A multifunctional crawler-type ore collecting vehicle travel experimental platform

Abstract

The present invention relates to the technical field of deep-sea mining, and discloses a multifunctional crawler-type ore collecting vehicle travel experimental platform. The experimental platform is provided with a water pool for experiments, and comprises a ore collecting vehicle model arranged above the water pool, wherein the ore collecting vehicle model comprises a crawler track, a servo motor, a driving wheel, a driven wheel, a fixed camera and a chassis; a sensor device, wherein the sensor device comprises a force sensor, a displacement sensor, a speed sensor, an acceleration sensor and a turbidity meter, and an external suspension device. The present invention, by arranging the ore collecting vehicle model, the sensor device and the external suspension device, conducts simulation experiments simulating the straight-line walking and turning of a crawler-type ore collecting vehicle on a soft and sparse seabed bottom, analyzes the vehicle sinking, slipping and deflection under different soil characteristics, and conducts simulation experiments on the disturbance phenomenon and settlement of the soft and sparse bottom. The experimental platform has a high degree of integration, and each system closely cooperates to conduct control experiments on different variables, thereby improving the efficiency and accuracy of the experiment.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep-sea mining, and more specifically, relates to a multifunctional crawler-type ore collecting vehicle traveling experimental platform. Background Art

[0002] Currently, many laboratories have been established both domestically and internationally to conduct research on track vehicle travel and slippage. Pressure sensors are used to obtain track shear stress and analyze slippage and sinking issues; in-situ testers are used to obtain soil mechanical properties. Existing experimental platforms have the following problems when used:

[0003] Existing experimental platforms can only carry out experiments on a single research content, and have many problems such as low efficiency, inaccuracy, and high cost; especially in terms of integration, there is a lack of coordination between the various systems, and only separate control operations can be performed; it is impossible to carry out control experiments between different variables, and there is unreliability in the data. In order to solve the above problems, the present invention provides a multifunctional crawler-type ore collecting vehicle travel experimental platform, which studies the straight and turning movements faced by ore collecting vehicles in the current deep-sea field when walking on the thin and soft bottom of the deep sea, and conducts simulation experiments on the phenomenon of plume flow formed by the disturbance of the crawler on the thin and soft bottom, so as to obtain experimental data close to the actual situation on the seabed and solve the problems related to deep-sea mining. Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional crawler-type ore collecting vehicle traveling experimental platform, which monitors and captures the information of the ore collecting vehicle model in the water pool through various sensors set by the sensor device. The degree of integration is high, and the various systems work closely together to conduct control experiments on different variables, thereby improving the efficiency and accuracy of the experiment.

[0005] The technical solution adopted by the present invention is as follows: a multifunctional crawler type ore collecting vehicle travel experimental platform, the experimental platform is provided with a pool for experiments, and the experimental platform includes:

[0006] A mining vehicle model is provided above the pool, and the mining vehicle model includes a crawler, a servo motor, a driving wheel, a driven wheel, a fixed camera, and a chassis. The crawler is provided at the bottom of the mining vehicle model, the driving wheel is rotatably connected to both sides of one end of the chassis, the driven wheel is rotatably connected to both sides of one end of the chassis, the fixed camera is fixedly installed at the axis on both sides of the chassis, and the servo motor is fixedly installed on the inner side of one end of the chassis;

[0007] A sensor device, comprising a force sensor, a displacement sensor, a velocity sensor, an acceleration sensor, and a turbidity meter, wherein the force sensor, the velocity sensor, the acceleration sensor, and the turbidity meter are all mounted on the mine car model, and the displacement sensor is disposed above the water pool;

[0008] An external suspension device is arranged above the water pool. The external suspension device includes several columns, a slide cable, a pulley assembly, a follow-up camera, a screw guide rail and a rope. The columns are fixedly installed at the four corners of the top of the water pool respectively. The slide cable is fixedly connected between two columns. The pulley assembly is movably installed on the outer wall of the slide cable. The follow-up camera is fixedly installed on the inner side of the pulley assembly. The screw guide rail is fixedly installed on the inner side of the column. The rope is arranged between the mining car model and the screw guide rail.

[0009] Optionally, the crawler track is movably mounted on the outer walls of the driving wheel and the driven wheel, and the inner side of the crawler track is meshed with the driving wheel by means of teeth and grooves, and one end of the servo motor output shaft is adapted to the axis of the driving wheel.

[0010] Optionally, the force sensor is fixedly mounted on the inner side of the driving wheel and the driven wheel respectively, the displacement sensor is slidably connected to the inner side of the screw guide rail, the speed sensor is fixedly mounted between the servo motor and the driving wheel, and the input end of the speed sensor is connected to one end of the servo motor output shaft, the acceleration sensor is fixedly mounted on the top of the chassis, and the turbidity meter is fixedly mounted on both ends of the bottom of the chassis and on the inner side of the track respectively.

[0011] The lower wheel assembly is connected with the upper wheel shaft by the adjusting device, and the lower wheel shaft is connected with the adjusting device by the adjusting spring. The lower wheel shaft is connected with the upper wheel shaft by the adjusting spring.

[0012] Optionally, the upper fixing bracket is slidably connected to the outer side of the top of the lower fixing bracket, and the outer wall of one end of the adjusting bolt is threadedly engaged with the top of the lower fixing bracket.

[0013] Optionally, one end of the support rod is fixedly mounted on the outer wall of the lower pulley shaft, and the other end of the support rod is slidably connected to both sides of the lower fixing frame.

[0014] Optionally, one end of the rope is fixedly mounted on both sides of one end of the chassis, and the other end of the rope is fixedly mounted on the detection end of the displacement sensor.

[0015] Optionally, the outer side of the track is provided with a plurality of tooth grooves, the inner side of the tooth grooves is fixedly installed with a fixed block, the outer side of the fixed block is fixedly connected with a toothed belt, a sliding groove is provided at the fixed block and the axis of the toothed belt, a magnetic pin is slidingly connected to the inner side of the sliding groove, a card slot is provided in the inner groove of the tooth groove, and an iron block is installed at the bottom of the card slot.

[0016] Optionally, the sliding groove and the clamping groove are respectively provided at the fixed block and the axis of the tooth groove, and one end of the magnetic pin is adapted to the clamping groove.

[0017] The technical effects achieved by the present invention are:

[0018] (1) This scheme sets up a mining car model, a sensor device and an external suspension device, and monitors and captures the information of the mining car model in the water pool through various sensors set by the sensor device. The mining car model is driven by a servo motor to move, and a simulation experiment of a tracked mining car walking straight and turning on the soft bottom of the seabed is carried out. Through various sensor detections, fixed cameras and follow-up cameras are used to collect data, and the vehicle sinking, slipping and offset under different soil characteristics are analyzed. In the experiment, by replacing different belt teeth and driving the crawler with a servo motor to achieve different speeds, the disturbance phenomenon of the soft bottom during the movement of the crawler vehicle and the simulation experiment of the settlement can be carried out. The integration level is high, and the various systems work closely together to conduct control experiments on different variables, thereby improving the efficiency and accuracy of the experiment.

[0019] (2) By setting up a screw guide rail, a rope and a displacement sensor, the chassis of the mining vehicle model is pulled by the rope, and the detection end of the displacement sensor is pulled by extension to detect whether the mining vehicle model is offset while walking. The auxiliary processor determines whether the vehicle deviates from the track during the straight-line walking process. When it deviates from the straight-line path, the two servo motors are coordinated and controlled. After the path planning algorithm is calculated, it is assigned to the servo motor, and the motor changes the output speed, thereby controlling the speed of the two crawlers and returning to the straight-line path, which is convenient for controlling the mining vehicle model and improving the accuracy of the experiment;

[0020] (3) By setting a pulley assembly, the upper pulley and the lower pulley are supported by the upper fixing frame and the lower fixing frame respectively, and are adjusted by adjusting bolts, and the elastic force of the supporting spring is used to make one end of the support rod support the lower pulley, so that the upper and lower pulleys are always closely attached to the slide rope to prevent slipping, so that the follow-up camera can follow the mining car model for detection, thereby improving accuracy, and after use, loosening the adjusting bolts makes it easy to remove the pulley assembly and the follow-up camera for easy storage;

[0021] (4) By respectively arranging a magnetic pin and a slot on the tooth groove and the fixed block of the belt tooth mounting component, and installing an iron block at the bottom of the slot, when the belt tooth is inserted into the tooth groove through the fixed block, under the magnetic force of the magnetic pin, one end of the magnetic pin will attract the iron block at the bottom of the slot, so that the magnetic pin is automatically inserted into the slot to position the belt tooth, thereby facilitating the installation of the belt tooth. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a structural schematic diagram of a multifunctional crawler-type ore collecting vehicle traveling experimental platform of the present invention;

[0024] Figure 2 This is a schematic structural diagram of the top side of a mine collecting vehicle model in a multifunctional crawler type mine collecting vehicle traveling experimental platform of the present invention;

[0025] Figure 3 This is a schematic structural diagram of the bottom side of a mine collecting vehicle model in a multifunctional crawler type mine collecting vehicle traveling experimental platform of the present invention;

[0026] Figure 4 This is an assembly diagram of the top of the center column of a multifunctional crawler-type ore collecting vehicle traveling experimental platform of the present invention;

[0027] Figure 5 For the present invention Figure 4 A partial enlarged view of point A in the middle;

[0028] Figure 6 This is a partial assembly diagram of the crawler in a multifunctional crawler type ore collecting vehicle traveling experimental platform of the present invention:

[0029] 1. Track; 2. Servo motor; 3. Driving wheel; 4. Driven wheel; 5. Fixed camera; 6. Chassis; 7. Force sensor; 8. Displacement sensor; 9. Speed ​​sensor; 10. Acceleration sensor; 11. Turbidimeter; 12. Water tank; 13. Column; 14. Slide rope; 141. Pulley assembly; 1411. Adjusting bolt; 1412. Upper fixing frame; 1413. Pulley motor; 1414. Upper pulley; 1415. Lower fixing frame; 1416. Lower pulley; 1417. Support spring; 1418. Support rod; 15. Follow camera; 16. Screw guide; 17. Rope; 18. Tooth groove; 19. Belt teeth; 20. Fixing block; 21. Slide groove; 22. Magnetic pin; 23. Slot. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 The present invention provides a multifunctional crawler type ore collecting vehicle traveling experimental platform, the experimental platform is provided with a pool 12 for experiments, and the experimental platform comprises:

[0032] The mining car model is arranged above the pool 12, and the mining car model includes a crawler 1, a servo motor 2, a driving wheel 3, a driven wheel 4, a fixed camera 5 and a chassis 6. The crawler 1 is arranged at the bottom of the mining car model, the driving wheel 3 is rotatably connected to both sides of one end of the chassis 6, and the driven wheel 4 is rotatably connected to both sides of one end of the chassis 6. The fixed camera 5 is fixedly installed at the axis centers on both sides of the chassis 6, the servo motor 2 is fixedly installed on the inner side of one end of the chassis 6, the crawler 1 is movably installed on the outer wall of the driving wheel 3 and the driven wheel 4, and the inner side of the crawler 1 and the driving wheel 3 are tooth-groove engaged, and one end of the output shaft of the servo motor 2 is adapted to the axis center of the driving wheel 3; by setting the servo motor 2, it is arranged on the inner side of the driving wheel 3, the servo motor 2 provides power for the whole vehicle, the driving wheel 3 and the crawler 1 are tooth-groove engaged, and there is no slipping phenomenon. The vehicle chassis 6 is the bottom supporting part of the whole vehicle, and a fixed camera 5 is arranged on both sides of the chassis 6. The fixed camera 5 is used to shoot the change in the sinking distance between the crawler and the ground.

[0033] The sensor device includes a force sensor 7, a displacement sensor 8, a speed sensor 9, an acceleration sensor 10 and a turbidity meter 11. The force sensor 7, the speed sensor 9, the acceleration sensor 10 and the turbidity meter 11 are all installed on the mine car model. The displacement sensor 8 is set above the water pool 12. The force sensor 7 is fixedly installed on the inner side of the driving wheel 3 and the driven wheel 4 respectively. The displacement sensor 8 is slidably connected to the inner side of the screw guide rail 16. The speed sensor 9 is fixedly installed between the servo motor 2 and the driving wheel 3, and the input end of the speed sensor 9 is connected to the output end of the servo motor 2. At one end of the shaft, an acceleration sensor 10 is fixedly mounted on the top of chassis 6, and turbidity meters 11 are fixedly mounted on both ends of the bottom of chassis 6 and on the inside of track 1. A speed sensor 9 is arranged on the output shaft of servo motor 2 to obtain the real-time output speed of servo motor 2. A force sensor 7 is arranged on each of the driving wheel 3 and the driven wheel 4 to respectively obtain the force between track 1 and the ground substrate. Turbidity meters 11 are arranged at the bottom of the vehicle chassis 6, between the insides of the two tracks 1, and at the front and rear ends of the vehicle to obtain the turbidity level in the water pool 12. Acceleration sensors 10 are installed on the tracked vehicle to obtain the vehicle's acceleration value during travel.

[0034] An external suspension device is arranged above the pool 12. The external suspension device includes several columns 13, a zip line 14, a pulley assembly 141, a follow-up camera 15, a screw guide rail 16 and a rope 17. The columns 13 are respectively fixedly installed at the four corners of the top of the pool 12, the zip line 14 is fixedly connected between the two columns 13, the pulley assembly 141 is movably installed on the outer wall of the zip line 14, the follow-up camera 15 is fixedly installed on the inner side of the pulley assembly 141, the screw guide rail 16 is fixedly installed on the inner side of the column 13, and the rope 17 is arranged between the mining car model and the screw guide rail 16. One end of the rope 17 is fixedly installed on both sides of one end of the chassis 6, and the other end of the rope 17 is fixedly installed on the detection end of the displacement sensor 8; columns 13 are placed at the four corners of the pool 12, a zip line 14 is arranged between every two longitudinal columns 13, a pulley assembly 141 is arranged on the zip line 14, and a pulley assembly 141 is arranged on the pulley assembly. Under the action of component 141, it moves longitudinally along the slide cable 14, and a follow-up camera 15 on one side is arranged on the pulley assembly 141. During the movement of the crawler vehicle, the processor controls its follow-up movement to capture the position of the crawler vehicle in real time. The two sides of the chassis 6 bracket are symmetrically connected to the rope 17, and the rope 17 is always in a tensioned state. One end of the rope 17 is connected to the crawler vehicle, and the other end is connected to the screw guide rail 16. Then, using the displacement sensor 8, the rope 17 synchronously follows the crawler vehicle and moves parallel to it under the drive of the screw guide rail 16. The two ends of the rope 17 are tightly connected to the frame and the displacement sensor 8 respectively. If the rope 17 is relaxed or stretched, the displacement sensor 8 can obtain the real-time displacement change of the two ropes 17 and transmit the data to the processor. The screw guide rail 16 can be freely configured according to the actual application scenario, and the work adopts the commonly used method in the existing technology.

[0035] In some embodiments, see Figure 4 、 Figure 5 The pulley assembly 141 includes an adjusting bolt 1411, an upper fixing frame 1412, a pulley motor 1413, an upper pulley 1414, a lower fixing frame 1415, a lower pulley 1416, a support spring 1417 and a support rod 1418. The upper pulley 1414 and the lower pulley 1416 are both slidably connected to the outer wall of the cable 14. The upper fixing frame 1412 is fixedly mounted on the top outer side of the upper pulley 1414, and the lower fixing frame 1415 is fixedly mounted on the bottom outer side of the lower pulley 1416. The adjusting bolts 1411 are respectively rotated to connect the upper fixing frame 14 12 and the top connection of the lower fixed frame 1415, the pulley motor 1413 is fixedly installed on the outside of the upper fixed frame 1412, one end of the output shaft of the pulley motor 1413 is adapted to the axis of the upper pulley 1414, the support rod 1418 is movably installed and fixed between the bottom of the lower fixed frame 1415 and the rotating shaft of the lower pulley 1416, the support spring 1417 is fixedly installed on the outer wall of the support rod 1418, the upper fixed frame 1412 is slidably connected to the outside of the top of the lower fixed frame 1415, and the outer wall of one end of the adjusting bolt 1411 is connected to the lower fixed frame 141 The top is threaded, one end of the support rod 1418 is fixedly mounted on the outer wall of the rotating shaft of the lower pulley 1416, and the other end of the support rod 1418 is slidably connected to both sides of the lower fixed frame 1415; the pulley assembly 141 is clamped on the outer wall of the cable 14 by the upper pulley 1414 and the lower pulley 1416, and then the upper pulley 1414 is driven to rotate by the pulley motor 1413, so that the pulley assembly 141 drives the follow-up camera 15 to capture the position of the crawler vehicle in real time, wherein the upper fixed frame 1412 is slidably connected to the outer side of the lower fixed frame 1415, The distance between the top of the upper fixing frame 1412 and the top of the lower fixing frame 1415 can be adjusted by using the adjusting bolt 1411, and then the distance between the upper pulley 1414 and the lower pulley 1416 can be adjusted. The lower pulley 1416 is supported by a movable support structure, and the elastic force of the support spring 1417 is used to support the support rod 1418, and the support rod 1418 is used to support the lower pulley 1416, so that the upper and lower pulleys are tightly fitted to the rope 14, which can prevent the rope 14 from being worn and the pulley cannot engage with the rope 14.

[0036] In some embodiments, see Figure 6The outer side of the crawler 1 is provided with a plurality of tooth grooves 18, and a fixed block 20 is fixedly installed on the inner side of the tooth groove 18. The outer side of the fixed block 20 is fixedly connected with a tooth 19. A slide groove 21 is provided at the axis of the fixed block 20 and the tooth 19. A magnetic pin 22 is slidably connected to the inner side of the slide groove 21. A card slot 23 is provided in the inner groove of the tooth groove 18. An iron block is installed at the bottom of the card slot 23. The slide groove 21 and the card slot 23 are respectively provided at the axis of the fixed block 20 and the tooth groove 18. One end of the magnetic pin 22 is adapted to the card slot 23; the tooth 19 is connected to the fixed block 2 by the fixed block 2 0 is connected and fixed with the tooth groove 18, and the fixing block 20 is inserted from one end of the tooth groove 18. When the slot 23 inside the tooth groove 18 coincides with the axis of the slide groove 21, the magnetic pin 22 will be attracted to the iron block at the bottom of the slot 23 under the action of magnetic force. One end of the magnetic pin 22 is quickly inserted into the inside of the slot 23 to achieve rapid positioning of the belt teeth 19, which is convenient for installation of the belt teeth 19. When disassembling, hold one end of the magnetic pin 22 on both sides of the belt teeth 19, pull up the magnetic pin 22, and pull out the fixing block 20 along one end of the tooth groove 18.

[0037] The working process and principle of the present invention: Experiment A: Simulation experiment of straight-line walking and turning of a crawler vehicle on a soft and sparse seabed:

[0038] During the straight-line and turning experiments, the vehicle traveled along the initially set straight trajectory, with the servo motor 2 driving the active wheel 3 to drive the crawler track 1 forward. Follow-up cameras 15 arranged on both sides of the top captured the crawler vehicle's position and posture in real time and transmitted this data to the processor. Displacement sensor 8, located at one end of a rope 17, measured the elongation of the rope 17, assisting the processor in determining whether the vehicle deviated from the trajectory during the straight-line movement. When the sensor data is processed by the processor and determined to indicate deviation from the straight path, the two servo motors 2 are coordinated and controlled. After the path planning algorithm calculates the speed, it is assigned to servo motor 2, which changes its output speed, thereby controlling the speed of the two crawlers 1 and returning them to the straight path.

[0039] When the crawler vehicle is to achieve speed change movement, the servo motor 2 performs speed change output after receiving the speed instruction sent by the processor.

[0040] When the vehicle makes a turn, the processor inputs a turn command, the two servo motors 2 receive the command and output different speeds, and the crawler 1 realizes differential turning under the drive of the driving wheel 3.

[0041] Walking simulation experiments can be carried out on different terrains, such as high slopes, potholes, etc., and the straight-line walking and turning performance under different terrains can be obtained under the action of the following camera 15, the rope 17 and the supporting sensors.

[0042] Experiment B: Simulation experiment of sinking, slipping and deflection of tracked vehicles on soft and sparse soil:

[0043] During the movement of the crawler, the top follow-up camera 15 captures the crawler's posture in real time. At the same time, combined with the data obtained by the fixed camera 5 on the crawler, the sinking of the crawler 1 in the soft soil is monitored and compared. The processor uses an algorithm to process the sinking amount.

[0044] Force sensors 7 on all four wheels detect the forces acting on the subsurface, and a processor analyzes the relationship between sag and pressure. Data from the speed sensor 9, the top tracking camera 15, and the vehicle acceleration sensor 10 are transmitted to the processor. An algorithm analyzes the difference between the track speed and the vehicle's actual forward speed to determine track slippage.

[0045] The tracked vehicle's path is captured by a follow-up camera 15 arranged on the top, and the displacement sensor 8 arranged on the rope 17 obtains the elongation of the rope 17 and transmits the data to the processor to determine whether the vehicle deviates during the straight-line movement;

[0046] Simulation experiments are established for different soft soils with different moisture contents, different components, and different porosity ratios. The vehicle sinking, slipping, and deflection under different soil characteristics are analyzed by following the camera 15, displacement sensor 8, force sensor 7, etc.

[0047] Experiment C: The disturbance phenomenon of the soft bottom during the movement of the crawler vehicle and the sedimentation simulation experiment:

[0048] When the crawler vehicle is moving, the track teeth 19 will cause disturbance to the soft bottom. The three turbidity meters 11 arranged at the front, middle and rear of the vehicle body respectively obtain the concentration of suspended particles in the water pool 12.

[0049] The crawler 1 is equipped with different grousers 19 to measure the disturbance of soft and dilute sediments caused by different grousers. The processor controls the servo motor 2 to output different speeds, allowing the crawler to travel at different speeds. Acceleration and deceleration during travel are simulated to measure the disturbance of the dilute and dilute sediments caused by the crawler at different speeds. The turbidity meter 11 is used to monitor the surrounding water pool 12 to measure the generation and sedimentation of suspended solids.

[0050] Through experiments on soil disturbance caused by crawler movement, we can obtain a low-disturbance crawler structure and a better travel speed, thus providing improvement ideas for the study of the damage caused by crawler movement to the seabed environment in deep-sea mining.

[0051] The various systems work closely together to conduct controlled experiments on different variables, improving the efficiency and accuracy of the experiments.

[0052] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multifunctional crawler type ore collecting vehicle traveling experimental platform, the experimental platform is provided with a pool (12) for experiment, characterized in that: The experimental platform includes: A mining vehicle model is arranged above a water pool (12), and the mining vehicle model comprises a crawler (1), a servo motor (2), a driving wheel (3), a driven wheel (4), a fixed camera (5) and a chassis (6), wherein the crawler (1) is arranged at the bottom of the mining vehicle model, the driving wheel (3) is rotatably connected to both sides of one end of the chassis (6), the driven wheel (4) is rotatably connected to both sides of one end of the chassis (6), the fixed camera (5) is fixedly installed at the axis of both sides of the chassis (6), and the servo motor (2) is fixedly installed on the inner side of one end of the chassis (6); A sensor device, comprising a force sensor (7), a displacement sensor (8), a velocity sensor (9), an acceleration sensor (10) and a turbidity meter (11); the force sensor (7), the velocity sensor (9), the acceleration sensor (10) and the turbidity meter (11) are all installed on the mine car model; the displacement sensor (8) is arranged above the water pool (12); An external suspension device is provided above a water pool (12), and comprises a plurality of columns (13), a zip line (14), a pulley assembly (141), a follow-up camera (15), a screw guide rail (16) and a rope (17). The columns (13) are respectively fixedly installed at the four corners of the top of the water pool (12), the zip line (14) is fixedly connected between two columns (13), the pulley assembly (141) is movably installed on the outer wall of the zip line (14), the follow-up camera (15) is fixedly installed on the inner side of the pulley assembly (141), the screw guide rail (16) is fixedly installed on the inner side of the column (13), and the rope (17) is provided between the mining vehicle model and the screw guide rail (16).

2. A multifunctional crawler-type ore collecting vehicle traveling experimental platform according to claim 1, characterized in that: The crawler belt (1) is movably mounted on the outer walls of the driving wheel (3) and the driven wheel (4), and the inner side of the crawler belt (1) is meshed with the driving wheel (3) by tooth grooves, and one end of the output shaft of the servo motor (2) is adapted to the axis of the driving wheel (3).

3. The multifunctional crawler-type ore collecting vehicle traveling experimental platform according to claim 1 is characterized in that: The force sensor (7) is fixedly mounted on the inner sides of the driving wheel (3) and the driven wheel (4), respectively; the displacement sensor (8) is slidably connected to the inner side of the lead screw guide rail (16); the speed sensor (9) is fixedly mounted between the servo motor (2) and the driving wheel (3), and the input end of the speed sensor (9) is connected to one end of the output shaft of the servo motor (2); the acceleration sensor (10) is fixedly mounted on the top of the chassis (6); and the turbidity meter (11) is fixedly mounted on both ends of the bottom of the chassis (6) and the inner side of the crawler (1).

4. The multifunctional crawler-type ore collecting vehicle traveling experimental platform according to claim 1 is characterized in that: The pulley assembly (141) includes an adjusting bolt (1411), an upper fixing frame (1412), a pulley motor (1413), an upper pulley (1414), a lower fixing frame (1415), a lower pulley (1416), a support spring (1417) and a support rod (1418). The upper pulley (1414) and the lower pulley (1416) are both slidably connected to the outer wall of the cable (14). The upper fixing frame (1412) is fixedly mounted on the outer side of the top of the upper pulley (1414). The lower fixing frame (1415) is fixedly mounted on the lower pulley (1416). ) on the outside of the bottom, the adjusting bolt (1411) is rotatably connected to the top connection of the upper fixing frame (1412) and the lower fixing frame (1415), the pulley motor (1413) is fixedly installed on the outside of the upper fixing frame (1412), one end of the output shaft of the pulley motor (1413) is adapted to the axis of the upper pulley (1414), the support rod (1418) is movably installed and fixed between the bottom of the lower fixing frame (1415) and the rotating shaft of the lower pulley (1416), and the support spring (1417) is fixedly installed on the outer wall of the support rod (1418).

5. The multifunctional crawler type ore collecting vehicle traveling experimental platform according to claim 4 is characterized in that: The upper fixing frame (1412) is slidably connected to the outer side of the top of the lower fixing frame (1415), and the outer wall of one end of the adjusting bolt (1411) is threadedly engaged with the top of the lower fixing frame (1415).

6. The multifunctional crawler type ore collecting vehicle traveling experimental platform according to claim 4, characterized in that: One end of the support rod (1418) is fixedly mounted on the outer wall of the rotating shaft of the lower pulley (1416), and the other end of the support rod (1418) is slidably connected to both sides of the lower fixing frame (1415).

7. The multifunctional crawler type ore collecting vehicle traveling experimental platform according to claim 1, characterized in that: One end of the rope (17) is fixedly mounted on both sides of one end of the chassis (6), and the other end of the rope (17) is fixedly mounted on the detection end of the displacement sensor (8).

8. The multifunctional crawler-type ore collecting vehicle traveling experimental platform according to claim 1, characterized in that: A plurality of tooth grooves (18) are provided on the outer side of the crawler belt (1); a fixed block (20) is fixedly installed on the inner side of the tooth groove (18); and a belt tooth (19) is fixedly connected to the outer side of the fixed block (20).

9. The multifunctional crawler type ore collecting vehicle traveling experimental platform according to claim 8, characterized in that: A sliding groove (21) is provided at the axis of the fixed block (20) and the toothed belt (19), a magnetic pin (22) is slidably connected to the inner side of the sliding groove (21), a clamping groove (23) is provided in the inner groove of the tooth groove (18), and an iron block is installed at the bottom of the clamping groove (23).

10. The multifunctional crawler type ore collecting vehicle traveling experimental platform according to claim 9, characterized in that: The sliding groove (21) and the clamping groove (23) are respectively arranged at the axis of the fixed block (20) and the tooth groove (18), and one end of the magnetic pin (22) is adapted to the clamping groove (23).

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