Unmanned wheeled vehicle and control method and control system thereof

Abstract

The unmanned wheeled vehicle, the control method and the control system thereof can assist the unmanned wheeled vehicle to overcome the obstacle and get rid of the predicament when the unmanned wheeled vehicle is trapped by the obstacle, thereby improving the adaptability of the unmanned wheeled vehicle to the complex terrain and improving the maneuverability of the unmanned wheeled vehicle. The unmanned wheeled vehicle comprises an unmanned vehicle main body structure, an auxiliary power system connected with the unmanned vehicle main body structure and configured to assist the unmanned vehicle main body structure to overcome the obstacle, wherein the auxiliary power system comprises a turbojet system, an unmanned vehicle state detection system configured to detect the state of the unmanned vehicle main body structure, and a control system electrically connected with the unmanned vehicle state detection system and the auxiliary power system and configured to control the auxiliary power system according to the state detection result of the unmanned vehicle state detection system.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, unmanned vehicle technology, in particular to an unmanned wheeled vehicle and a control method and system thereof. BACKGROUND

[0002] At present, the unmanned wheeled vehicle usually adopts an active obstacle avoidance mode to prevent the unmanned wheeled vehicle from being trapped by obstacles and unable to move forward. The active obstacle avoidance mode actively detects positive and negative obstacles in the surrounding environment, and plans a reasonable path to make the unmanned wheeled vehicle avoid the obstacles and continue to move forward. However, due to the complexity of the terrain in the actual use process, the active obstacle avoidance mode cannot guarantee that the vehicle can always avoid obstacles. If the vehicle has been trapped by obstacles, such as being stuck on an obstacle or falling into a pit, the active obstacle avoidance mode cannot make the vehicle cross the obstacles and get out of trouble. SUMMARY

[0003] The unmanned wheeled vehicle and the control method and system thereof provided by the embodiments of the present application can assist the unmanned wheeled vehicle to cross the obstacles and get out of trouble when the unmanned wheeled vehicle is trapped by obstacles, thereby facilitating to improve the adaptability of the unmanned wheeled vehicle to complex terrain and the maneuverability of the unmanned wheeled vehicle.

[0004] To this end, the embodiments of the present application provide an unmanned wheeled vehicle, which comprises: an unmanned vehicle main body structure; an auxiliary power system connected with the unmanned vehicle main body structure and configured to assist the unmanned vehicle main body structure to cross obstacles, the auxiliary power system comprising a turbojet system; an unmanned vehicle state detection system configured to detect the state of the unmanned vehicle main body structure; and a control system electrically connected with the unmanned vehicle state detection system and the auxiliary power system and configured to control the auxiliary power system according to the state detection result of the unmanned vehicle state detection system.

[0005] The unmanned wheeled vehicle provided by the embodiments of the present application is configured to have an auxiliary power system, so that the power of the unmanned wheeled vehicle is not only derived from the friction between the wheels and the ground, but also derived from the auxiliary power system. When the unmanned vehicle state detection system detects that the unmanned wheeled vehicle encounters obstacles and is trapped by the obstacles and unable to move forward, the control system can control the auxiliary power system to provide power, so that the unmanned wheeled vehicle can cross the obstacles and get out of trouble to continue to move forward, thereby facilitating to improve the adaptability of the unmanned wheeled vehicle to complex terrain and the maneuverability of the unmanned wheeled vehicle.

[0006] In addition, the auxiliary power system comprises a turbojet system, which has the advantages of cost and volume and is convenient to carry on the unmanned wheeled vehicle; and has high energy density, and takes into account controllability and thrust, so that the adaptability of the unmanned wheeled vehicle to terrain is improved.

[0007] In an exemplary embodiment, the turbojet system comprises two groups of turbojet engine groups, the two groups of turbojet engine groups being a first turbojet engine group and a second turbojet engine group, respectively, and the first turbojet engine group and the second turbojet engine group are arranged at intervals along the width direction of the unmanned vehicle body structure.

[0008] In an exemplary embodiment, the first turbojet engine group and the second turbojet engine group are symmetrically arranged on both sides of the center of mass of the unmanned wheeled vehicle.

[0009] In an exemplary embodiment, the auxiliary power system further comprises two groups of angle adjusting devices, which are connected one-to-one with the two groups of turbojet engine groups and are electrically connected with the control system, and are arranged to drive the corresponding turbojet engine groups to rotate to adjust the jet direction of the corresponding turbojet engine groups.

[0010] In an exemplary embodiment, the angle adjusting device comprises a rotating bracket provided on the unmanned vehicle body structure, and the turbojet engine group is rotatably mounted on the rotating bracket; and an electric motor connected with the turbojet engine group and electrically connected with the control system to drive the turbojet engine group to rotate relative to the rotating bracket.

[0011] In an exemplary embodiment, the unmanned vehicle state detection system comprises a vehicle speed detection device, a tire pressure detection device, and an attitude detection device; the vehicle speed detection device is arranged to detect the vehicle speed of the unmanned vehicle body structure, the tire pressure detection device is arranged to detect the tire pressure of the wheels of the unmanned vehicle body structure, and the attitude detection device is arranged to detect the attitude of the unmanned vehicle body structure; the control system comprises an auxiliary power control module, and the auxiliary power control module is arranged to control the auxiliary power system according to the detection results of the vehicle speed detection device, the tire pressure detection device, and the attitude detection device.

[0012] In an exemplary embodiment, the vehicle speed detection device comprises a vehicle speed sensor; the tire pressure detection device comprises a tire pressure sensor, the number of the tire pressure sensors is equal to and corresponds one-to-one to the number of the wheels of the unmanned vehicle body structure; and the attitude detection device comprises a gyroscope.

[0013] The embodiments of the present application also provide a control method for the unmanned wheeled vehicle as described in any one of the above embodiments, and the control method comprises: obtaining the state detection result of the unmanned vehicle body structure; and controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure.

[0014] In an exemplary embodiment, the controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure comprises: determining whether the unmanned vehicle body structure encounters an obstacle and is in a stall state according to the state detection result of the unmanned vehicle body structure; and starting the auxiliary power system to assist the unmanned vehicle body structure to overcome the obstacle based on the determination that the unmanned vehicle body structure encounters an obstacle and is in a stall state.

[0015] In an exemplary embodiment, the state detection result comprises: the speed and tire pressure of the unmanned vehicle body structure, and the pitch angle of the gyroscope; and the determining whether the unmanned vehicle body structure encounters an obstacle and is in a stall state according to the state detection result of the unmanned vehicle body structure comprises: determining that the unmanned vehicle body structure encounters an obstacle and is in a stall state based on the speed of the unmanned vehicle body structure being less than a first set speed and the pitch angle of the gyroscope being greater than a first set angle.

[0016] In an exemplary embodiment, the turbojet system comprises two groups of turbojet engine groups and two groups of angle adjusting devices; and the starting the auxiliary power system to assist the unmanned vehicle body structure to overcome the obstacle comprises: determining the jet direction and fuel supply amount of the two groups of turbojet engine groups according to the tire pressure of the unmanned vehicle body structure; and starting the two groups of angle adjusting devices and the two groups of turbojet engine groups according to the jet direction and fuel supply amount.

[0017] In an exemplary embodiment, the determining the jet direction and fuel supply amount of the two groups of turbojet engine groups according to the tire pressure of the unmanned vehicle body structure comprises: determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel; and determining the jet direction and fuel supply amount of the two groups of turbojet engine groups according to the load distribution of the unmanned wheeled carrier.

[0018] In an exemplary embodiment, the determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel comprises: determining the relative size of the front side load and the rear side load of the unmanned wheeled carrier according to the tire pressure of each wheel; and the determining the jet direction of the two groups of turbojet engine groups according to the load distribution of the unmanned vehicle body structure comprises: determining that the two groups of turbojet engine groups jet downward rearward based on the front side load of the unmanned vehicle body structure being greater than the rear side load; and determining that the two groups of turbojet engine groups jet downward forward based on the front side load of the unmanned vehicle body structure being less than the rear side load.

[0019] In an exemplary embodiment, the determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel comprises: determining a reference value of a ratio of a left load to a right load of the unmanned wheeled carrier according to the tire pressure of each wheel; and determining the fuel supply amount of the two groups of turbojet engine groups according to the load distribution of the unmanned wheeled carrier, comprising: determining the fuel supply amount of the two groups of turbojet engine groups according to the reference value of the ratio of the left load to the right load of the unmanned wheeled carrier, wherein the ratio of the fuel supply amount of the left turbojet engine group to the fuel supply amount of the right turbojet engine group is equal to the reference value of the ratio of the left load to the right load of the unmanned wheeled carrier.

[0020] In an exemplary embodiment, the controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure further comprises: determining whether the unmanned vehicle body structure has crossed an obstacle according to the state detection result of the unmanned vehicle body structure; and shutting down the auxiliary power system based on the unmanned vehicle body structure crossing the obstacle.

[0021] In an exemplary embodiment, the determining whether the unmanned vehicle body structure has crossed an obstacle according to the state detection result of the unmanned vehicle body structure comprises: determining that the unmanned vehicle body structure has crossed the obstacle based on the gyroscopic pitch angle being less than a second set angle and the vehicle speed being greater than a second set vehicle speed; and the second set angle is less than or equal to the first set angle, and the second set vehicle speed is greater than or equal to the first set vehicle speed.

[0022] Embodiments of the present application also provide a control system, comprising a processor and a memory storing a computer program, wherein the processor implements the steps of the control method according to any one of the above embodiments when executing the computer program.

[0023] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or can be learned by practice of the present application. Other advantages of the present application will be realized and attained by the solution described in the specification and claims. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0025] Figure 1 A right view structural schematic diagram of an unmanned wheeled carrier is provided for an embodiment of the present application;

[0026] Figure 2 A front view structural schematic diagram of an unmanned wheeled carrier is provided for an embodiment of the present application;

[0027] Figure 3 The angle adjusting device provided by one embodiment of the present application and the turbojet engine set are shown in the schematic view.

[0028] Figure 4 The flowchart of the control method provided by one embodiment of the present application is shown in the schematic view.

[0029] Figure 5 The flowchart of the control method provided by one embodiment of the present application is shown in the schematic view.

[0030] The drawings are described as follows:

[0031] 1 vehicle body structure, 11 unmanned vehicle body frame, 111 vehicle wheel, 12 unmanned vehicle carrying unit;

[0032] 2 turbojet system, 21 turbojet engine set;

[0033] 3 angle adjusting device, 31 motor, 32 rotating support, 33 first bearing set, 34 second bearing set, 35 driving shaft, 36 supporting shaft, 37 thrust bearing, 38 angular contact bearing;

[0034] 4 gyroscope. DETAILED DESCRIPTION

[0035] The present application describes a plurality of embodiments, but the description is exemplary rather than limiting, and it is obvious to those skilled in the art that there can be more embodiments and implementation schemes within the scope of the embodiments described in the present application. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment can be used in combination with any other feature or element of any other embodiment, or can replace any other feature or element of any other embodiment.

[0036] The present application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features and elements disclosed in the present application can also be combined with any conventional features or elements to form a unique inventive scheme defined by the claims. Any feature or element of any embodiment can also be combined with features or elements from other inventive schemes to form another unique inventive scheme defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application can be implemented alone or in any appropriate combination. Therefore, the embodiments are not limited other than as set forth in the claims and their equivalents. In addition, various modifications and changes can be made within the scope of protection of the appended claims.

[0037] Furthermore, in describing representative embodiments, the specification can have presented the method and / or process as a particular sequence of steps. However, to the extent that the method or process depends on the performance of certain steps, the method or process is not limited to the order of steps presented nor to performing some specific steps before other specific steps, unless the description clearly indicates otherwise. Other steps can be utilized, and not all of the steps that are utilized can be presented in this specification. Furthermore, a person of ordinary skill in the art would understand that the steps in the methods and / or processes presented are not necessarily performed in the exact order presented, unless the context clearly indicates otherwise. Thus, certain steps can be performed in a different order than presented and / or not present at all, without altering the spirit of the methods and / or processes presented.

[0038] The unmanned wheeled vehicle is a ground mobile platform with automatic control and high intelligence, and its main purpose is to perform tasks in areas unsuitable for humans. The embodiments of the present application mainly face military unmanned vehicles, and a turbojet system is added to the unmanned wheeled vehicle as auxiliary power, which can increase the mobility of the unmanned vehicle.

[0039] As shown in Figure 1 and Figure 2 The embodiments of the present application provide an unmanned wheeled vehicle, which comprises an unmanned vehicle main structure 1, an auxiliary power system, an unmanned vehicle state detection system and a control system.

[0040] The auxiliary power system is connected with the unmanned vehicle main structure 1 and is arranged to assist the unmanned vehicle main structure 1 to overcome obstacles. The auxiliary power system comprises a turbojet system 2.

[0041] The unmanned vehicle state detection system is arranged to detect the state of the unmanned vehicle main structure 1.

[0042] The control system is electrically connected with the unmanned vehicle state detection system and the auxiliary power system, and is arranged to control the auxiliary power system according to the state detection result of the unmanned vehicle state detection system.

[0043] The unmanned wheeled vehicle provided by the embodiments of the present application, by arranging the auxiliary power system, makes the power of the unmanned wheeled vehicle not only come from the friction between the wheels 111 and the ground, but also come from the auxiliary power system. When the unmanned vehicle state detection system detects that the unmanned wheeled vehicle encounters an obstacle and is trapped by the obstacle and cannot travel, the control system can control the auxiliary power system to provide power, so that the unmanned wheeled vehicle can overcome the obstacle and continue to travel, thereby facilitating to improve the adaptability of the unmanned wheeled vehicle to complex terrain and the mobility of the unmanned wheeled vehicle.

[0044] And the auxiliary power system includes a turbojet system 2, which has cost and volume advantages, is convenient to carry on the unmanned wheeled carrier, has high energy density, and has controllability and thrust, so that the adaptability of the unmanned wheeled carrier to the terrain is improved.

[0045] The scheme does not conflict with the active obstacle avoidance scheme, and therefore can be applied to an unmanned wheeled carrier with an active obstacle avoidance design, so that the unmanned wheeled carrier has both an active obstacle avoidance function to reduce the risk of the unmanned wheeled carrier being trapped by obstacles as much as possible and an automatic obstacle crossing function to enable the unmanned wheeled carrier to flexibly cross obstacles when the unmanned wheeled carrier is trapped by obstacles, thereby greatly improving the adaptability of the unmanned wheeled carrier to complex terrain and greatly improving the mobility of the unmanned wheeled carrier.

[0046] The scheme does not conflict with the active obstacle avoidance scheme, and therefore can be applied to an unmanned wheeled carrier with an active obstacle avoidance design, so that the unmanned wheeled carrier has both an active obstacle avoidance function to reduce the risk of the unmanned wheeled carrier being trapped by obstacles as much as possible and an automatic obstacle crossing function to enable the unmanned wheeled carrier to flexibly cross obstacles when the unmanned wheeled carrier is trapped by obstacles, thereby greatly improving the adaptability of the unmanned wheeled carrier to complex terrain and greatly improving the mobility of the unmanned wheeled carrier.

[0047] In the embodiments of the present application, the unmanned wheeled carrier mainly refers to an unmanned vehicle, such as a medium-sized unmanned vehicle carrying combat components and reconnaissance components, which is mainly used for accompanying, reconnaissance, and carrying of heavy equipment.

[0048] 0The turbojet system 2 refers to a turbojet engine system. The turbojet engine is composed of an inlet duct, a compressor, a combustion chamber, a turbine, and an exhaust nozzle, and the four stages of air intake, pressurization, combustion, and exhaust are continuously performed.

[0049] The four stages of air intake, pressurization, combustion, and exhaust are continuously performed.

[0050] The obstacles include positive obstacles and / or negative obstacles. The positive obstacles refer to obstacles on the ground, such as high platforms. The negative obstacles refer to obstacles under the ground, such as pits.

[0051] In an exemplary embodiment, as shown in Figure 1 and Figure 2 The unmanned vehicle body structure 1 includes a vehicle body frame 11, a vehicle power system, and a vehicle carrying unit 12. The vehicle body frame 11 includes a vehicle body frame and left and right vehicle wheels 111 (such as three groups of vehicle wheels 111, three vehicle wheels 111 on each side).

[0052] The vehicle power system can be electrically driven or range-extended by liquefied petroleum gas (which can use the same fuel as the turbojet system 2). The vehicle carrying unit 12 is a unit for realizing the functions of the unmanned vehicle, such as unmanned regional transportation, mine clearance, and electronic warfare functional units (the carrying unit is shown in the drawings of the present application).

[0053] In an exemplary embodiment, as shown in

[0054] In an exemplary embodiment, as shown in Figure 2As shown, the turbojet system 2 comprises two groups of turbojet engine sets 21, which are respectively a first turbojet engine set and a second turbojet engine set, and are symmetrically arranged along the width direction of the unmanned vehicle body structure 1.

[0055] The first turbojet engine set and the second turbojet engine set are micro turbojet engine sets 21. The width direction of the unmanned vehicle body structure 1 refers to the left-right direction. The first turbojet engine set can provide upward power to the left side of the unmanned vehicle body structure 1 by downward jet, and can lift the left side of the unmanned vehicle body structure 1 upward.

[0056] The second turbojet engine set is the turbojet engine set 21 located on the right side of the center axis of the unmanned vehicle body structure 1 in the forward-backward direction.

[0057] In this way, the first turbojet engine set can provide upward power to the left side of the unmanned vehicle body structure 1 by downward jet, and can lift the left side of the unmanned vehicle body structure 1 upward. The second turbojet engine set can provide upward power to the right side of the unmanned vehicle body structure 1 by downward jet, and can lift the right side of the unmanned vehicle body structure 1 upward.

[0058] Therefore, according to the posture of the unmanned wheeled vehicle when it is trapped by an obstacle, the first turbojet engine set and / or the second turbojet engine set can be reasonably controlled to provide power, so as to restore the unmanned vehicle body structure 1 to a left-right balanced state, and further facilitate the unmanned wheeled vehicle to cross the obstacle and get out of trouble.

[0059] In an exemplary embodiment, the turbojet system 2 further comprises a fuel storage system and a fuel supply system (not shown in the figure). The fuel supply system comprises a fuel delivery pipeline, a fuel delivery pump, a fuel cut-off valve, a fuel flow control valve and the like. The fuel storage system is connected to the two groups of turbojet engine sets 21 through the fuel supply system, and reasonably provides fuel for the two groups of turbojet engine sets 21. The fuel can be aviation kerosene.

[0060] In an exemplary embodiment, the first turbojet engine set and the second turbojet engine set are symmetrically arranged on both sides of the center of mass of the unmanned wheeled vehicle, as shown in the figure. Figure 2

[0061] Compared with the scheme in which the two groups of turbojet engine sets 21 are arranged forward or backward relative to the center of mass of the unmanned wheeled vehicle, in this scheme, the two groups of turbojet engine sets 21 are closer to the center of mass of the unmanned wheeled vehicle, which is more conducive to quickly adjusting the whole vehicle to a balanced state, and thus is conducive to simplifying the whole vehicle control logic.

[0062] ​In an exemplary embodiment, the auxiliary power system further comprises: two sets of angle adjusting devices 3, which are connected with the two sets of turbojet engine groups 21 one by one and are electrically connected with the control system, and are arranged to drive the corresponding turbojet engine groups 21 to rotate to adjust the jet direction of the corresponding turbojet engine groups 21.

[0063] The arrangement of the angle adjusting devices 3 can adjust the jet direction of the turbojet engine groups 21, and further adjust the power direction provided by the turbojet engine groups 21. In this way, on the one hand, the power provided by the turbojet engine groups 21 can be more conducive to the unmanned wheeled vehicle to maintain balance and prevent the unmanned wheeled vehicle from overturning; on the other hand, the power in the direction of travel can also be provided, which is conducive to the unmanned wheeled vehicle to quickly cross obstacles and get out of trouble.

[0064] In an exemplary embodiment, as shown in Figure 3 , the angle adjusting device 3 comprises a rotating support 32 and a motor 31.

[0065] The rotating support 32 is arranged on the unmanned vehicle body structure 1. The turbojet engine group 21 is rotatably mounted on the rotating support 32.

[0066] The motor 31 is connected with the turbojet engine group 21 and is electrically connected with the control system to drive the turbojet engine group 21 to rotate relative to the rotating support 32.

[0067] When it is necessary to adjust the jet direction of the turbojet engine group 21, the control system can control the motor 31 to act, thereby driving the corresponding turbojet engine group 21 to rotate relative to the rotating support 32, and further adjusting the jet direction of the turbojet engine group 21.

[0068] In an exemplary embodiment, as shown in Figure 3 , the motor 31 is connected with one end of the turbojet engine group 21 through a drive shaft 35, and the other end of the turbojet engine is connected with a support shaft 36. The rotating support 32 is provided with a first bearing set 33 and a second bearing set 34. The drive shaft 35 passes through the first bearing set 33, and the support shaft 36 passes through the second bearing set 34.

[0069] The first bearing set 33 and the second bearing set 34 can reduce the rotation resistance of the turbojet engine group 21, which is conducive to improving the rotation sensitivity of the turbojet engine group 21.

[0070] In an exemplary embodiment, the first bearing set 33 comprises a thrust bearing 37 and an angular contact bearing 38, as shown in Figure 3 , the second bearing set 34 comprises a thrust bearing 37 and an angular contact bearing 38.

[0071] The thrust bearing 37 can bear axial force, and the angular contact bearing 38 can bear axial force and radial force, and the cooperation of the two is conducive to improving the stability of the turbojet engine set 21 during rotation.

[0072] In an exemplary embodiment, the unmanned vehicle state detection system comprises a vehicle speed detection device, a tire pressure detection device, and a posture detection device.

[0073] The vehicle speed detection device is configured to detect the vehicle speed of the unmanned vehicle body structure 1. The tire pressure detection device is configured to detect the tire pressure of the wheels 111 of the unmanned vehicle body structure 1. The posture detection device is configured to detect the posture of the unmanned vehicle body structure 1.

[0074] The control system comprises an auxiliary power control module. The auxiliary power control module is configured to control the auxiliary power system according to the detection results of the vehicle speed detection device, the tire pressure detection device, and the posture detection device.

[0075] In one example, the vehicle speed detection device comprises a vehicle speed sensor. The tire pressure detection device comprises tire pressure sensors, the number of which is equal to and corresponds to the number of the wheels 111 of the unmanned vehicle body structure 1. The posture detection device can be, but is not limited to, a gyroscope 4, as shown in Figure 3 The gyroscope 4 can be a three-axis gyroscope or a six-axis gyroscope. The gyroscope 4 is arranged at the center of mass of the unmanned wheeled carrier.

[0076] In an exemplary embodiment, the control system further comprises an unmanned vehicle system control module configured to control the unmanned vehicle body structure 1.

[0077] The unmanned vehicle system control module and the auxiliary power control module can be integrated together or separately arranged.

[0078] As shown in Figure 4 The embodiments of the present application also provide a control method for the unmanned wheeled carrier of any one of the above embodiments, and the control method comprises:

[0079] Step S102: obtaining the state detection result of the unmanned vehicle body structure;

[0080] Step S104: controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure.

[0081] The control method provided by the embodiments of the present application can obtain the state detection result of the unmanned vehicle body structure 1, and reasonably control the auxiliary power system according to the state detection result, so that the unmanned wheeled carrier can cross obstacles and get out of trouble to continue to travel, thereby improving the adaptability of the unmanned wheeled carrier to complex terrain and improving the maneuverability of the unmanned wheeled carrier.

[0082] And, since the control method is applied to the unmanned wheeled carrier in any of the above embodiments, it has all the beneficial effects described above, which will not be repeated here.

[0083] In an exemplary embodiment, the auxiliary power system is controlled according to the state detection result of the unmanned vehicle body structure 1, comprising:

[0084] According to the state detection result of the unmanned vehicle body structure 1, it is determined whether the unmanned vehicle body structure 1 encounters an obstacle and is in a stall state;

[0085] Based on the determination that the unmanned vehicle body structure 1 encounters an obstacle and is in a stall state, the auxiliary power system is started to assist the unmanned vehicle body structure 1 to overcome the obstacle.

[0086] When it is determined according to the state detection result of the unmanned vehicle body structure 1 that the unmanned vehicle body structure 1 encounters an obstacle and is in a stall state, it indicates that the unmanned wheeled carrier is trapped by the obstacle and cannot move. Therefore, the auxiliary power system is started to provide auxiliary power to assist the unmanned vehicle body structure 1 to overcome the obstacle and get out of trouble.

[0087] In an exemplary embodiment, the state detection result includes: the speed and tire pressure of the unmanned vehicle body structure 1, and the pitch angle of the gyroscope 4.

[0088] According to the state detection result of the unmanned vehicle body structure 1, it is determined whether the unmanned vehicle body structure 1 encounters an obstacle and is in a stall state, comprising:

[0089] It is determined whether the speed of the unmanned vehicle body structure 1 is less than a first set speed and the pitch angle of the gyroscope 4 is greater than a first set angle;

[0090] Based on the speed of the unmanned vehicle body structure 1 being less than the first set speed and the pitch angle of the gyroscope 4 being greater than the first set angle, it is determined that the unmanned vehicle body structure 1 encounters an obstacle and is in a stall state;

[0091] Based on the speed of the unmanned vehicle body structure 1 being greater than or equal to the first set speed or the pitch angle of the gyroscope 4 being less than or equal to the first set angle, it is determined that the unmanned vehicle body structure 1 does not encounter an obstacle and is in a stall state.

[0092] When the speed of the unmanned vehicle body structure 1 is less than the first set speed, it indicates that the speed of the unmanned wheeled carrier is very low, although the unmanned vehicle power system provides movement power, the unmanned wheeled carrier cannot move normally, and therefore is in a stall state.

[0093] When the pitch angle of the gyroscope 4 is greater than the first set angle, it indicates that the current posture of the unmanned wheeled carrier deviates from the posture in the normal movement process, and thus it can be determined that the unmanned wheeled carrier encounters an obstacle.

[0094] The first set speed can be, but is not limited to, 1 m / s, and the first set angle can be, but is not limited to, 70°.

[0095] In an exemplary embodiment, the turbojet system 2 includes two sets of turbojet engine groups 21 and two sets of angle adjustment devices 3.

[0096] Starting the auxiliary power system to assist the unmanned vehicle body structure 1 to overcome the obstacle includes:

[0097] Determining the jet direction and fuel supply amount of the two sets of turbojet engine groups 21 according to the tire pressure of the unmanned vehicle body structure 1;

[0098] Starting the two sets of angle adjustment devices 3 and the two sets of turbojet engine groups 21 according to the jet direction and fuel supply amount.

[0099] After determining the jet direction and fuel supply amount of the two sets of turbojet engine groups 21 according to the tire pressure of the unmanned vehicle body structure 1, the two sets of angle adjustment devices 3 and the two sets of turbojet engine groups 21 are started according to the determined jet direction and fuel supply amount. The turbojet engine groups 21 are rotated to the required position by the angle adjustment devices 3, so as to have a suitable jet direction, and the two sets of turbojet engine groups 21 are reasonably supplied with fuel according to the determined fuel supply amount, so as to provide a suitable size of power.

[0100] In an exemplary embodiment, determining the jet direction and fuel supply amount of the two sets of turbojet engine groups 21 according to the tire pressure of the unmanned vehicle body structure 1 includes:

[0101] Determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel 111;

[0102] Determining the jet direction and fuel supply amount of the two sets of turbojet engine groups 21 according to the load distribution of the unmanned wheeled carrier.

[0103] Since the tire pressure of each wheel 111 is positively correlated with the size of the load above it, the load distribution of the unmanned wheeled carrier can be determined according to the tire pressure of each wheel 111. The jet direction and fuel supply amount of the two sets of turbojet engine groups 21 are determined according to the load distribution of the unmanned wheeled carrier, so that the size and direction of the power provided by the two sets of turbojet engine groups 21 can be adapted to the load distribution of the unmanned wheeled carrier, which is conducive to the rapid recovery of balance and the overcoming of obstacles of the unmanned wheeled carrier.

[0104] In an exemplary embodiment, determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel 111 includes determining the relative size of the front load and the rear load of the unmanned wheeled carrier according to the tire pressure of each wheel 111.

[0105] If the tire pressure of the front side wheels 111 is greater than the tire pressure of the rear side wheels 111, the front side load is greater than the rear side load.

[0106] If the tire pressure of the front side wheels 111 is less than the tire pressure of the rear side wheels 111, the front side load is less than the rear side load.

[0107] The tire pressure of the front side wheels 111 can be the average of the tire pressure of the frontmost group of wheels 111, and the tire pressure of the rear side wheels 111 can be the average of the tire pressure of the rearmost group of wheels 111.

[0108] According to the load distribution of the unmanned vehicle body structure 1, the jet directions of the two groups of turbojet engine groups 21 are determined, including:

[0109] Based on the front side load of the unmanned vehicle body structure 1 being greater than the rear side load, the two groups of turbojet engine groups 21 are determined to jet downward and rearward;

[0110] Based on the front side load of the unmanned vehicle body structure 1 being less than the rear side load, the two groups of turbojet engine groups 21 are determined to jet downward and forward.

[0111] When the front side load is greater than the rear side load, it indicates that the front of the vehicle is heavier and the rear is lighter. Since the two groups of turbojet engine groups 21 are symmetrically arranged on both sides of the center of mass, at this time the two groups of turbojet engine groups 21 jet downward and rearward, so that the unmanned wheeled carrier can receive a forward and upward thrust, thereby facilitating the lifting of the front of the vehicle and the rapid recovery of the vehicle balance.

[0112] When the front side load is less than the rear side load, it indicates that the front of the vehicle is lighter and the rear is heavier. Since the two groups of turbojet engine groups 21 are symmetrically arranged on both sides of the center of mass, at this time the two groups of turbojet engine groups 21 jet downward and forward, so that the unmanned wheeled carrier can receive a rearward and upward thrust, thereby facilitating the lifting of the rear of the vehicle and the rapid recovery of the vehicle balance.

[0113] For example: When the front wheels of the unmanned wheeled carrier sink into a pit, at this time the front side load is greater than the rear side load. In this case, the power system of the unmanned vehicle can normally provide power, but the wheels 111 can only slip or idle, causing the vehicle to be in a stall state. As long as the front wheels are lifted upward so that the front wheels and / or rear wheels can normally grip the ground, the front wheels can pass over the pit and escape the obstacle. Therefore, the two groups of turbojet engine groups 21 jet downward and rearward to lift the front side wheels 111 upward and out of the pit, thereby enabling the front wheels to pass over the pit obstacle.

[0114] Conversely, when the rear wheels of the unmanned wheeled carrier sink into a pit, the load on the front side is less than that on the rear side. In this case, the power system of the unmanned vehicle can normally provide power, but the wheels 111 can only slip or idle, causing the whole vehicle to be in a stall state. As long as the rear wheels are lifted up so that the front wheels and / or the rear wheels can normally grip the ground, the rear wheels can overcome the pit obstacle. Therefore, the two groups of turbojet engine groups 21 jet downward to lift the rear wheels 111 up to overcome the pit obstacle.

[0115] Thus, the unmanned wheeled carrier can overcome the pit obstacle by itself, improving the adaptability of the unmanned wheeled carrier to the terrain with pit obstacles.

[0116] When the unmanned wheeled carrier encounters a high platform, the front wheels are lifted up and press on the high platform, and the rear wheels stay on the ground, but the whole vehicle cannot overcome the high platform, and the load on the rear side is greater than that on the front side. In this case, the power system of the unmanned vehicle can also normally provide power, but the wheels 111 can only slip or idle, causing the whole vehicle to be in a stall state. As long as the rear wheels are lifted up so that the front wheels can normally grip the high platform to generate friction, the whole vehicle can overcome the high platform obstacle. Therefore, the two groups of turbojet engine groups 21 jet forward to lift the rear wheels 111 up, so that the unmanned wheeled carrier can overcome the high platform obstacle.

[0117] Thus, the unmanned wheeled carrier can overcome the high platform obstacle by itself, improving the adaptability of the unmanned wheeled carrier to the terrain with high platform obstacles.

[0118] In one example, the initial position of the turbojet engine group 21 is to jet downward, and the angle adjusting device 3 can drive the turbojet engine group 21 to rotate slightly forward or backward to achieve a slight adjustment of the jet direction. When it is determined that the turbojet engine group 21 jets downward backward, the angle adjusting device 3 drives the turbojet engine group 21 to rotate backward by a set angle, such as 15°; when it is determined that the turbojet engine group 21 jets downward forward, the angle adjusting device 3 drives the turbojet engine group 21 to rotate forward by a set angle, such as 15°. Of course, the adjustment mode of the angle adjusting device 3 is not limited to the above fixed angle adjustment, and the adjustment angle can be reasonably determined according to the needs.

[0119] In an exemplary embodiment, the fuel supply amount of the two groups of turbojet engine groups 21 is positively correlated with the load size on the left and right sides of the unmanned vehicle body structure 1. In other words, the fuel supply amount of the left turbojet engine group 21 is positively correlated with the load size on the left side, and the fuel supply amount of the right turbojet engine group 21 is positively correlated with the load size on the right side.

[0120] When the left side load of the unmanned vehicle body structure 1 is greater than the right side load, it indicates that the left side of the unmanned wheeled vehicle is heavier, and the right side is lighter, so the left side turbojet engine group 21 needs to provide more power to balance the left and right sides of the unmanned wheeled vehicle and facilitate the restoration of the unmanned wheeled vehicle to a horizontal state, so the left side turbojet engine group 21 needs a larger fuel supply. Therefore, the fuel supply of the left side turbojet engine group 21 is positively correlated with the size of the left side load.

[0121] When the right side load of the unmanned vehicle body structure 1 is greater than the left side load, it indicates that the left side of the unmanned wheeled vehicle is lighter, and the right side is heavier, so the right side turbojet engine group 21 needs to provide more power to balance the left and right sides of the unmanned wheeled vehicle and facilitate the restoration of the unmanned wheeled vehicle to a horizontal state, so the right side turbojet engine group 21 needs a larger fuel supply. Therefore, the fuel supply of the right side turbojet engine group 21 is positively correlated with the size of the right side load.

[0122] In an exemplary embodiment, the load distribution of the unmanned wheeled vehicle is determined according to the tire pressure of each wheel 111, including: determining the ratio reference value of the left side load to the right side load of the unmanned wheeled vehicle according to the tire pressure of each wheel 111.

[0123] Among them, the average value of the tire pressure of the left side wheel 111 can be used to represent the size of the left side load, and the average value of the tire pressure of the right side wheel 111 can be used to represent the size of the right side load, and the ratio of the average value of the tire pressure of the left side wheel 111 to the average value of the tire pressure of the right side wheel 111 is the ratio reference value of the left side load to the right side load of the unmanned wheeled vehicle.

[0124] According to the load distribution of the unmanned wheeled vehicle, the fuel supply of the two groups of turbojet engine groups 21 is determined, including:

[0125] According to the ratio reference value of the left side load to the right side load of the unmanned wheeled vehicle, the fuel supply of the two groups of turbojet engine groups 21 is determined.

[0126] Among them, the ratio of the fuel supply of the left side turbojet engine group 21 to the fuel supply of the right side turbojet engine group 21 is equal to the ratio reference value of the left side load to the right side load of the unmanned wheeled vehicle.

[0127] Since the two groups of turbojet engine groups 21 provide fuel through the same fuel storage system and fuel supply system, the total amount of fuel is determined. Therefore, when the ratio of the fuel supply of the two groups of turbojet engine groups 21 is determined, the fuel supply of each of the two groups of turbojet engine groups 21 can be determined.

[0128] In an exemplary embodiment, the auxiliary power system is controlled according to the state detection result of the unmanned vehicle body structure 1, further comprising:

[0129] Determine whether the main structure 1 of the unmanned vehicle has crossed the obstacle based on the state detection results of the main structure 1 of the unmanned vehicle.

[0130] Based on the main structure of the unmanned vehicle 1, the auxiliary power system is turned off after it overcomes the obstacle.

[0131] When the main structure 1 of the unmanned vehicle is determined to have crossed the obstacle, the auxiliary power system is turned off. This can prevent the auxiliary power system from affecting the normal movement of the unmanned wheeled vehicle and is also conducive to saving energy.

[0132] In one exemplary embodiment, determining whether the autonomous vehicle's main structure 1 has crossed an obstacle based on the state detection result includes:

[0133] Determine whether the pitch angle of gyroscope 4 is less than the second set angle and the vehicle speed is greater than the second set vehicle speed;

[0134] Based on the fact that the pitch angle of gyroscope 4 is less than the second set angle and the vehicle speed is greater than the second set vehicle speed, it is determined that the main structure of the unmanned vehicle 1 has crossed the obstacle.

[0135] Based on the pitch angle of gyroscope 4 being greater than or equal to the second set angle, or the vehicle speed being less than or equal to the second set speed, it is determined that the main structure 1 of the unmanned vehicle has not crossed the obstacle.

[0136] Wherein, the second set angle is less than or equal to the first set angle, and the second set speed is greater than or equal to the first set speed.

[0137] This solution uses a combination of gyroscope pitch angle and vehicle speed to accurately determine whether an overpass has occurred.

[0138] Obstacles help avoid the adverse effects of misjudgment.

[0139] Of course, other methods can also be used to determine whether the main structure 1 of the unmanned vehicle has crossed the obstacle. For example, judging solely by vehicle speed, the unmanned wheeled vehicle can be determined to have crossed the obstacle when its speed returns to normal. Alternatively, it can be judged solely by the data from gyroscope 4; when gyroscope 4 pitches...

[0140] When the angle returns to its normal travel position, it indicates that the unmanned wheeled vehicle has crossed the obstacle. Alternatively, it can be determined by a camera; when the camera captures the unmanned wheeled vehicle having left the obstacle, it indicates that the unmanned wheeled vehicle has crossed the obstacle.

[0141] In one embodiment, such as Figure 5 As shown, the control method includes the following steps:

[0142] Step S202: Obtain the vehicle speed, tire pressure, and gyroscope pitch angle of the main structure of the unmanned vehicle;

[0143] Step S204: judging whether the vehicle speed is less than the first set vehicle speed and the gyroscope pitch angle is greater than the first set angle, if yes, executing step S206, if no, returning to execute step S204;

[0144] Step S206: determining the jet direction and fuel supply amount of the two groups of turbojet engine groups according to the tire pressure of the unmanned vehicle body structure;

[0145] Step S208: starting the two groups of angle adjusting devices and the two groups of turbojet engine groups according to the jet direction and fuel supply amount;

[0146] turbojet engine groups;

[0147] 5Step S210: judging whether the vehicle speed is greater than the second set vehicle speed and the gyroscope pitch angle is less than the second set angle, if yes, executing step S212, if no, returning to execute step S210;

[0148] Step S212: closing the auxiliary power system.

[0149] The embodiment of the application further provides a control system, including a processor and a memory storing a computer program, the processor executes the computer program to realize the steps of the control method of any one of the above embodiments, thus having all the beneficial effects described above, which will not be repeated here.

[0150] The processor can be an integrated circuit chip with a signal processing capability. The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general processor can be a microprocessor or the processor can also be any conventional processor. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0151] In summary, the embodiment of the application provides a technical scheme of combining a micro turbojet and a wheeled vehicle to increase the obstacle crossing ability of an unmanned wheeled vehicle, which can control the turbojet power angle through gyroscope data to match the jet power with the actual needs. The scheme is not exclusive of the active obstacle avoidance scheme, is a supplement to the active obstacle avoidance scheme, and is the development of the micro turbojet with low cost and high thrust-to-weight ratio.

[0152] In other embodiments, a hydraulic mechanical structure can also be used to replace the turbojet system as an auxiliary power system to assist the unmanned vehicle body structure to cross obstacles.

[0153] In any one or more of the example embodiments described above, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media can include computer-readable storage media, which corresponds to a tangible medium such as data storage media, or communication media including any medium that facilitates transfer of a computer program from one place to another, e.g., according to a communication protocol. In this manner, computer- readable media generally can correspond to non-transitory computer- readable storage media or communication media (e.g., electromagnetic signals, radio waves, etc.). Data storage media can be any available media that can be accessed by one or more computers or one or more processors to retrieve instructions, code, and / or data structures for implementation of the techniques described in this disclosure. A computer program product can include a computer-readable medium.

[0154] By way of example, and not limitation, such computer-readable storage media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage, or other magnetic storage devices, flash memory, or any other storage medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any

[0155] Instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term "processor," as used herein can refer to any of the foregoing structure or any other structure suitable for implementation of the techniques described herein. In addition, in some aspects, the functionality described herein can be provided within dedicated hardware and / or software modules configured for encoding and decoding, or incorporated in a combined codec. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0156] The technical solutions of the embodiments of the present disclosure can be implemented in a wide variety of devices or apparatuses, including a wireless handset, an integrated circuit (IC) or a set of ICs (e.g., a chip set). Various components, modules, or units described in the embodiments of the present disclosure can be configured to implement functions of the apparatus configured to perform the described techniques, but are not necessarily required to be implemented by different hardware units. Rather, as described above, the various units can be combined in a codec hardware unit or provided by a set of one or more processors in combination with suitable software and / or firmware.

[0157] In the description of the present application, it should be explained that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "edge", "opposite", "four corners", "perimeter", "mouth structure" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0158] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "connection", "direct connection", "indirect connection", "fixed connection", "installation", "assembly" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; the terms "installation", "connection", "fixed connection" can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0159] Although the present application has been described with reference to the above embodiments, the contents described are merely employed embodiments for facilitating the understanding of the present application, and are not intended to limit the present application. Any modification and change in the form and details can be made by any person skilled in the art without departing from the spirit and scope of the present application, and the patent protection scope of the present application shall be defined by the appended claims.

Claims

1. A control method for an unmanned wheeled vehicle, characterized by, The unmanned wheeled vehicle comprises an unmanned vehicle body structure and an auxiliary power system; the auxiliary power system is connected with the unmanned vehicle body structure; the auxiliary power system comprises a turbojet system and two sets of angle adjusting devices; the turbojet system is arranged to assist the unmanned vehicle body structure to overcome obstacles; the turbojet system comprises two sets of turbojet engine groups; the two sets of angle adjusting devices are connected with the two sets of turbojet engine groups one by one, and are arranged to drive the corresponding turbojet engine groups to rotate, so as to adjust the jet directions of the corresponding turbojet engine groups; The control method comprises: obtaining a state detection result of the unmanned vehicle body structure; controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure; wherein, the controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure comprises: judging whether the unmanned vehicle body structure encounters obstacles and is in a stall state according to the state detection result of the unmanned vehicle body structure; based on determining that the unmanned vehicle body structure encounters obstacles and is in a stall state, starting the auxiliary power system to assist the unmanned vehicle body structure to overcome obstacles; the starting the auxiliary power system to assist the unmanned vehicle body structure to overcome obstacles comprises: determining the jet directions and fuel supply amounts of the two sets of turbojet engine groups according to the tire pressure of the unmanned vehicle body structure; starting the two sets of angle adjusting devices and the two sets of turbojet engine groups according to the jet directions and fuel supply amounts.

2. The control method according to claim 1, wherein the state detection result comprises: the vehicle speed and tire pressure, and the gyroscopic pitch angle of the unmanned vehicle body structure; the judging whether the unmanned vehicle body structure encounters obstacles and is in a stall state according to the state detection result of the unmanned vehicle body structure comprises: based on the vehicle speed of the unmanned vehicle body structure being less than a first set vehicle speed, and the gyroscopic pitch angle being greater than a first set angle, determining that the unmanned vehicle body structure encounters obstacles and is in a stall state.

3. The control method according to claim 1, characterized by, the determining the jet directions and fuel supply amounts of the two sets of turbojet engine groups according to the tire pressure of the unmanned vehicle body structure comprises: determining the load distribution of the unmanned wheeled vehicle according to the tire pressure of each wheel; determining the jet directions and fuel supply amounts of the two sets of turbojet engine groups according to the load distribution of the unmanned wheeled vehicle.

4. The control method according to claim 3, wherein the determining the load distribution of the unmanned wheeled vehicle according to the tire pressure of each wheel comprises: determining the relative size of the front side load and the rear side load of the unmanned wheeled vehicle according to the tire pressure of each wheel; the determining the jet directions of the two sets of turbojet engine groups according to the load distribution of the unmanned vehicle body structure comprises: based on the front side load of the unmanned vehicle body structure being greater than the rear side load, determining that the two sets of turbojet engine groups jet downward in the rear direction; based on the front side load of the unmanned vehicle body structure being less than the rear side load, determining that the two sets of turbojet engine groups jet downward in the front direction.

5. The control method according to claim 3, wherein The determining the load distribution of the unmanned wheeled carrier according to the tire pressure of each wheel comprises: determining a reference value of a left load to right load ratio of the unmanned wheeled carrier according to the tire pressure of each wheel; The determining the fuel supply amount of the two groups of turbojet engine groups according to the load distribution of the unmanned wheeled carrier comprises: The determining the fuel supply amount of the two groups of turbojet engine groups according to the reference value of the left load to right load ratio of the unmanned wheeled carrier, wherein a ratio of the fuel supply amount of the left turbojet engine group to the fuel supply amount of the right turbojet engine group is equal to the reference value of the left load to right load ratio of the unmanned wheeled carrier.

6. The control method according to any one of claims 1 to 5, characterized by, The controlling the auxiliary power system according to the state detection result of the unmanned vehicle body structure further comprises: Judging whether the unmanned vehicle body structure has crossed an obstacle according to the state detection result of the unmanned vehicle body structure; Based on the unmanned vehicle body structure crossing the obstacle, the auxiliary power system is turned off.

7. The control method according to claim 6, characterized by The judging whether the unmanned vehicle body structure has crossed an obstacle according to the state detection result of the unmanned vehicle body structure comprises: Based on the pitch angle of the gyroscope being less than a second set angle and the vehicle speed being greater than a second set vehicle speed, it is determined that the unmanned vehicle body structure has crossed the obstacle; The second set angle is less than or equal to the first set angle, and the second set vehicle speed is greater than or equal to the first set vehicle speed.

8. A control system characterized by, The control system comprises a processor and a memory storing a computer program, and the processor executes the computer program to realize the steps of the control method according to any one of claims 1 to 7.

9. An unmanned wheeled vehicle, characterized in that The control system comprises: An unmanned vehicle body structure; An auxiliary power system connected to the unmanned vehicle body structure, the auxiliary power system comprising a turbojet system and two groups of angle adjusting devices, the turbojet system being arranged to assist the unmanned vehicle body structure in crossing an obstacle, the turbojet system comprising two groups of turbojet engine groups, and the two groups of angle adjusting devices being connected to the two groups of turbojet engine groups one by one and arranged to drive the corresponding turbojet engine groups to rotate so as to adjust the jet direction of the corresponding turbojet engine groups; An unmanned vehicle state detection system arranged to detect the state of the unmanned vehicle body structure; and The control system according to claim 8 is electrically connected to the unmanned vehicle state detection system and the auxiliary power system.

10. The unmanned wheeled vehicle of claim 9, wherein, The two groups of turbojet engine groups are respectively a first turbojet engine group and a second turbojet engine group, and the first turbojet engine group and the second turbojet engine group are arranged in a width direction of the unmanned vehicle body structure.

11. The unmanned wheeled carrier according to claim 10, wherein The first turbojet engine group and the second turbojet engine group are symmetrically arranged on both sides of the center of mass of the unmanned wheeled carrier.

12. The unmanned wheeled vehicle of any one of claims 9-11, wherein, The angle adjusting device comprises: A rotating support arranged on the unmanned vehicle body structure, and the turbojet engine group is rotatably mounted on the rotating support; and An electric motor connected to the turbojet engine group and electrically connected to the control system to drive the turbojet engine group to rotate relative to the rotating support.

13. The unmanned wheeled vehicle of any one of claims 9-11, wherein, The unmanned vehicle state detection system comprises a vehicle speed detection device, a tire pressure detection device, and an attitude detection device. The vehicle speed detection device is configured to detect a vehicle speed of the unmanned vehicle body structure, the tire pressure detection device is configured to detect a tire pressure of a wheel of the unmanned vehicle body structure, and the attitude detection device is configured to detect an attitude of the unmanned vehicle body structure. The control system comprises an auxiliary power control module configured to control the auxiliary power system according to detection results of the vehicle speed detection device, the tire pressure detection device and the attitude detection device.

14. The unmanned wheeled vehicle of claim 13, wherein The vehicle speed detection device comprises a vehicle speed sensor. The tire pressure detection device comprises a tire pressure sensor, and the number of the tire pressure sensors is equal to and corresponds to the number of the wheels of the unmanned vehicle body structure. The attitude detection device comprises a gyroscope.

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