Bionic frog obstacle crossing vehicle and control method thereof

Abstract

This application discloses a biomimetic frog obstacle-crossing vehicle and its control method, relating to the field of ground obstacle-crossing machinery technology. The biomimetic frog obstacle-crossing vehicle includes a vehicle body and frog-like legs, with the vehicle body designed in a streamlined shape based on the shape of a frog. The control system controls a driving system, a lifting system, a jumping system, and a balancing system. The driving system is located on the vehicle body and frog-like legs, with wheels mounted on the frog-like legs. The lifting system is located on the vehicle body and connected to the frog-like legs, driving the frog-like legs to rotate and rise. The jumping system is located on the frog-like legs, and the balancing system is located on the vehicle body. Its precession device changes the tilt condition of the balancing gyroscope, and the balancing gyroscope generates torque to adjust the balance. The aforementioned biomimetic frog obstacle-crossing vehicle can switch between normal driving mode and obstacle-crossing mode according to different road conditions. In obstacle-crossing mode, it has multiple obstacle-crossing methods, including rising and falling obstacle crossing and jumping obstacle crossing, and features high mobility, good stability, simple structure, and superior performance.

Description

Technical Field

[0001] This application relates to the field of ground obstacle-crossing machinery technology, and in particular to a biomimetic frog obstacle-crossing vehicle and its control method. Background Technology

[0002] Obstacle crossing vehicles are mainly divided into wheeled, legged, and tracked types. Wheeled vehicles are highly efficient and mobile, but have low adaptability to terrain and obstacle crossing ability. Legged vehicles have the strongest adaptability, but also the lowest efficiency. Tracked vehicles have good climbing ability and a certain obstacle crossing ability, but their efficiency is relatively low, their maneuverability is poor, they cannot turn, and their usage effect is poor.

[0003] Currently, existing solutions still have limitations to varying degrees. For example, most devices struggle to maintain a stable center of gravity during obstacle crossing, making them prone to tipping over; insufficient tire-ground pressure leads to slippage; and the wheels cannot perform the vertical swing motion that helps improve obstacle crossing. This results in low obstacle-crossing capabilities for existing obstacle-crossing vehicles, making it difficult for them to overcome high obstacles on rough roads and failing to meet usage requirements. Therefore, improving the overall performance of obstacle-crossing vehicles in terms of mobility, obstacle crossing, and efficiency is an urgent technical problem to be solved. Furthermore, existing obstacle-crossing machines have limited functionality and a narrow range of applications, easily restricted by work sites and environments. Therefore, it is necessary to expand their application areas. Summary of the Invention

[0004] The purpose of this application is to provide a biomimetic frog obstacle-crossing vehicle that can switch between normal driving mode and obstacle-crossing mode according to different road conditions. In obstacle-crossing mode, it has multiple obstacle-crossing methods, including rising and falling obstacle crossing and jumping obstacle crossing, and features high mobility, good stability, simple structure, and superior performance. Another purpose of this application is to provide a control method for the biomimetic frog obstacle-crossing vehicle.

[0005] To achieve the above objectives, this application provides a biomimetic frog obstacle-crossing vehicle, including a vehicle body and frog-like legs installed thereon. The vehicle body is designed with a streamlined shape based on the shape of a frog. It also includes a control system and its controlled propulsion system, lifting system, jumping system, and balancing system. The propulsion system is located on the vehicle body and frog-like legs, with wheels mounted on the frog-like legs. The lifting system is located on the vehicle body and connected to the frog-like legs, driving the frog-like legs to rotate and rise. The jumping system is located on the frog-like legs. The balancing system is located on the vehicle body, and includes a balancing gyroscope and a precession device connected thereto. The precession device changes the tilt condition of the balancing gyroscope, and the balancing gyroscope generates torque to adjust the balance.

[0006] In some embodiments, the travel system includes a power transmission device, a steering device, and a braking device. The power transmission device provides power to rotate the rear wheel. The steering device is disposed on the frog-like front legs and connected to the front wheel. The braking devices are disposed on the frog-like front legs and the frog-like rear legs and connected to the corresponding wheels.

[0007] In some embodiments, the steering device includes a steering stabilizer bar, a steering rod, a hydraulic device, and a steering column. The hydraulic device is disposed on the front legs of the steering system. The steering rod is connected to the hydraulic device. The steering rod is movably assembled with the steering column. The steering column is disposed on the front wheel. The steering rod is located at the center of the steering device. Two steering stabilizer bars are symmetrically distributed on the upper and lower sides of the steering rod.

[0008] In some embodiments, the power transmission device includes a power component, a differential, a universal joint, a first transmission segment, and a second transmission segment. The power component is connected to the input end of the differential, and the two output ends of the differential are connected to two first transmission segments. The first transmission segment is connected to the second transmission segment via a universal joint, and the second transmission segment is connected to the rear wheel.

[0009] In some embodiments, the lifting system includes a power component, a front leg rotation mechanism, and a rear leg rotation mechanism. The power component is connected to the frog-like front leg via the front leg rotation mechanism, and the rear leg rotation mechanism is connected between the front half and the rear half of the frog-like rear leg.

[0010] In some embodiments, the front leg rotation mechanism includes a driving rotation gear, a driven rotation gear, a front leg rotation universal joint, and a rotating shaft. The driving rotation gear is driven by the power component and meshes with the driven rotation gear. The driven rotation gear is connected to the rotating shaft, and the rotating shaft is connected to the frog-like front leg through the front leg rotation universal joint.

[0011] In some embodiments, the control system includes a signal response receiver, an intelligent control processor, a signal effect receiver, a frog car start button, a lifting system control button, and a jumping system control button. The frog car start button, the lifting system control button, and the jumping system control button are connected to the signal response receiver. The signal response receiver and the signal effect receiver are connected to the intelligent control processor. The intelligent control processor is connected to the travel system, the lifting system, the jumping system, and the balance system.

[0012] In some embodiments, the jumping system includes a hydraulic system disposed in the frog-like legs, a primary compressor, a secondary compressor, a power spring, a compression gear, and a compression rack. The hydraulic system causes the primary compressor, the secondary compressor, and the power spring to compress sequentially. The compression gear is connected to the primary compressor and engages with the compression rack.

[0013] In some embodiments, the frog-like leg is provided with a shock-absorbing rod and a shock-absorbing spring, and the shock-absorbing rod is connected to the shock-absorbing spring;

[0014] The wheel includes a hub, tire pads, and flexible springs. Multiple tire pads are arranged around the outer periphery of the hub and can move left and right. The flexible springs are connected to the tire pads and are distributed on both sides inside the tire pads.

[0015] This application provides a control method for a biomimetic frog-inspired obstacle-crossing vehicle, including:

[0016] Determine if there are obstacles ahead, and control the bionic frog obstacle-crossing vehicle to switch between normal driving mode and obstacle-crossing mode based on the determination result;

[0017] In obstacle-crossing mode, the lifting system is controlled to raise the vehicle and allow it to pass over the obstacle.

[0018] In obstacle-crossing mode, the control jump system allows the vehicle to jump over obstacles;

[0019] Among them, while controlling the jumping system, the lifting system is also controlled to assist in adjusting the jumping direction of the vehicle; during this process, the balancing system is controlled to adjust the balance of the vehicle.

[0020] When the vehicle jumps over the roadblock and reaches the ground, the movable tires on the wheels move under the action of ground friction. The flexible springs on both sides of the tires are stretched and compressed respectively, and the tires moving left and right maintain the stability of the vehicle.

[0021] Compared to the aforementioned background technology, the biomimetic frog obstacle-crossing vehicle provided in this application includes a vehicle body and frog-like legs installed thereon. The vehicle body is designed with a streamlined shape based on the shape of a frog. The biomimetic frog obstacle-crossing vehicle also includes a control system and its controlled propulsion system, lifting system, jumping system, and balancing system. The propulsion system is located on the vehicle body and frog-like legs, with wheels mounted on the frog-like legs. The lifting system is located on the vehicle body and connected to the frog-like legs, driving the frog-like legs to rotate and rise. The jumping system is located on the frog-like legs. The balancing system is located on the vehicle body, and includes a balancing gyroscope and a precession device connected thereto. The precession device changes the tilt condition of the balancing gyroscope, and the balancing gyroscope generates torque to adjust the balance.

[0022] The aforementioned biomimetic frog obstacle-crossing vehicle can switch between normal driving mode and obstacle-crossing mode according to different road conditions. In obstacle-crossing mode, it has multiple obstacle-crossing methods such as lifting and jumping. It features high mobility, good stability, simple structure, and superior performance. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall appearance of the biomimetic frog obstacle-crossing vehicle.

[0025] Figure 2 This is a schematic diagram of the internal structure of a biomimetic frog-inspired obstacle-crossing vehicle.

[0026] Figure 3 This is a cross-sectional view of the bottom of a biomimetic frog-inspired obstacle-crossing vehicle.

[0027] Figure 4 This is a detailed structural diagram of the propulsion system;

[0028] Figure 5 A schematic diagram of the rear-drive transmission structure of a biomimetic frog obstacle-crossing vehicle;

[0029] Figure 6 This is a schematic diagram of the differential structure in a power transmission device;

[0030] Figure 7 This is a detailed structural diagram of the steering mechanism;

[0031] Figure 8 This is a schematic diagram of the steering mechanism when the tires are turned.

[0032] Figure 9 This is a schematic diagram of the steering column structure in the steering system;

[0033] Figure 10 This is a schematic diagram of the steering rod structure in the steering system;

[0034] Figure 11 This is a detailed structural diagram of the hydraulic device in the steering system;

[0035] Figure 12 This is a schematic diagram of the tire structure;

[0036] Figure 13 A view of the tire exploded;

[0037] Figure 14 This is a schematic diagram of the lifting system structure;

[0038] Figure 15 A schematic diagram of the lifting structure of the front legs of a biomimetic frog-inspired obstacle-crossing vehicle;

[0039] Figure 16 A schematic diagram of the lifting structure of the rear legs of a biomimetic frog obstacle-crossing vehicle;

[0040] Figure 17 This is a schematic diagram showing the location of the control system for the biomimetic frog obstacle-crossing vehicle.

[0041] Figure 18 A schematic diagram of the body and buttons of a biomimetic frog obstacle-crossing vehicle;

[0042] Figure 19 This is a schematic diagram showing the relative positions of the front and hind legs of a biomimetic frog obstacle-crossing vehicle.

[0043] Figure 20 A schematic diagram of the front leg structure of a biomimetic frog obstacle-crossing vehicle;

[0044] Figure 21 An exploded view of the front legs of a biomimetic frog obstacle-crossing vehicle;

[0045] Figure 22 A schematic diagram of the rear leg structure of a biomimetic frog obstacle-crossing vehicle;

[0046] Figure 23 This is an exploded view of the rear legs of a biomimetic frog obstacle-crossing vehicle.

[0047] Figure 24 This is a schematic diagram of the balanced system structure;

[0048] Figure 25 This is a schematic diagram of a balanced gyroscope.

[0049] Figure 26 Exploded view of a balanced gyroscope;

[0050] Figure 27 A detailed structural diagram of the precession device for the balancing system;

[0051] Figure 28 This is a flowchart illustrating the movement and jumping of a biomimetic frog-inspired obstacle-crossing vehicle.

[0052] in:

[0053] 1-Propeller System

[0054] 11-Power transmission device, 111-Differentiation, 1111-Drive gear, 1112-Driven gear, 1113-Left half-shaft gear, 1114-Planetary gear, 1115-Right half-shaft gear, 112-Battery, 113-Motor, 114-Universal joint, 115-Cross bar, 116-Drive transmission gear, 117-Driven transmission gear, 118-First transmission section, 119-Second transmission section

[0055] 12-Rear wheel, 121-Brake pad, 122-Connector, 123-Hexagonal connector, 124-Connecting ring, 125-Removable tire pad, 126-Flexible spring, 127-Wheel nut, 128-Dog bone pin, 129-Wheel disc, 130-Wheel bearing

[0056] 13-Steering device, 131-Steering stabilizer bar, 132-Steering rod, 133-Hydraulic device, 1331-Hydraulic pump, 1332-Oil tank, 1333-Oil pipe, 1334-Solenoid directional valve, 1335-Hydraulic cylinder, 1336-Hydraulic rod, 1337-Relief valve, 134-Steering column, 135-Connecting device, 136-Connecting ring,

[0057] 14 - Front wheels;

[0058] 2- Lifting system

[0059] 21-Battery, 22-Motor

[0060] 23-Front leg rotating mechanism, 231-Driving rotating gear, 232-Driven rotating gear, 233-

[0061] Front leg swivel joint, 234-spindle,

[0062] 24-Rear leg rotating mechanism, 241-Rear leg connecting rotating rod, 242-Bearing, 243-Fixed wheel, 244-Rear leg rotating universal joint;

[0063] 3-Control System

[0064] 31-Signal response receiver, 32-Intelligent control processor, 33-Signal effect receiver, 34-Frog car start button, 35-Lifting system control button, 36-Jumping system control button;

[0065] 4-Jump System

[0066] 41-Frog-style front leg, 411-Front leg shock absorber, 412-Front leg support, 413-Front leg dynamic spring bearing device, 414-Front leg secondary compressor, 415-Front leg primary compressor, 416-

[0067] Front leg protection device, 417-front leg compression gear, 418-front leg compression rack, 419-front leg power spring, 420-front leg shock absorber spring, 421-front leg shock absorber rod fixing plate,

[0068] 42-Frog-style hind leg front section; 421-Rhind leg connecting device; 422-Rhind leg compression device retainer; 423-Hydraulic system; 424-Rhind leg spring compression device; 4241-Rhind leg power spring bearing device; 4242-Rhind leg secondary compressor; 4243-Rhind leg power spring; 4244-Rhind leg compression rack; 4245-Rhind leg compression gear; 4246-Rhind leg primary compressor; 425-Rhind leg protection device; 426-Rhind leg support; 427-Rhind leg shock-absorbing spring; 428-Rhind leg shock-absorbing rod; 429-Rhind leg shock-absorbing rod fixing plate.

[0069] 43 - Frog pose: the back half of the hind leg;

[0070] 5-Balance system

[0071] 51-Balanced gyroscope, 511-Gyroscope protection device, 512-Universal joint mount, 513-Flywheel,

[0072] 52-Advancing device, 521-Universal joint connector, 522-Advancing connector, 523-Advancing arm, 524-Advancing arm mount. Detailed Implementation

[0073] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0074] In my country, the development of ground obstacle-crossing machines still has significant room for improvement compared to foreign countries due to limitations in key technologies such as obstacle-crossing methods, structural design, sensors, control systems, and balancing systems. Furthermore, in many scenarios, such as tourism, racing, field exploration, disaster search and rescue, daily commuting, and police use, obstacle-crossing machines can play a more convenient and important role than ordinary machines, making them quite practical. Therefore, the development of obstacle-crossing machines has considerable practical significance.

[0075] Some existing solutions still have limitations to varying degrees. To address these issues, this application proposes an intelligent bionic frog obstacle-crossing vehicle.

[0076] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the overall appearance of the biomimetic frog obstacle-crossing vehicle. Figure 2 This is a schematic diagram of the internal structure of a frog-inspired obstacle-crossing vehicle. Figure 3 This is a bottom cross-sectional view of a biomimetic frog obstacle-crossing vehicle. This application provides a biomimetic frog obstacle-crossing vehicle, mainly comprising a vehicle body and frog-like legs mounted thereon, as shown in the figure. The vehicle body is designed with a streamlined shape based on the form of a frog. There are four frog-like legs in total, consisting of two front frog legs and two hind frog legs.

[0078] The biomimetic frog obstacle-crossing vehicle also includes five major systems: a driving system 1, a lifting system 2, a control system 3, a jumping system 4, and a balance system 5. The control system 3 controls the driving system 1, the lifting system 2, the jumping system 4, and the balance system 5 to achieve their respective functions.

[0079] For ease of explanation, the biomimetic frog obstacle-crossing vehicle will be referred to as the frog vehicle in the following text.

[0080] The propulsion system 1 is set on the vehicle body and the frog legs. The propulsion system 1 has wheels on the frog legs. When working, the control system 3 controls the propulsion system 1. The propulsion system 1 provides the energy and power required for movement in the part of the vehicle body. The wheels move under the drive of the power, that is, the wheels roll on the road surface. The propulsion system 1 realizes the movement function of the frog car.

[0081] The lifting system 2 is installed on the vehicle body and connected to the frog legs. The lifting system 2 drives the frog legs to rotate and lift. During operation, the control system 3 controls the lifting system 2. The lifting system 2 provides the energy and power required for lifting in the part of the vehicle body. The frog legs move under the drive of the power, that is, the frog legs rotate relative to the vehicle body. The lifting system 2 realizes the lifting function of the frog car.

[0082] The control system 3 is installed on the vehicle body and connected to the travel system 1, the lifting system 2, the jumping system 4 and the balance system 5. The control system 3 receives control commands from the operator / driver and then controls each system to achieve its respective function.

[0083] The jumping system 4 is installed in the frog leg. The jumping system 4 drives the frog leg to jump. When working, the control system 3 controls the jumping system 4. The jumping system 4 provides the energy and power required for jumping in the frog leg. The frog leg moves under the drive of the power, that is, the frog leg jumps on the ground. The jumping function of the frog car is realized through the jumping system 4.

[0084] The balancing system 5 is installed on the vehicle body. The balancing system 5 includes a balancing gyroscope 51 and a precession device 52 connected to it. When working, the control system 3 controls the balancing system 5. The precession device 52 changes the tilt condition of the balancing gyroscope 51. Here, tilt refers to the center of the balancing gyroscope 51. That is, the precession device 52 causes the angular position of the balancing gyroscope 51 to change. Then, under the appropriate angular position condition, the balancing gyroscope 51 generates torque to adjust the balance. The balancing system 5 generates a sufficiently large torque to balance the frog car. The balancing system 5 realizes the balancing function of the frog car.

[0085] In summary, the frog-shaped vehicle provided in this application features a streamlined design based on the shape of a frog, resulting in minimal air resistance during movement. It can also switch between normal driving mode and obstacle-crossing mode depending on different road conditions. When driving the frog-shaped vehicle on terrain with numerous obstacles, the driver can control the vehicle to switch between obstacle-crossing modes, using various methods such as rising and falling obstacles and jumping to overcome them, thereby alleviating road congestion and saving the driver's time. This frog-shaped vehicle is characterized by high mobility, good stability, simple structure, and superior performance.

[0086] Furthermore, the wheel comprises a hub, tire pads, and flexible springs. Multiple tire pads are arranged around the outer periphery of the hub and can move left and right. The flexible springs are connected to the tire pads and are distributed on both sides inside the tire pads. The wheel tire is composed of multiple tire pads that can move left and right. When lateral obstacle avoidance, high-speed steering, and cushioned landing, the position of the tire pads can be adjusted according to the magnitude of the friction generated in contact with the ground, increasing the flexibility, grip, and balance stability during changes of direction.

[0087] In some embodiments, the present application makes the following settings for the travel system 1.

[0088] The propulsion system 1 mainly includes a power transmission device 11, a steering device 13, and a braking device. The wheels are divided into front wheels 14 and rear wheels 12, depending on the type of frog-like front and hind legs. During movement, the power transmission device 11 provides power to rotate the wheels, allowing the frog-like vehicle to move forward in a normal posture. Furthermore, the power transmission device 11 provides rear-drive force, which drives the rear wheels 12 to rotate. Corresponding to the rear-drive nature of the power transmission device 11, the steering device 13 is located on the frog-like front legs and connected to the front wheels 14. Additionally, the braking devices are respectively located on the frog-like front and hind legs and connected to the corresponding wheels.

[0089] Specifically, the power transmission device 11 is fixed inside the vehicle body and mainly includes a differential 111, a battery 112, a motor 113, and a universal joint 114. In use, the power transmission device 11 is controlled by the control system 3. The battery 112 provides energy to the motor 113, the motor 113 outputs power, and the power is transmitted to the rear wheel 12 through the universal joint 114 after being transformed by the differential 111. The rear wheel 12 then rotates.

[0090] The steering device 13 is connected between the frog-like front legs and the front wheel 14. It mainly includes a steering rod 132, a hydraulic device 133 and a steering column 134. In use, the steering device 13 is controlled by the control system 3. The hydraulic device 133 provides energy and outputs power. The power is transmitted to the front wheel 14 after being transformed by the steering rod 132 and the steering column 134, so as to realize the change of direction of the front wheel 14.

[0091] The braking device is connected between the frog-like front legs and the front wheel 14, and also between the frog-like hind legs and the rear wheel 12. Both the front wheel 14 and the rear wheel 12 have corresponding brake pads. Taking the rear wheel 12 and its brake pad 121 as an example, in use, the braking device is controlled by the control system 3, and the brake pad 121 applies friction braking to the rear wheel 12.

[0092] The following is a detailed description of the travel system 1 with reference to the accompanying drawings.

[0093] Please refer to Figure 4 , Figure 4 This is a detailed structural diagram of the travel system. Figure 4 The diagram shows a power transmission device 11, a rear wheel 12, a steering device 13, and a front wheel 14. The power transmission device 11 is located inside the vehicle body and transmits power to the rear wheel 12. The steering device 13 is connected to the frog-like front legs 41, indirectly connecting the frog-like front legs 41 to the front wheel 14. The front wheel 14 is connected to the steering device 13, enabling the front wheel 14 to change direction.

[0094] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the rear-drive transmission structure of a biomimetic frog obstacle-crossing vehicle. The power transmission device 11 includes a differential 111, a battery 112, a motor 113, a universal joint 114, a cross bar 115, a first transmission section 118, and a second transmission section 119. The transmission method in this application is rear-drive. The battery 112 and motor 113 serve as power components, with their output ends connected to the input end of the differential 111. The two output ends of the differential 111 are connected to the two first transmission sections 118. The first transmission section 118 is connected to the second transmission section 119 via the universal joint 114, and the second transmission section 119 is connected to the rear wheel 12. More specifically, the battery 112 is placed inside the frog vehicle to provide energy to the motor 113, which is the drive transmission gear 116 (…). Figure 6The differential 111, located in the power transmission device 11, allows the left and right wheels to rotate at different speeds. The universal joint 114, situated between the first transmission section 118 and the second transmission section 119 (which serve as a drive rod), is connected by a cross bar 115. It functions as a power transmission device in the power transmission device 11 and can also act as a rotational power output device 11 in the lifting system 2. In the power transmission device 11, the motor's energy is transmitted to the tires via gear-to-gear transmission, which offers high precision and speed. The universal joint transmission method effectively transmits power to the tires and has a high load-bearing capacity.

[0095] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the differential structure in a power transmission device. The differential 111 includes a drive gear 1111, a driven gear 1112, a left half-shaft gear 1113, a planetary gear 1114, and a right half-shaft gear 1115. The drive gear 116 is powered by a motor 113 (…). Figure 5 Driven by the rotation, the driving gear 116 and driven gear 117 engage in gear transmission. The driving wheel 1111 is connected to the driven gear 117 and engages in gear transmission with the driven wheel 1112. The right half-shaft gear 1115 is located above the driven wheel 1112 and rotates with the driven wheel 1112. The planetary gear 1114 engages with the right half-shaft gear 1115 and rotates with it. The left half-shaft gear 1113 engages with the planetary gear 1114 and rotates with it. In rear-drive mode, the left half-shaft gear 1113 and the right half-shaft gear 1115 transmit power to the corresponding rear wheels 12 (left and right rear wheels). The operation of the differential 111 allows the corresponding rear wheels 12 of the frog car to rotate at different speeds when turning.

[0096] Please refer to Figure 7 and Figure 8 , Figure 7 This is a detailed structural diagram of the steering mechanism. Figure 8 This is a schematic diagram of the steering mechanism when the tires are turning. The steering mechanism 13 includes a steering stabilizer bar 131, a steering rod 132, a hydraulic device 133, a steering column 134, a connecting device 135, and a connecting ring 136. The hydraulic device 133 is located on the frog-like front legs 41. The steering rod 132 is connected to the hydraulic device 133 and is movably assembled with the steering column 134, which is located on the front wheel 14. The two steering stabilizer bars 131 are symmetrically distributed vertically on both sides of the steering rod 132, making the frog-like vehicle more stable when turning. The steering rod 132 is located in the entire steering mechanism 13 (…). Figure 4At the very center, the frog-like front leg 41 connects to the front wheel 14, and is connected to the front wheel 14 via a steering column 134. The steering column 134 is connected to the connecting device 135 on the inner side of the front wheel 14. The hydraulic device 133 is located between the frog-like front leg 41 and the steering device 13 ( Figure 4 The internal connection ring 136 between the two provides power for the frog car to turn.

[0097] Please refer to Figure 9 and Figure 10 , Figure 9 This is a schematic diagram of the structure of the direction-changing component in the steering mechanism. Figure 10 This is a schematic diagram of the steering column structure in the steering system. One side of the steering column 134 is connected to the front wheel 14, and the other side is connected to the steering column 132 (…). Figure 8 ) are connected, and the steering rod 132 is connected through its U-shaped structure. Figure 8 The direction of movement changes to achieve steering. Steering lever 132 connects to steering column 134. Figure 9 ), and the deflector column 134 ( Figure 9 The U-shaped structure is used in conjunction with the movement to change the direction of motion and achieve steering.

[0098] Please refer to Figure 11 , Figure 11 This is a detailed structural diagram of the hydraulic device in the steering mechanism. The hydraulic device 133 includes a hydraulic pump 1331, an oil tank 1332, oil pipes 1333, a solenoid directional valve 1334, a hydraulic cylinder 1335, a hydraulic rod 1336, and a relief valve 1337. The hydraulic pump 1331 is located at the connecting ring 136 (…). Figure 8 Inside the hydraulic unit 133, the oil tank 1332 is located to the left of the hydraulic pump 1331, supplying hydraulic oil to the hydraulic pump 1331. The hydraulic oil flows through the oil pipe 1333 into the hydraulic device 133. Figure 7 The hydraulic oil flows in a specific direction. The solenoid directional valve 1334, located in front of the hydraulic cylinder 1335, can change the flow direction of the hydraulic oil, causing the hydraulic rod 1336 to move back and forth. The oil tank 1332 is connected to the oil pipe 1333 via the hydraulic pump 1331 and also via the relief valve 1337. The relief valve 1337 maintains the hydraulic system 133... Figure 7 Stability of pressure.

[0099] Please refer to Figure 12 , Figure 12This is a schematic diagram of the tire structure. The tire includes multiple movable tire pads 125, arranged on the outer side of the rim. A flexible spring 126 is located on the rim surface and inside the movable tire pads 125, which can return the extended and retracted movable tire pads 125 to their original positions. A rim nut 127 is located at the center of the outer side of the rim and is used to fix some mechanisms inside the rim. When the frog car turns or makes a high-speed turn, the tire pads in contact with the ground slide and rub against the ground friction force in the opposite direction of the frog car's turn. After the friction ends, the tire pads are restored to their original positions by the spring force, thereby making the tire grip stronger and more conducive to maintaining the overall stability of the frog car.

[0100] Please refer to Figure 13 , Figure 13 This is an exploded view of the tire. Continuing with the example of the rear wheel 12 and its brake pads 121, the brake pads 121 are connected to the rear wheel 12. During normal driving, they rotate with the wheel; during braking, they stop rotating, thus slowing down the frog-like vehicle. Two dog-bone pins 128 are inserted into the connector 122 and the connecting ring 124 respectively, and the spherical part of the connector 122 is embedded in the cavity of the connecting ring 124 to connect the components. The hexagonal connector 123 is fitted onto the outer ring of the connecting ring 124 and embedded in the center of the wheel hub, fixed by the dog-bone pins 128 to achieve transmission of the rear wheel 12. The wheel bearing 130 is embedded inside the wheel disc 129 and fitted onto the inner outer ring of the connecting ring 124 so that the wheel disc 129 is not affected by the rotation of the wheel.

[0101] In some embodiments, the following settings are made for the lifting system 2.

[0102] The lifting system 2 mainly includes a power component, a front leg rotation mechanism 23 and a rear leg rotation mechanism 24. Each frog-like hind leg is divided into a front half 42 and a rear half 43. The power component is connected to the frog-like front leg 41 through the front leg rotation mechanism 23, and the rear leg rotation mechanism 24 is connected between the front half 42 and the rear half 43 of the frog-like hind leg. When the frog car encounters an obstacle while traveling, the power unit provides energy and power. The power is transmitted to the frog-like front leg 41 through the front leg rotation mechanism 23, causing the frog-like front leg 41 to rotate. The frog-like rear leg rotates in conjunction with the frog-like front leg 41 through the rear leg rotation mechanism 24 between the front half 42 and the rear half 43 of the frog-like rear leg. At the same time, the first transmission section 118 and the second transmission section 119, which serve as the transmission rod in the power transmission device 11, are connected by a universal joint 114. The universal joint 114 can realize the variable angle transmission of power between the first transmission section 118 and the second transmission section 119, so that the power transmission device 11 can rotate in conjunction with the frog-like rear leg to realize the lifting and lowering of the frog car.

[0103] Specifically, the front leg rotation mechanism 23 includes a driving rotation gear 231, a driven rotation gear 232, a front leg rotation universal joint 233, and a rotating shaft 234. The driving rotation gear 231 is driven by a power component and meshes with the driven rotation gear 232. The driven rotation gear 232 is connected to the rotating shaft 234, and the rotating shaft 234 is connected to the frog-like front leg 41 through the front leg rotation universal joint 233.

[0104] The lifting system 2 will be described in detail below with reference to the accompanying drawings.

[0105] Please refer to Figure 14 , Figure 14 This is a schematic diagram of the lifting system. The battery 21 and motor 22 serve as the power components. The battery 21 is located at the front of the vehicle body, providing power to the motor 22. The motor 22 is located behind the battery 21, providing power for the lifting of the frog-like front legs 41. The front leg lifting structure 23 is located inside the vehicle body and at the connection point between the frog-like front legs 41 and the vehicle body. The rear leg lifting structure 24 is located at the connection point between the front half 42 and the rear half 43 of the frog-like rear legs.

[0106] Please refer to Figure 15 , Figure 15 This is a schematic diagram of the lifting structure of the front legs of a biomimetic frog-inspired obstacle-crossing vehicle. The active rotating gear 231 is powered by a motor 22. Figure 14 The driven rotating gear 232 directly provides power for operation, and engages with the driving rotating gear 231 to rotate. The driven rotating gear 232 is connected through the front leg universal joint 233, which enables the transmission of power between the rotating shafts at different angles, and transmits the power from the driven rotating gear 232 to the frog-like front legs 41 for rotation.

[0107] Please refer to Figure 16 , Figure 16 This is a schematic diagram of the lifting structure of the rear leg of a biomimetic frog-inspired obstacle-crossing vehicle. The rear leg rotation mechanism 24 includes a rear leg connecting rotation rod 241, a bearing 242, a fixed wheel 243, and a rear leg rotation universal joint 244. The rear leg connecting rotation rod 241 is located between the front half 42 and the rear half 43 of the frog-like rear leg, serving as a connection and rotation mechanism. The bearing 242 is connected to the rear leg connecting rotation rod 241, supporting the rotation of the frog-like rear leg and reducing frictional resistance during rotation. The fixed ring 243 is fixed to the wheel and does not rotate with the wheel, but is connected to the rear half 43 of the frog-like rear leg. The rear leg rotation universal joint 244 is located at the connection between the frog-like rear leg and the vehicle body, allowing the front half 42 of the frog-like rear leg to rotate in coordination.

[0108] In some embodiments, the following settings are made for the control system 3.

[0109] The control system 3 mainly includes a signal response receiver 31, an intelligent control processor 32, a signal effect receiver 33, a frog car start button 34, a lifting system control button 35, and a jumping system control button 36. The frog car start button 34, the lifting system control button 35, and the jumping system control button 36 are connected to the signal response receiver 31. The signal response receiver 31 and the signal effect receiver 33 are connected to the intelligent control processor 32. The intelligent control processor 32 is connected to the travel system 1, the lifting system 2, the jumping system 4, and the balance system 5.

[0110] Specifically, after the control button is pressed, the signal response receiver 31 receives information that the frog car needs to perform actions such as rising, falling, and jumping, and transmits this information to the intelligent control processor 32. The processor then sends the signal to the corresponding effect unit to execute the command. The intelligent control processor 32 collects and integrates the information from the signal response receiver 31, issues instructions to the corresponding system, and is responsible for monitoring and controlling the frog car's overall driving status. Once the corresponding system receives information indicating that the system effect is complete, it transmits the signal to the signal effect receiver 33, which then transmits it to the intelligent control processor 32, causing the processor to cease control of the corresponding system.

[0111] The control system 3 will be described in detail below with reference to the accompanying drawings.

[0112] Please refer to Figure 17 and Figure 18 , Figure 17 This is a schematic diagram showing the location of the control system for the biomimetic frog obstacle-crossing vehicle. Figure 18 This is a schematic diagram of the frog-inspired obstacle-crossing vehicle's body and buttons. A signal response receiver 31 is located on the left side of the vehicle body, an intelligent control processor 32 is located in the center, and a signal effect receiver 33 is located on the right side. The signal response receiver 31 receives signals transmitted when the driver presses a function button. The intelligent control processor 32 receives the information from the signal response receiver 31, integrates and processes it, and outputs it to the corresponding system. After the corresponding system completes its function, it transmits the signal to the signal effect receiver 33, and then to the intelligent control processor 32 to stop controlling the corresponding system. The frog vehicle start button 34 controls the start and stop of the frog vehicle. The lifting system control button 35 controls the operation of the lifting system 2. The jumping system control button 36 controls the operation of the jumping system 4.

[0113] In some embodiments, the present application makes the following settings for the jumping system 4.

[0114] The jumping system 4 includes a hydraulic system, a primary compressor, a secondary compressor, a power spring, a compression gear, and a compression rack, all housed in the frog-like legs. The hydraulic system compresses the primary compressor, secondary compressor, and power spring in stages. The compression gear connects to the primary compressor and engages with the compression rack. The hydraulic system compresses the spring, providing power for the frog-like vehicle to jump. The jumping system 4 works in conjunction with the control system 3. When the driver observes an obstacle ahead, they press the button to control the frog-like vehicle's jump. The signal is transmitted to the control system 3 in real time. The control system 3 raises the frog-like vehicle's chassis and rotates its legs to a suitable jumping direction. Subsequently, it controls the hydraulic system to compress and release the spring, thus enabling the vehicle to jump over the obstacle. After the jump, the control system 3 lowers the frog-like vehicle's chassis, returning it to normal driving mode.

[0115] In addition, the jumping system 4 also includes a shock absorption device. Shock-absorbing rods and springs are installed in the frog-like legs, with the rods and springs connected. When the frog car jumps and lands, the shock absorption device activates, achieving a shock-absorbing effect.

[0116] Specifically, the frog-like legs mainly consist of compression rods, hydraulic devices, springs, gears, and racks, which connect to the tires to propel the frog car and also provide a bouncing effect, allowing it to jump over obstacles. The shock absorption device mainly includes shock-absorbing springs and shock-absorbing rods; when the frog car jumps and lands, the shock-absorbing rods compress the shock-absorbing springs to cushion the impact.

[0117] The jumping system 4 will be described in detail below with reference to the accompanying drawings.

[0118] Please refer to Figure 19 , Figure 19 This is a schematic diagram showing the relative positions of the front and rear legs of a biomimetic frog-shaped obstacle-crossing vehicle. The frog-like front legs 41 are located on the front side of the vehicle body and are connected to the steering device 13. Figure 4 ) and front wheel 14 ( Figure 4 The front half 42 of the frog-like hind leg is located at the rear of the frog-like vehicle body, and the rear half 43 of the frog-like hind leg is connected to the front half 42 and to the rear wheel 12. Both the front frog leg 41 and the rear leg parts 42 and 43 are equipped with hydraulic devices and a primary compressor such as 415. Figure 20 ), secondary compressors such as 414 ( Figure 20 ), dynamic springs such as 419 ( Figure 21 Before the frog-like vehicle jumps, the control system 3 and the lifting system 2 adjust the angle of the frog-like front legs 41 to a suitable position, so that the frog-like front legs 41 face diagonally upwards on the frog-like vehicle. The two parts of the frog-like hind legs cooperate with the front legs 41 to rotate to a suitable angle for jumping. When the angle is suitable, the hydraulic rod compresses the first-stage compressor 415. Figure 20 ), primary compressor 415 ( Figure 20 ) Two-stage compressor 414 ( Figure 20), Secondary compressor 414 ( Figure 20 Compression spring 419 ( Figure 21 When the power spring 419 ( Figure 21 A jump can be performed when a large amount of elastic potential energy is stored.

[0119] Please refer to Figure 20 , Figure 20 This is a schematic diagram of the front leg structure of a biomimetic frog-inspired obstacle-crossing vehicle. The front leg shock absorber 411 is located above the front leg support 412 and can compress the shock absorber spring to achieve a shock absorption effect. The front leg power spring bearing device 413 is located above the front leg shock absorber 411 and is responsible for bearing the front leg power spring 419. Figure 21 The front leg secondary compressor 414 cooperates with the front leg power spring bearing device 413. The front leg primary compressor 415 is located above the front leg secondary compressor 414. The hydraulic rod compresses the front leg primary compressor 415, which in turn compresses the front leg secondary compressor 414. The front leg secondary compressor 414 then compresses the front leg power spring 419. Figure 21 The front leg protection device 416 is located on the outermost side of all internal structures of the front leg and is used to house some parts and protect internal parts.

[0120] Please refer to Figure 21 , Figure 21 An exploded view of the front legs of a biomimetic frog-inspired obstacle-crossing vehicle. The front leg compression gear 417 and the front leg primary compressor 415 (…). Figure 20 ) connects and engages with the front leg compression rack 418, and is placed in the front leg protection device 416 ( Figure 20 The front leg power spring 419 is located in the front leg power spring bearing device 413. Figure 20 The front leg shock absorber spring 420 is located in the front leg protection device 416, which provides power for the frog car to jump. Figure 20 In the scene, after the frog car jumps and lands, it is dampened by the front leg shock absorber 411. Figure 20 Compression achieves shock absorption. Front leg shock absorber fixing plate 421 ( Figure 20 ) Located in the front leg shock absorber 411 ( Figure 20 On both sides, place the front leg shock absorber 411 ( Figure 20 ) Fixed to the front leg support 412 ( Figure 20 )superior.

[0121] Please refer to Figure 22 , Figure 22 This is a schematic diagram of the rear leg structure of a biomimetic frog-inspired obstacle-crossing vehicle. The rear leg connecting device 421 is located in the front half 42 of the frog-like rear leg. Figure 19 ) at the end, used to connect the front half of the hind leg 42 ( Figure 19 ) and the rear half of the hind legs 43 ( Figure 19The rear leg protection device 425 is located on the outermost side of all internal structures of the rear leg, and is used to house some parts and protect internal parts. The rear leg compression device retainer 422 is located inside the rear leg protection device 425, and the rear leg compression device 424 is fixedly connected to the rear leg protection device 425. The rear leg hydraulic system 423 is located on the rear leg support 426 and provides power for compression.

[0122] Please refer to Figure 23 , Figure 23 This is an exploded view of the rear legs of a biomimetic frog obstacle-crossing vehicle. The rear leg shock absorber spring 427 is placed within the rear leg protection device 425. Figure 22 In the rear leg shock absorber 428, the rear leg support 426 is located within the rear leg support. Figure 22 Above, the rear leg shock absorber fixing plate 429 is located on both sides of the rear leg shock absorber 428, and the rear leg shock absorber 428 is fixed to the rear leg support 426. Figure 22 The rear leg power spring bearing device 4241 and the rear leg compression device retainer 422 are located on the upper side. Figure 22 A fixed connection is established, responsible for supporting the rear leg power spring 4243. The rear leg secondary compressor 4242 cooperates with the rear leg power spring supporting device 4241. The rear leg primary compressor 4246 is located above the rear leg secondary compressor 4242. The hydraulic rod compresses the rear leg primary compressor 4246, which in turn compresses the rear leg secondary compressor 4242. The rear leg secondary compressor 414 compresses the rear leg power spring 4243. The rear leg compression gear 4245 is connected to the rear leg primary compressor 4246 and cooperates with the rear leg compression rack 4244, and is placed on the rear leg protection device 425. Figure 22 )middle.

[0123] Based on the above description, the jumping system 4 is inspired by the leg movement of a frog jumping. Springs are added inside the frog car's legs to provide power for the jump. During the jump, the control system 3 adjusts the angle of the front and rear legs to jump and overcome obstacles. Simultaneously, shock-absorbing devices are installed in the frog car's four legs, namely shock-absorbing rods and springs. Upon landing, the shock-absorbing rods compress the springs to achieve shock absorption and stabilize the vehicle. Gear and rack transmissions and gear-to-gear transmissions are used extensively. For example, in the jumping system 4, the compressor of the spring in the frog car's legs is compressed through gear and rack transmission under the action of a hydraulic rod, resulting in high power transmission and reliability. Hydraulic devices are also used extensively, such as the hydraulic device in the frog car's legs. By hydraulically compressing the power spring, the high transmission pressure of hydraulics can effectively compress the spring to store more elastic potential energy, providing sufficient power for the frog car's jump.

[0124] In some embodiments, the present application makes the following settings for the balancing system 5.

[0125] The balancing system 5 mainly includes a balancing gyroscope 51 and a precession arm 53, fixed directly behind the frog car. The balancing system 5 utilizes the principle of a gyroscope; the central flywheel is similar to the central disk of a gyroscope and has a certain weight, concentrated at its outer edge. An internal hydraulic pump allows it to rotate at high speed. The flywheel is built into a universal joint seat, and the precession arm 53 is connected to the universal joint seat to rotate the balancing gyroscope 51. The control system 3 monitors the frog car in real time during jumps and turns. When the control system 3 detects that the frog car has lost its balance, the precession arm 53 will rotate the balancing gyroscope 51, causing the internal flywheel to rotate at high speed and generate a sufficiently large torque to balance the frog car.

[0126] The balancing system 5 will now be described in detail with reference to the accompanying drawings.

[0127] Please refer to Figure 24 , Figure 24 This is a schematic diagram of the balancing system. The balancing gyroscope 51 is located at the rear of the vehicle body. Its internal rotation generates a sufficiently large torque to balance external instability, thus achieving the purpose of balancing the frog-like vehicle. The precession device 52 is connected to the balancing gyroscope 51, enabling the balancing gyroscope 51 to rotate left and right. The precession arm 523 (… Figure 27 The movement mode is a back-and-forth repetitive motion, which drives the balance gyroscope 51 to rotate, changing the tilt condition, i.e., the angle position of the balance gyroscope 51, to meet different usage conditions.

[0128] Please refer to Figure 25 , Figure 25 This is a schematic diagram of a balanced gyroscope. The gyroscope protection device 511 is located within the entire balanced gyroscope 51 (…). Figure 24 The outermost part protects the internal components. The universal joint seat 512 is located inside the gyroscope protection device 511 and can rotate within a certain range.

[0129] Please refer to Figure 26 , Figure 26 This is an exploded view of the balanced gyroscope. The flywheel 513 is located within the entire balanced gyroscope 51 (…). Figure 24 At the center of the interior is a hydraulic pump, which enables it to rotate at high speed. When the frog car becomes unbalanced during a jump, the flywheel 513 rotates at high speed, and the precession device 52 ( Figure 24 ) Rotational balance gyroscope 51( Figure 24 This generates enough torque to balance the frog car.

[0130] Please refer to Figure 27 , Figure 27 This is a detailed structural diagram of the precession device for the balancing system. The universal joint connector 521 connects to the precession device 52 (…). Figure 24 ) and balanced gyroscope 51 ( Figure 24The advance connector 522 connects the advance arm 523 and the universal joint connector 521. The advance arm mount 524 is located at the rear of the vehicle body and mounts the advance arm 523 on it, allowing the advance arm 523 to reciprocate in one direction above.

[0131] Based on the above description, the balancing system 5 is inspired by a gyroscope. When a gyroscope rotates, the direction of its central disk remains constant. The flywheel within the balancing system 5 acts as the central disk of the gyroscope, and an internal hydraulic pump keeps it rotating at high speed. The flywheel is housed inside a universal joint seat, and the precession arm connects to the universal joint seat. The balancing system 5 plays a crucial role in the frog car's jumping process. When the frog car jumps, the flywheel rotates at high speed, generating a sufficiently large torque through the precession of the gyroscope, thereby effectively maintaining the frog car's balance.

[0132] In some embodiments, this application makes the following settings for the vehicle body.

[0133] The vehicle consists of a shell with doors and a flip-up cover. To enter the Frog Car, the driver must first open the doors and then manually open the cover. The seats inside the vehicle can be manually adjusted forward and backward, further facilitating entry. The fully transparent cover provides a 360-degree view, allowing the driver to better understand their surroundings and react quickly to changes in road conditions.

[0134] In one specific implementation, please refer to [link / reference]. Figures 1 to 3 The frog car consists of a propulsion system 1, a lifting system 2, a control system 3, a jumping system 4, and a balancing system 5. The lifting system 2 is located inside the car body and at its connection to the frog-like legs. The control system 3 is located in the middle of the car body. The jumping system 4 is located on both sides of the power system and is connected to the frog car body. The balancing system 5 is located in the middle-rear of the car body, behind the control system 3.

[0135] During normal driving, due to its low chassis, when an obstacle appears on the road, the frog car control system 3 first controls the frog car lifting system 2 to operate, and the frog-like front legs 41 ( Figure 19 ) Rotate, hind legs 42, 43 ( Figure 19 ) in conjunction with the forelegs 41 ( Figure 19 The frog car rotates, raising its chassis, and stops rotating when it reaches a certain angle. Then, control system 3 controls the jumping system 4 to operate, allowing the frog car to jump over obstacles. In case of imbalance or instability during the frog car's jump, balance system 5 quickly activates its function, balancing gyroscope 51 (…). Figure 24 High-speed rotation generates sufficient torque to stabilize the center of gravity and balance the frog car; propulsion device 52 ( Figure 24 Rotatable balanced gyroscope 51 Figure 24 (to make it move.)

[0136] When there are no obstacles on the road, control system 3 controls the lifting system 2 to operate, and the frog-like front legs 41 ( Figure 19 ) Rotate, hind legs 42, 43 ( Figure 19 ) in conjunction with the forelegs 41 ( Figure 19 The chassis rotates, lowers, and returns to normal driving status. Motor 113 ( Figure 5 ) provides energy to the power output device 11, the power output device 11 ( Figure 4 The control system 3 provides power for the frog car to move. When turning, the control system 3 controls the steering device 13. Figure 4 Rotation direction, steering device 13 Figure 4 Steering power is provided by hydraulic device 133 ( Figure 7 ) provides power, hydraulic device 133 ( Figure 7 Hydraulic energy is converted into mechanical energy, hydraulic rod 1336 ( Figure 11 ) moves upwards, steering device 13 ( Figure 4 It works to control the steering of the wheels.

[0137] When the frog car is performing lateral obstacle avoidance, high-speed turning, and cushioned landing, the rear wheels 12 ( Figure 2 The single movable tire piece 125 in contact with the ground in the ) Figure 12 The movable tire pad 125 moves under the action of ground friction. Figure 12 ) moves in the opposite direction to the frog car, during which the flexible springs 126 on both sides ( Figure 12 ) are subjected to tension and compression respectively, in the movable tire piece 125 ( Figure 12 After detaching from the ground, it is subjected to the flexible spring 126 ( Figure 12 The restoring force returns to the initial middle position.

[0138] This frog-shaped vehicle has the following advantages:

[0139] With an overall proportion similar to that of a regular car, it does not require much space for turning and has higher turning flexibility compared to existing obstacle crossing vehicles. Therefore, this application has a wider range of applicable scenarios.

[0140] The designed wheels are composed of tire pads that can move left and right, giving them better grip and enabling them to travel on complex roads with excellent stability.

[0141] The shock absorption and buffer device can reduce the impact force when the machine lands, improving safety and comfort.

[0142] It is equipped with a gyroscope balancing system, whose internal flywheel can generate the required speed under different tilt conditions, thereby quickly adjusting the balance of the vehicle body through the torque generated, and has high balance control sensitivity.

[0143] The designed body is biomimetic to a frog, with a perfect streamlined shape that greatly reduces wind resistance and improves the machine's maneuverability while maintaining a lightweight design.

[0144] The designed structure is equipped with a lifting device, which can adjust the vehicle height at any time, raising or lowering the vehicle body according to different actual needs, improving obstacle crossing ability and achieving high-speed stability and low-speed off-road function.

[0145] The designed steering device is more flexible. Steering can be achieved by changing the direction of movement of the steering rod through the steering column. Moreover, the power for steering comes from the hydraulic device, and steering can be achieved simply by extending or retracting the hydraulic rod, making steering simpler and more flexible.

[0146] The front and rear legs are connected to the vehicle body by a rotatable shaft, which can better cope with rough terrain and effectively improve the adaptability to complex environments.

[0147] In addition to the aforementioned frog-shaped vehicle, this application also provides a control method for a biomimetic frog obstacle-crossing vehicle, applicable to the control of the aforementioned frog-shaped vehicle. The control method includes:

[0148] Determine if there are obstacles ahead, and control the bionic frog obstacle-crossing vehicle to switch between normal driving mode and obstacle-crossing mode based on the determination result;

[0149] In obstacle-crossing mode, the lifting system 2 is controlled to raise the vehicle and allow it to cross the obstacle.

[0150] In obstacle-crossing mode, the control jump system 4 causes the vehicle to jump over the obstacle;

[0151] Among them, while controlling the jumping system 4, the lifting system 2 is simultaneously controlled to assist in adjusting the jumping direction of the vehicle; during this process, the balancing system 5 is controlled to adjust the balance of the vehicle.

[0152] When the vehicle jumps over the roadblock and reaches the ground, the movable tires on the wheels move under the action of ground friction. The flexible springs on both sides of the tires are stretched and compressed respectively, and the tires moving left and right maintain the stability of the vehicle.

[0153] Please refer to Figure 28 , Figure 28This is a flowchart illustrating the movement and jumping process of a biomimetic frog obstacle-crossing vehicle. The motor starts operating, providing energy to the power transmission system, driving the rear wheels 12 and passively moving the front wheels 14, propelling the frog vehicle forward. When a low obstacle appears ahead, the frog vehicle's chassis lifting device (lifting system 2) activates, raising the chassis to overcome the obstacle, after which the chassis lowers to return to normal driving mode. When a higher obstacle appears ahead, the jumping device (jumping system 4) activates. First, the chassis lifting device operates, raising the frog vehicle's chassis. The frog vehicle's front and rear legs rotate in coordination to the appropriate jumping angle and then stop. Subsequently, the hydraulic devices in the frog vehicle's legs activate, compressing the power springs. When the springs store a large amount of elastic potential energy, they release it, converting the elastic potential energy of the power springs into the frog vehicle's kinetic and potential energy, allowing the frog vehicle to overcome the obstacle. When the frog car becomes unbalanced during a jump, specifically when the angle between the chassis and the ground exceeds a preset value of 10°, the gyroscope balancing device (balancing system 5) activates. The flywheel inside the gyroscope rotates at high speed, and the precession device causes the gyroscope to rotate left and right, generating sufficient torque to balance the frog car. Upon landing, the cushioning device engages, and the tires extend laterally to maintain the overall stability of the frog car, after which it can drive normally.

[0154] It should be noted that many of the components mentioned in this application are general standard parts or components known to those skilled in the art, and their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0155] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0156] The above provides a detailed description of the biomimetic frog obstacle-crossing vehicle and its control method provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A bionic frog obstacle-surmounting vehicle, characterized in that, The system includes a vehicle body and frog-like legs mounted thereon, the vehicle body being streamlined in the shape of a frog; it also includes a control system and the control thereof for a traveling system, a lifting system, a jumping system, and a balancing system. The traveling system is located on the vehicle body and the frog-like legs, and wheels are installed on the frog-like legs. The lifting system is located on the vehicle body and connected to the frog-like legs, and the lifting system drives the frog-like legs to rotate and rise. The jumping system is located on the frog-like legs. The balancing system is located on the vehicle body, and the balancing system includes a balancing gyroscope and a precession device connected thereto. The precession device changes the tilt condition of the balancing gyroscope, and the balancing gyroscope generates torque to adjust the balance. The lifting system includes a power component, a front leg rotation mechanism, and a rear leg rotation mechanism; The power assembly is connected to the frog-like front legs via the front leg rotation mechanism. The power assembly includes a battery and a motor, with the battery providing power to the motor. The front leg rotation mechanism includes a driving gear, a driven gear, a shaft, and a front leg universal joint. The motor drives the driving gear, which meshes with the driven gear. The driven gear is connected to the shaft, which is connected to the frog-like front legs via the front leg universal joint, thus enabling the frog-like front legs to rotate. The rear leg rotation mechanism is connected between the front half and the rear half of the frog-like hind leg. The rear leg rotation mechanism includes a rear leg connecting rotation rod, a bearing, a fixed wheel, and a rear leg rotation universal joint. The rear leg connecting rotation rod is connected between the front half and the rear half of the frog-like hind leg. The bearing is connected to the rear leg connecting rotation rod. The fixed wheel is connected to the rear half of the frog-like hind leg. The rear leg rotation universal joint is located at the connection between the frog-like hind leg and the vehicle body, so that the frog-like hind leg rotates in coordination with the frog-like front leg to form a suitable jumping angle. The jumping system includes a front leg jumping structure set in the frog-like front legs and a hind leg jumping structure set in the frog-like hind legs; The front leg jumping structure includes a front leg protection device and a front leg power spring bearing device, a front leg hydraulic system, a front leg primary compressor, a front leg secondary compressor, a front leg power spring, a front leg compression gear, and a front leg compression rack, all disposed within the front leg protection device. The front leg power spring bearing device supports the front leg power spring. The front leg secondary compressor cooperates with the front leg power spring bearing device. The front leg primary compressor is located above the front leg secondary compressor. The front leg compression gear is connected to the front leg primary compressor and cooperates with the front leg compression rack. The hind leg jumping structure includes a hind leg protection device and a hind leg compression device fixator, a hind leg power spring bearing device, a hind leg hydraulic system, a hind leg primary compressor, a hind leg secondary compressor, a hind leg power spring, a hind leg compression gear, and a hind leg compression rack, all disposed within the hind leg protection device. The hind leg compression device fixator is fixedly connected to the hind leg protection device. The hind leg power spring bearing device is fixedly connected to the hind leg compression device fixator and bears the hind leg power spring. The hind leg secondary compressor cooperates with the hind leg power spring bearing device. The hind leg primary compressor is located above the hind leg secondary compressor. The hind leg compression gear is connected to the hind leg primary compressor and cooperates with the hind leg compression rack. When the frog-like front legs and their corresponding hind legs rotate to a suitable angle via the lifting system, the hydraulic rod of the front leg hydraulic system compresses the first-stage compressor of the front leg, which in turn compresses the second-stage compressor, which in turn compresses the power spring of the front leg. A jump occurs when the power spring stores elastic potential energy. Similarly, the hydraulic rod of the hind leg hydraulic system compresses the first-stage compressor of the hind leg, which in turn compresses the second-stage compressor, which in turn compresses the power spring of the hind leg. A jump occurs when the power spring of the hind leg stores elastic potential energy. The balanced gyroscope includes a gyroscope protection device, a universal joint mount, and a flywheel, with a hydraulic pump installed inside the flywheel; the precession device includes a universal joint mount connector, a precession connector, a precession arm, and a precession arm mount; the universal joint mount connector connects the precession device and the balanced gyroscope, the precession connector connects the precession arm and the universal joint mount connector, and the precession arm is mounted on the precession arm mount; The balancing system is activated during the jump when the tilt angle between the chassis plane and the ground is greater than a preset value of 10°. The precession device changes the tilt condition of the balancing gyroscope, generating torque to adjust the balance. The wheel includes a hub, tire pads, and flexible springs. Multiple tire pads are arranged around the outer periphery of the hub and can move left and right. The flexible springs are connected to the tire pads and are distributed on both sides inside the tire pads. When the vehicle jumps over an obstacle and reaches the ground, the tire pads move under the action of ground friction. The flexible springs on both sides of the tire pads are stretched and compressed, respectively. The left and right movement of the tire pads maintains the stability of the vehicle.

2. The bionic frog obstacle surmounting vehicle according to claim 1, characterized in that, The propulsion system includes a power transmission device, a steering device, and a braking device. The power transmission device provides power to drive the rear wheels to rotate. The steering device is located on the frog-like front legs and connected to the front wheels. The braking devices are located on the frog-like front legs and frog-like hind legs and connected to the corresponding wheels.

3. The bionic frog obstacle surmounting vehicle according to claim 2, characterized in that, The steering device includes a steering stabilizer bar, a steering rod, a hydraulic device, and a steering column. The hydraulic device is installed on the front legs of the steering wheel. The steering rod is connected to the hydraulic device. The steering rod is movably assembled with the steering column. The steering column is installed on the front wheel. The steering rod is located at the center of the steering device. Two steering stabilizer bars are symmetrically distributed on the upper and lower sides of the steering rod.

4. The bionic frog obstacle surmounting vehicle according to claim 2, characterized in that, The power transmission device includes a power component, a differential, a universal joint, a first transmission section, and a second transmission section. The power component is connected to the input end of the differential, and the two output ends of the differential are connected to two first transmission sections. The first transmission section is connected to the second transmission section through a universal joint, and the second transmission section is connected to the rear wheel.

5. The bionic frog obstacle surmounting vehicle according to claim 1, characterized in that, The control system includes a signal response receiver, an intelligent control processor, a signal effect receiver, a frog car start button, a lifting system control button, and a jumping system control button. The frog car start button, the lifting system control button, and the jumping system control button are connected to the signal response receiver. The signal response receiver and the signal effect receiver are connected to the intelligent control processor. The intelligent control processor is connected to the travel system, the lifting system, the jumping system, and the balance system.

6. A control method of a bionic frog obstacle-surmounting vehicle, characterized in that, include: Determine if there are obstacles ahead, and control the bionic frog obstacle-crossing vehicle to switch between normal driving mode and obstacle-crossing mode based on the determination result; In obstacle-crossing mode, the lifting system is controlled to raise the vehicle and allow it to pass over the obstacle. In obstacle-crossing mode, the control jump system allows the vehicle to jump over obstacles; Among them, while controlling the jumping system, the lifting system is also controlled to assist in adjusting the jumping direction of the vehicle; during this process, the balancing system is controlled to adjust the balance of the vehicle. When the vehicle jumps over the roadblock and reaches the ground, the movable tires on the wheels move under the action of ground friction. The flexible springs on both sides of the tires are stretched and compressed respectively, and the tires moving left and right maintain the stability of the vehicle. When a high obstacle appears ahead, the jumping device starts to operate. First, the chassis lifting device operates, raising the chassis of the frog car. The frog car's front and rear legs rotate to the appropriate jumping angle and then stop. Subsequently, the hydraulic device in the frog car's legs operates, compressing the power spring. When the spring stores a large amount of elastic potential energy, it is released, converting the elastic potential energy of the power spring into the frog car's kinetic and potential energy, allowing the frog car to jump over the obstacle.

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