically allocated based on task priority.

[0045] Step 3: Multi-vehicle coordinated motion control; this step is achieved through the following steps: Step 3.1, Collaborative Path Planning: Based on the 3D map and mission objectives, the central controller generates a multi-vehicle collaborative path (with spacing of 10-15 meters) and sends it to each vehicle in real time. Vehicles use GPS / IMU fusion positioning to provide feedback on position and status data, forming a closed-loop control system. Step 3.2, Exception Handling and Path Correction: If a vehicle deviates from the path (lateral deviation > 15 cm), the obstacle avoidance strategy of neighboring vehicles is triggered, and the global optimal path is recalculated.

[0046] Step 4: Intelligent distribution of regional multi-point tasks; this step is achieved through the following steps: Step 4.1. Dynamic geographic zoning and risk labeling: Based on satellite and lidar data, divide the mission area (resolution ≤ 1m); use the CNN model to mark the fire core area (temperature ≥ 400°C) and landslide area (slope ≥ 35°) as prohibited areas. Step 4.2: Flexible task allocation and load balancing, calculate dynamic weights based on vehicle power, distance, and task priority: ;in, Dynamic weights assigned to vehicle tasks, The current remaining power of the vehicle, is the total power of the vehicle when fully charged. The value is the straight-line distance between the vehicle and the mission's target point. Priority is the mission's urgency (a higher value indicates a higher priority). α, β, and γ are weight coefficients (satisfying α + β + γ = 1), which control the contribution of battery power, distance, and priority, respectively. When a mission is overloaded, a backup vehicle is automatically awakened and assigned the mission.

[0047] Step 5: Fault-tolerance recovery and network self-healing. This step is achieved through the following steps: Step 5.1 Node Failure Detection and Task Migration: After a failed node is detected through heartbeat monitoring (period ≤ 5 seconds), its tasks are split and distributed to neighboring vehicles via D2D communication. An ant colony algorithm is used to dynamically optimize the path, avoiding obstacles and failed areas. Step 5.2 Network Topology Reconfiguration: A localized reconstruction algorithm (response time ≤ 300ms) bypasses the failed node and reestablishes the optimal communication link.

[0048] Step 6: Multi-environment adaptive execution; this step is achieved by the following steps: Step 6.1, Dynamic parameter adjustment: In low-pressure plateau environments: Increase the transmit power to 20dBm to compensate for positioning error (±1.2m); High-temperature fire scene: Switch to the high-temperature communication module and forcibly raise the task priority to the highest level. Step 6.2, Task Closed-Loop Monitoring: Real-time monitoring of task progress and resource utilization, dynamically adjusting allocation strategies to ensure a global completion rate of ≥ 95%.

[0049] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A field all-terrain special target intelligent search vehicle, characterized by: include: A front modular car body (2) connected to a rear integrated car body (6) via an articulated linkage mechanism (7); The front module vehicle body (2) includes a vehicle frame, a primary drive system, and a secondary drive system. Both sides of the vehicle frame are provided with a planetary frame (1) that is rotatably connected. The planetary frame (1) includes a planetary gear set (17) that is rotatably connected to the middle portion and a plurality of planetary gears (26) that are rotatably connected to the periphery and evenly distributed. The planetary gear set (17) includes a main gear located in the center and a plurality of sub-gears that mesh with the main gear at the periphery. Each of the sub-gears is in transmission connection with a corresponding planetary gear (26). The primary drive system is used to drive the main gear to rotate; The output end of the secondary drive system is eccentrically connected to the planet carrier (1) and is used to output an eccentric torque to the planet carrier (1) to drive the planet carrier (1) to rotate relative to the vehicle frame; Tracks (4) are provided at the bottom of both sides of the rear section integrated vehicle body (6), and a multi-degree-of-freedom rotating arm (5) is also provided on the rear section integrated vehicle body (6). An infrared vision device is provided on the multi-degree-of-freedom rotating arm (5), and the infrared vision device includes an infrared imaging module, a laser ranging module, and an image recognition processing module.

2. The field all-terrain special target intelligent search vehicle according to claim 1, characterized in that: The rear integrated vehicle body (6) is also provided with a power supply system and a control system, and the control system includes a navigation and communication module, a path planning module and a modular expansion interface.

3. The field all-terrain special target intelligent search vehicle according to claim 1, characterized in that: The vehicle frame extends rearward to the middle of the rear section integrated vehicle body (6), and notches are provided on both sides of the middle position of the rear section integrated vehicle body (6), and the notches on both sides are connected to the front section module vehicle body (2) via the articulated linkage mechanism (7); The articulated linkage mechanism (7) comprises an upper articulated arm (22), a lower articulated arm (23), a base (24) and a hydraulic damper (25), wherein the upper articulated arm (22) is fixed to the rear side of the vehicle frame, and the lower articulated arm (23) is fixed to the notch; both ends of the base (24) are respectively articulated to the upper articulated arm (22) and the lower articulated arm (23), and the articulated connection can generate a rotation angle change in height between the front section module vehicle body (2) and the rear section integrated vehicle body (6); The upper hinged arm (22) is hingedly connected to a first connecting rod on a side below the base (24), and the lower hinged arm (23) is hingedly connected to a second connecting rod on a side below the base (24), and the first connecting rod and the second connecting rod are both inclined downwardly toward each other; The hydraulic damper (25) and the base (24) are hinged, and the output end of the hydraulic damper (25) extends downward; the lower ends of the first connecting rod and the second connecting rod are respectively hinged to both sides of the output end of the hydraulic damper (25); the hinge direction of the two ends of the first connecting rod and the second connecting rod is the same as the hinge direction of the end of the base (24).

4. The field all-terrain special target intelligent search vehicle according to claim 1, characterized in that: The planetary carrier (1) comprises two triangular plates arranged opposite to each other, and the planetary gears (26) are rotatably connected between the two triangular plates; each transmission shaft (19) of the planetary gear set (17) and all the planetary gears (26) passes through the two triangular plates and is rotatably connected to the triangular plates.

5. The outdoor all-terrain special target intelligent search vehicle according to claim 4, characterized in that: The primary drive system comprises a solid main shaft (10), the middle portion of the planetary frame (1) is laterally rotatably connected to the solid main shaft (10), and two triangle plates are respectively passed through the two ends of the solid main shaft (10); the solid main shaft (10) is located at one end outside the planetary frame (1) and is fixedly connected to the main gear; The secondary drive system includes a hollow main shaft (13), which is coaxially sleeved on the solid main shaft (10) and rotatably connected to the solid main shaft (10) via a composite rolling bearing group; an eccentric connecting piece (16) is also sleeved on the hollow main shaft (13), and the eccentric connecting piece (16) is eccentrically connected to the outer triangular plate.

6. The outdoor all-terrain special target intelligent search vehicle according to claim 5, characterized in that: The eccentric connecting member (16) adopts a fixed flange, the middle portion of which is fixedly sleeved on the hollow main shaft (13); a plurality of coaxially arranged arc holes (1601) are uniformly distributed around the circumference of the fixed flange, and the connecting shaft on each pinion in the planetary gear set (17) passes through the arc holes (1601); A notch for accommodating the connecting shaft is provided at the inner edge of the center of the arc-shaped hole (1601).

7. The outdoor all-terrain special target intelligent search vehicle according to claim 5, characterized in that: The first-stage drive system further comprises a first-stage motor (8) and a first sprocket set (11); the solid main shaft (10) is provided with a transmission tooth on one end inside the planetary frame (1); the transmission tooth on the output end of the first-stage motor (8) is connected to the transmission tooth on the solid main shaft (10) through the first sprocket set (11); The secondary drive system further comprises a secondary motor (21) and a second sprocket set (12); the hollow main shaft (13) is located on one end inside the planetary frame (1) and is sleeved with transmission teeth; the transmission teeth on the output shaft of the secondary motor (21) are connected to the transmission teeth on the hollow main shaft (13) through the second sprocket set (12).

8. The outdoor all-terrain special target intelligent search vehicle according to claim 4, characterized in that: The planetary gear set (17) is located outside the planetary carrier (1), and each of the pinion gears and each of the planetary gears (26) has a synchronous wheel (18) coaxially extending outward; the synchronous wheel (18) on each pinion gear is connected to the synchronous wheel (18) on the corresponding planetary gear (26) through a synchronous belt.

9. The outdoor all-terrain special target intelligent search vehicle according to claim 6, characterized in that: It also includes a stabilizing block (14), which is located between two triangular plates; each transmission shaft (19) in the planetary gear set (17) passes through the stabilizing block (14).

10. The outdoor all-terrain special target intelligent search vehicle according to claim 9, characterized in that: The fixing flange has a groove on one side facing the outer triangular plate, and the groove is used to buckle the bearing in the middle of the inner side of the triangular plate; A plurality of fixing plates (15) are evenly distributed around the circumference of the fixing flange, each fixing plate (15) is fixedly connected to the triangular plate and has a notch on its inner side for the circumferential end of the fixing flange to rotate through; The stabilizing block (14) is provided with a plurality of columns (1401) in the circumferential direction, and the two ends of each column (1401) are respectively connected to the stabilizing block (14) and the fixing plate (15).

Images