A field multifunctional wheeled unmanned vehicle platform based on module reconfiguration

Abstract

The current field unmanned wheeled vehicle platform has defects of single function, poor passing capacity, poor flexibility, complex assembly and the like, and is difficult to meet the needs of field operation. In order to solve the above problems, the application provides a field multifunctional wheeled unmanned vehicle platform based on module reconfiguration, which comprises a power module, a framework module, a net rack module, a hollow telescopic shaft and a remote control system. The power module is used for controlling vehicle movement and completing adjustment of wheel height and vehicle wheel track. The framework module is used for providing electric energy, protecting the power module and completing adjustment of vehicle wheel track. The net rack module is used for providing electric energy and carrying task equipment. The hollow telescopic shaft is used for bearing the net rack module. The remote control system transmits and receives signals. The assembly between the modules is simple. The special vehicle disclosed by the application has the advantages of fast assembly, reconfiguration, good passing capacity and the like, and can significantly improve the field adaptability of the vehicle.

Description

Technical Field

[0001] This invention relates to a wheeled vehicle platform, and more particularly to a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use, belonging to the field of vehicle device technology. Background Technology

[0002] With the widespread application of wheeled unmanned platforms in military, industrial, agricultural, road transportation, and rescue fields, the technology of wheeled unmanned vehicle platforms for field use is receiving increasing attention. Combining the characteristics of modern battlefields, wheeled unmanned vehicles for field use, with their excellent mobility and modular reconfigurability, have broad application prospects and are currently one of the areas of development.

[0003] Due to the extremely high performance requirements of the military field, traditional wheeled vehicle platforms are finding it increasingly difficult to meet the demands of combat in complex field environments. Wheeled vehicle platforms with variable wheel height, wheelbase, and track width capabilities are being considered more and more frequently. However, when a platform faces wide trenches or high steps, the ability to simply change wheel height, wheelbase, or track width becomes quite limited. A platform needs to be able to adjust wheel height, wheelbase, and track width simultaneously to significantly improve its mobility in the field.

[0004] At the same time, depending on the different combat missions, unmanned wheeled platforms need to carry different mission equipment, so they must have good expandability and sufficient expansion space. The expandability and space of traditional configurations are obviously insufficient, and the platform structure needs to be re-optimized.

[0005] In addition, due to the high scrap rate of platform components in battlefield environments, it is crucial to highly integrate platform components and make them reconfigurable. While ensuring the implementation of functions such as variable wheel height, variable wheelbase, and variable track, it is necessary not only to modularize the components as much as possible, but also to make them reconfigurable so that when one or more modules are unusable, the platform can still maintain most of its functions and continue to operate.

[0006] Therefore, designing a multi-functional unmanned wheeled platform for the field that can simultaneously adjust chassis height, wheelbase, and track width and is reconfigurable is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] 1. Purpose of the invention:

[0008] To address the problems mentioned above, this invention provides a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use, based on modular design, reconfiguration technology, wheeled vehicle technology, and mechanical automation technology. This platform allows for adjustments to wheel height, wheelbase, and track width, while also possessing modular reconfigurability and the ability to carry different mission equipment.

[0009] 2. Technical Solution:

[0010] This invention discloses a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use. The platform utilizes blade battery packs in the frame and grid modules as the power source for movement and adjustment of wheel height, wheelbase, and track width. It employs the BeiDou navigation system to locate the platform and observes the surrounding environment through four side-view cameras and two surround-view cameras. AES-encrypted control commands are sent to the information processing and control systems of each module via a remote control system to control the platform. The platform's modules are highly integrated and easy to assemble and disassemble. In typical field environments, the platform can travel in 6×6, 5×5, 4×4, 3×3, or 2×2 configurations. When encountering wide ditches or high steps, the operator can simultaneously adjust the wheel height, wheelbase, and track width via the remote control system to traverse these obstacles.

[0011] This invention discloses a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use, comprising a power module, a frame module, a space frame module, a hollow telescopic axle, and a remote control system. Its key features include: the power module controlling the vehicle platform's movement via a hub motor system; at least two power modules are installed at the bottom of each frame module, prioritizing the installation needs at both ends to ensure platform stability; the power modules at both ends of the frame module have height spring mounting seats fixed to the lower part of bolt inserts via bolts; the power modules at both ends of the frame module are fixed to the inner side of the frame's inner side plate via connecting pins and bolts; the power module in the middle of the frame module has its height spring mounting seat installed in a slide rail at the lower part of a slide rail insert, allowing the height spring mounting seat to slide in the slide rail at the lower part of the slide rail insert as the wheelbase changes; the power module in the middle of the frame module is equipped with... In the slide rails inside the inner side plate of the frame, when the wheelbase changes, the connecting plate of the power module slides in the slide rails inside the inner side plate of the frame, following the change in wheelbase; two adjacent power modules are connected by a wheelbase adjustment spring; the wheelbase adjustment spring on the upper part of the power module passes through the round holes on both sides of the telescopic cover and mates with the multi-functional grid frame; spring seats are installed on the inner side plate of the frame module and the outer side of the multi-functional grid frame, and the frame module and the grid frame module are elastically connected by the torsion spring in the spring seat; the telescopic covers on both sides of the grid frame module are installed on the outer side of the inner side plate of the frame module; the two ends of the hollow telescopic shaft are respectively installed on the inner side of the outer side plate of the grid frame module and the hollow telescopic shaft passes through the grid frame module for bearing; the battery packs of the frame module and the grid frame module are connected to the electrical equipment of each module through wires; the signal processing system and control system of each module are connected through wires and data lines;

[0012] The power module is used to control the vehicle platform's movement and adjust the wheel height and platform track by ±0.2m. It includes wheels, wheel brackets, pin assemblies, upper control arms, lower control arms, a hub motor system, a hydraulic steering system, steering springs, spring brackets, a wheelbase adjustment spring mounting base, a connecting plate, a track adjustment spring, a height spring mounting base, a wheel height adjustment spring, a signal processing system, and a control system. The hub motor system is mounted on the inner side of the wheel hub. The wheel bracket is mounted on the outer side of the hub motor system and has two round-hole extension arms and one ball-joint extension arm, providing three connection interfaces for easy connection of the upper control arm, lower control arm, and hydraulic steering system. The narrow and wide ends of the upper and lower control arms are respectively mounted on the round-hole extension arms and spring brackets of the wheel bracket and restricted to movement by the pin assemblies, allowing only rotation around the axis. The lower control arm is equipped with a cylindrical shaft... The upper control arm has a large notch to increase the range of motion of the wheelbase adjustment spring and improve the redundancy of wheelbase adjustment. The spring frame is connected to the connecting plate through a steering spring, which can not only absorb the impact on the wheel but also provide steering torque. The two ends of the hydraulic steering system are respectively engaged with the ball joint extension arm of the wheel bracket and the connecting plate. The wheelbase adjustment spring mounting seat is installed on the two narrow sides of the connecting plate. The upper and lower ends of the wheel height adjustment spring are respectively installed on the height spring mounting seat and the column shaft of the lower control arm. The wheel track adjustment spring is installed on the upper end of the connecting plate and is limited by a pin group. The signal processing system and control system of the power module are located in the middle of the connecting plate and are connected by data lines and wires. The signal processing system and control system are connected to the hub motor system, wheel height adjustment spring, wheel track adjustment spring, and hydraulic cylinder of the hydraulic steering system through data lines and wires.

[0013] The frame module is used to provide power, protect the power module, and achieve wheelbase adjustment of ±0.2m; it includes: outer frame plate, inner frame plate, top frame plate, bolt insert plate, slide rail insert plate, wheelbase adjustment spring, side-view camera, frame battery pack, frame battery pack cover plate, and signal processing system and control system; the long sides of the top frame plate, bolt insert plate, and slide rail insert plate are directly fitted to the inner sides of the outer frame plate and the inner frame plate, and the two wide sides of the slide rail insert plate are directly fitted to the wide sides of the bolt insert plates on both sides; the wheelbase adjustment spring is arranged inside the frame. On the lower inner side of the side panel, a power module is connected to each side of each wheelbase adjustment spring; side-view cameras are installed at both ends of the upper part of the outer side panel of the frame; two frame battery packs are installed in two grooves at the lower part of the top plate of the frame and are fixed by frame battery pack covers, which have round holes for wires to pass through; the wires pass through the round holes of the frame battery pack covers and connect to the electrical equipment; the signal processing system and control system of the frame module are located in the middle of the inner side of the frame, and are connected to the wheelbase adjustment springs through data lines and wires;

[0014] The space frame module is used to provide power and carry mission equipment; it includes: a multi-functional space frame, a telescopic cover, conical locking springs, a surround-view camera, conical pins, spring seats, a chassis battery pack, a chassis battery pack cover, a torsion spring, and a signal processing system and a control system. The multi-functional space frame serves as the mounting unit for other components of the space frame module. The telescopic covers on both sides, six conical locking springs, and four spring seats are all installed on the lower part of both sides of the multi-functional space frame. The surround-view camera is installed on the lower part of both ends of the multi-functional space frame. The conical pins are installed in the conical holes on the upper part of the ball joint groove of the multi-functional space frame. A chassis battery pack is installed in the groove at the lower part of the multi-functional space frame and is fixed by the chassis battery pack cover. The wires of the chassis battery pack pass through the round holes of the chassis battery pack cover and are connected to the conical locking springs and other electrical equipment of the module. The signal processing system and control system of the space frame module are located at the lower part of the multi-functional space frame and are connected by data cables and wires. The signal processing system and control system are connected to the conical locking springs by data cables and wires.

[0015] The remote control system includes a remote control keyboard, a communication system, and at least one display screen, used to observe the environment around the platform and issue control commands to the platform's power module, frame module, and grid module via the remote control keyboard.

[0016] The wheels, wheel brackets, pin assemblies, upper swing arms, lower swing arms, spring frames, wheelbase adjustment spring mounting seats, connecting plates, wheelbase adjustment springs, height spring mounting seats, wheel height adjustment springs, outer frame plates, multi-functional frame plates, space frame modules, multi-functional space frames, telescopic covers, and conical locking springs are self-made parts, while the remaining parts are commercially available parts.

[0017] The frame module serves as the platform's protective structure, with trapezoidal notches machined in the upper part of the outer and inner side panels of the frame to facilitate riding.

[0018] The multifunctional space frame uses welded ball joints for its space frame nodes to ensure the mechanical properties of the space frame.

[0019] The structural modules and multifunctional space frame are made of UHMWPE fiber through mechanical processing, which combines bulletproof performance and lightweight.

[0020] The hollow telescopic shaft is made of 34CrNiMo6 alloy and machined.

[0021] The control system of the power module, the frame module, and the grid module consists of a communication module, a hardware security module, an STM32 microcontroller, a circuit board, data cables, and wires. The communication module, the hardware security module, and the STM32 microcontroller are all soldered onto the circuit board and connected by data cables and wires.

[0022] The lower part of the slide rail insert plate has a through T-shaped groove. During assembly, the wheel height adjustment spring mounting seat is inserted from the T-shaped groove entrance on one side, and then the slide rail insert plate is directly fitted with the bolt insert plates on both sides. Since there are no grooves on the bolt insert plates, the wheel height adjustment spring mounting seat can only slide on the T-shaped groove, thus limiting the range of wheelbase variation. Increasing the length of the slide rail insert plate can further increase the range of wheelbase variation.

[0023] The wheelbase adjustment spring mounting base has a boss and bolt holes in the middle of its lower side, and pulleys on both sides. The pulleys extend 2-4mm beyond the upper plane of the mounting base, so that the wheelbase adjustment spring mounting base can be fixed in the groove of the bolt plate by bolts, or inserted into the slide groove of the slide rail plate and slid left and right by the pulleys, thereby adjusting the wheelbase while adjusting the wheel height.

[0024] The power module's connecting plate is equipped with a sliding pin, and the inner side of the frame's inner plate is equipped with a groove that mates with the sliding pin on the connecting plate. Lubricant is pre-applied between the sliding pin and the groove. After the connecting plate of the power module in the middle is inserted into the groove of the sliding pin, it can be slid towards the center to complete the assembly. However, after the connecting plates of the power modules at both ends are inserted into the groove of the sliding pin, they need to be slid towards the sides and fixed with 2-4 bolts. This speeds up the disassembly and assembly of the power module and improves the reliability of the assembly structure.

[0025] The vehicle platform is reconfigurable and can be quickly assembled into 2×2, 3×3, 4×4, 5×5, and 6×6 vehicle platforms. When the vehicle platform is 6×6 or 5×5, wheel height, wheelbase, and track width can be adjusted simultaneously. When the vehicle platform is 4×4, wheel height and track width can be adjusted simultaneously. When the vehicle platform is 3×3, wheel height and wheelbase can be adjusted simultaneously. When the vehicle platform is 2×2, wheel height can be adjusted.

[0026] The vehicle platform adjusts wheel height, wheelbase, track width, acceleration, and steering angle via control signals sent by a remote control system. This is used for the platform to cross wide trenches and climb steps. When facing a wide trench, the wheelbase of the front and middle power modules is reduced in advance via remote control, allowing the front wheels to cross the trench first. Then, the wheelbase of the middle and rear power modules is continuously reduced, allowing them to cross the trench, thus completing the trench crossing. When facing steps, the front power module wheels are raised in advance, allowing them to begin climbing the steps. The middle power module gradually lifts off the ground, and then the height of the middle power module wheels is appropriately lowered, using the middle and rear power modules for support. The height of the rear power module wheels is then lowered, allowing the front power module to gradually touch the ground. The middle power module bears most of the load, and finally, the rear power module climbs the step, completing the step climbing.

[0027] When the power module in the middle is centered or moves longitudinally by +0.2m, the conical locking spring at the bottom of the multi-functional space frame will extend and insert the cone into the conical hole in the middle of the connecting plate to achieve mechanical locking of the wheelbase change.

[0028] The remote control system can adjust the height of one or several wheels while keeping the height of the remaining wheels unchanged; it can also adjust the wheelbase and track width of the power modules on one or both sides.

[0029] The remote control keyboard includes a keyboard module, a hardware security module, and a communication module. Control commands input by the keyboard module are first encrypted with AES by the hardware security module inside the keyboard, and then sent out by the communication module. The hardware security module on the vehicle platform receives the signal, decrypts the AES signal, and transmits the decrypted control signal to the wheel track adjustment spring, wheel height adjustment spring, and wheelbase adjustment spring to improve communication security.

[0030] 3. This invention provides a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use, which has the following advancements and advantages compared to existing technologies:

[0031] (1). The main weight components of the vehicle platform are made of UHMWPE fiber composite materials, which improves the platform's armor performance while significantly reducing the overall vehicle weight;

[0032] (2). The vehicle platform has strong scalability and large expansion space, and can quickly deploy small, medium and large equipment to achieve different functions according to different combat missions;

[0033] (3) The vehicle platform is based on the modular design concept and achieves a high degree of integration of components. The cooperation between integrated modules is simple and easy, which can realize the rapid disassembly and assembly of the platform and has good battlefield adaptability.

[0034] (4) The vehicle platform has excellent reconfigurability and can travel in 6×6, 5×5, 4×4, 3×3 or 2×2 frame configurations;

[0035] In summary, this system is a lightweight, modular, and reconfigurable multi-functional unmanned wheeled vehicle platform for field use. It can replace humans in performing tasks such as reconnaissance, rescue, logistical support, and fire support, thereby avoiding personnel casualties while improving mission completion efficiency. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of a modular unmanned wheeled vehicle platform for field use provided by the present invention;

[0037] Figure 2 This is a three-dimensional structural diagram of the power module provided by the present invention;

[0038] Figure 3 This is a three-dimensional structural diagram of the power module after removing the connecting plate assembly parts provided by the present invention;

[0039] Figure 4 This is an isometric view of the three-arm wheel bracket provided by the present invention;

[0040] Figure 5 This is an isometric view of the wheel height adjustment spring mounting bracket provided by the present invention;

[0041] Figure 6 This is a front view of the wheel height adjustment spring mounting base and the slide rail insert plate provided by the present invention.

[0042] Figure 7 This is an isometric view of the frame module after removing the top plate and the multifunctional frame plate provided by the present invention.

[0043] Figure 8 This is a bottom view of the top plate (short) of the frame provided by the present invention;

[0044] Figure 9 This is an isometric view of the space frame module provided by the present invention;

[0045] Figure 10 This is a bottom view of the space frame module after removing the telescopic cover, provided by the present invention;

[0046] Figure 11 This is a three-dimensional structural diagram of the vehicle platform using the frame top plate (height) provided by the present invention;

[0047] Figure 12 This is a three-dimensional structural diagram of the vehicle platform using four power modules provided by the present invention;

[0048] Figure 13 This is a three-dimensional structural diagram of the vehicle platform using three power modules provided by the present invention;

[0049] Figure 14 This is a left view of the vehicle platform provided by the present invention, which has variable wheel height, wheelbase, and track width, and with the outer side panels of the frame removed.

[0050] Figure 15 This is a front view of the vehicle platform with variable wheel height, wheelbase, and track width provided by the present invention;

[0051] in, Figure 1-15 middle:

[0052] Detailed Implementation

[0053] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0054] Example 1

[0055] As attached Figure 1 As shown, this invention discloses a modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use. The platform includes a power module 1, a frame module 2, a grid frame module 3, a hollow telescopic axle 4, and a remote control system. The overall vehicle dimensions are 2m × 2.5m × 1.1m. The power module 1 controls the movement of the wheels 101 via a hub motor system 106. At least two power modules 1 are installed at the lower part of each frame module 2, prioritizing the installation requirements at both ends of the frame module 2 to ensure the platform's motion stability. The power modules at both ends of the frame module 2... Module 1 uses bolts to fix the height spring mounting seat 114 to the lower part of the bolt insert plate 205; the power modules 1 at both ends of the frame module 2 are fixed to the inner side of the frame inner plate 202 by the sliding pins and bolts on the connecting plate 113; the power module 1 in the middle of the frame module 2 installs the height spring mounting seat 114 in the slide rail at the lower part of the slide rail insert plate 206. When the wheelbase changes, the height spring mounting seat 114 of the power module 1 slides in the slide rail at the lower part of the slide rail insert plate 206, following the change of wheelbase; the middle part of the frame module 2 The power module 1 is installed in the slide rail inside the inner side plate 202 of the frame. When the wheelbase changes, the connecting plate of the power module 1 slides in the slide rail, following the change in wheelbase. Two adjacent power modules 1 are connected by a wheelbase adjustment spring 207. The wheelbase adjustment spring 112 on the upper part of the power module 1 passes through the round holes on both sides of the telescopic cover 302 and is convexly matched with the multi-functional space frame 301. The inner side plate 202 of the frame module 2 and the outer side of the multi-functional space frame 301 are equipped with spring seats 306, and the spring seats 306 are connected by torsion within the spring seats 306. A rotating spring 309 elastically connects the frame module 2 and the space frame module 3; the telescopic covers 302 on both sides of the space frame module 3 are installed on the outer side of the inner side plate 202 of the frame module 2; the two ends of the hollow telescopic shaft 4 are respectively installed on the inner side of the outer side plate 201 of the frame module 3, and the hollow telescopic shaft passes through the space frame module; the battery packs of the frame module 2 and the space frame module 3 are connected to the electrical equipment of each module through wires; the signal processing system and control system of the power module 1, the frame module 2 and the space frame module are connected through wires and data lines;

[0056] As attached Figure 2-6As shown, the power module 1 is used to control the platform's movement and adjust the wheel height (±0.2m) and platform track width (±0.2m); it includes wheels 101, wheel brackets 102, pin sets 103, upper control arms 104, lower control arms 105, hub motor system 106, hydraulic steering system 107, steering springs 108, spring brackets 110, wheelbase adjustment spring mounting seats 111, connecting plates 113, track width adjustment springs 112, height spring mounting seats 114, wheel height adjustment springs 115, as well as a signal processing system and control... The system includes a hub motor system 106 mounted on the inner side of the wheel hub of wheel 101; a wheel bracket 102 mounted on the outer side of the hub motor system 106, with two round-hole extension arms and one ball-joint extension arm, providing three connection interfaces for easy connection of the upper control arm, lower control arm, and hydraulic steering system; the narrow and wide ends of the upper control arm 104 and lower control arm 105 are respectively mounted on the round-hole extension arms of the wheel bracket 102 and the spring bracket 110, and their movement is restricted by the pin assembly 103, allowing them to rotate only around the axis and not move; the lower control arm 105... A cylindrical shaft is provided for the wheelbase adjustment spring connection. The upper control arm 104 has a large notch to increase the range of motion of the wheelbase adjustment spring and improve the redundancy of wheelbase adjustment. The spring bracket 110 is elastically connected to the connecting plate 113 via the steering spring 108, which not only absorbs the impact on the wheels but also provides steering torque. The two ends of the hydraulic steering system 107 are respectively engaged with the ball joint extension arm of the wheel bracket 102 and the ball joint groove of the connecting plate. The wheelbase adjustment spring mounting seat 111 is installed on the two narrow sides of the connecting plate 113. The wheel height adjustment spring... The upper and lower ends of 115 are respectively mounted on the height spring mounting seat 114 and the cylindrical shaft of the lower control arm 105; the wheel track adjustment spring 112 is mounted on the upper end of the connecting plate 113 and its movement is restricted by the pin group 103; the signal processing system and control system of the power module are located in the middle of the connecting plate 113 and are connected by data lines and wires; the signal processing system and control system are connected to the hub motor system 106 and the hydraulic cylinders of the wheel height adjustment spring 115, wheel track adjustment spring 112, and hydraulic steering system 107 by data lines and wires;

[0057] As attached Figure 7-8As shown, the frame module 2 is used to provide electrical energy, protect the power module 1, and complete the wheelbase adjustment of ±0.2m; it includes: an outer frame plate 201, an inner frame plate 202, a top frame (lower) plate 203, a bolt insert plate 205, a slide rail insert plate 206, a wheelbase adjustment spring 207, a side-view camera 208, a frame battery pack, a frame battery pack cover plate 210, and a signal processing system and a control system; the long sides of the top frame (lower) plate 203, bolt insert plate 205, and slide rail insert plate 206 are directly fitted with the inner sides of the outer frame plate 201 and the inner frame plate 202; the wheelbase adjustment spring 207 is arranged on the inner frame plate 202. The lower inner side of 02 is used to connect the power module; the side-view camera 208 is installed at both ends of the upper part of the outer side plate 201 of the frame for observing the side situation; the two frame battery packs are installed in the two grooves at the lower part of the frame top plate (lower) 203 and are fixed by a frame battery pack cover plate 210 respectively. The frame battery cover plate has a round hole for wires to pass through; the wires of the frame battery pack pass through the round hole of the frame battery pack cover plate 210 to connect with the electrical equipment; the signal processing system and control system of the frame module are located in the middle of the inner side plate 202 of the frame, and are connected by data lines and wires and connected to the wheelbase adjustment spring 207;

[0058] As attached Figure 9-10 As shown, the space frame module 3 is used to provide power, carry mission equipment, and perform mechanical locking of the wheelbase; it includes: a multi-functional space frame 301, a telescopic cover 302, a conical locking spring 303, a surround-view camera 304, a conical pin 305, a spring seat 306, a chassis battery pack, a chassis battery pack cover 308, a torsion spring 309, and a signal processing system and a control system; the multi-functional space frame 301 is the mounting unit for other components of the space frame module 3, and the two telescopic covers, six conical locking springs 303, and four spring seats 306 are all installed on the lower part of both sides of the multi-functional space frame 301; the surround-view camera 304 is installed on... The lower parts of both ends of the multi-functional space frame 301; tapered pins 305 are installed in the tapered holes on the upper part of the ball joint groove of the multi-functional space frame 301; a chassis battery pack is installed in the groove at the lower part of the multi-functional space frame 301 and fixed by the chassis battery pack cover plate 308; the wires of the chassis battery pack pass through the round holes of the chassis battery pack cover plate 308 and are connected to the tapered locking spring 303 and other electrical equipment of the modules; the signal processing system and control system of the space frame module are located at the lower part of the multi-functional space frame 301, and they are connected by data lines and wires; the signal processing system and control system are connected to the tapered locking spring 303 by data lines and wires.

[0059] The remote control system includes a remote control keyboard, a communication system, and at least one display screen, used to observe the environment around the platform and issue control commands to the platform's power module 1, frame module 2, and grid module 3 via the remote control keyboard.

[0060] The wheel 101, wheel bracket 102, pin assembly, upper swing arm 104, lower swing arm 105, spring frame 110, hydraulic steering system 107, wheelbase adjustment spring mounting seat 111, connecting plate 113, wheelbase adjustment spring 112, wheel height spring mounting seat 114, wheel height adjustment spring 115, outer frame plate 201, inner frame plate 202, multi-functional mesh frame 301, telescopic cover 302, and conical locking spring 303 are self-made parts, and the remaining parts are commercially available parts;

[0061] The frame module 2 is the protective structure of the platform. Trapezoidal notches are machined on the upper part of the outer side plate 201 and the inner side plate 202 of the frame to facilitate riding.

[0062] The multifunctional space frame 301 uses welded ball joints for its space frame nodes to ensure that the space frame has good mechanical properties.

[0063] The frame module 2 and the multi-functional space frame 301 are made of UHMWPE fiber through mechanical processing, which has both ballistic performance and lightweight.

[0064] The hollow telescopic shaft 4 is made of 34CrNiMo6 alloy and machined.

[0065] The control system of the power module 1, the frame module 2, and the grid module 3 consists of a communication module, a hardware security module, an STM32 microcontroller, a circuit board, data cables, and wires. The communication module, the hardware security module, and the STM32 microcontroller are all soldered onto the circuit board and connected by data cables and wires.

[0066] Example 2

[0067] In the second embodiment provided by the present invention, the power module 1, the space frame module 3, and the hollow telescopic shaft 4 are similar to those in the first embodiment. The similarities will not be repeated, and only the differences will be introduced.

[0068] As attached Figure 11 As shown, the frame top plate (low) 203 can be replaced by the frame top plate (high) 209. After assembling the frame top plate (high) 209, the vehicle height can reach 1.7m, increasing the protection area on both sides and helping to ensure human life and health.

[0069] Example 3

[0070] In the third embodiment provided by the present invention, the frame module 2, the space frame module 3, and the hollow telescopic shaft 4 are similar to those in the first embodiment. The similarities will not be repeated, and only the differences will be introduced.

[0071] As attached Figure 12As shown, when two power modules 1 are missing, four power modules 1 are installed at the front and rear ends of the two frame modules 2 respectively. At this time, the platform is powered by four frame battery packs and one chassis battery pack 303, which can realize the height change of the wheels on both sides, the wheel track change, and the wheel track change of the wheel 101 on the side with three power modules 1.

[0072] Example 4

[0073] In the fourth embodiment provided by the present invention, the power module 1 and the frame module 2 in this embodiment are similar to the single-sided structure of the vehicle platform in the first embodiment. The similarities will not be described again, and only the differences will be introduced.

[0074] like Figure 13 As shown, when the three power modules 1 or any other modules are missing, the three power modules 1 are installed in the front, middle and rear of a frame module 2 to form a wheeled platform similar to the structure of a motorcycle. A person can sit in the trapezoidal groove on the upper part of the frame module 2. At this time, the platform is powered by two frame battery packs, which can realize the changes in wheel height and wheelbase.

[0075] Implementation Case 5

[0076] In the fifth embodiment provided by the present invention, the power module 1, frame module 2, grid module 3 and hollow telescopic shaft in this embodiment are similar to the vehicle platform structure in the first embodiment. The similarities will not be repeated, and only the differences will be introduced.

[0077] like Figure 14-15As shown, the operator inputs control signals via the remote control system to raise the wheels of the central power module 1 by 12cm, reduce the wheelbase of the front central power module 1 by 10cm, and increase the wheel track on each side by 20cm in each frame module 2. The signals are then encrypted using AES by the hardware security module inside the keyboard module before being sent out. The multi-functional wheeled unmanned vehicle platform, based on the modular reconfiguration design, receives the encrypted signals, which are then decrypted by the control systems of each module and transmitted to the wheel track adjustment spring 112, the wheel height adjustment spring 115, and all wheel track adjustment springs 207 of the central power module 1. After receiving the control signals, the wheel track adjustment spring 112 of the central power module 1 adjusts the wheel track... When the adjusting spring 112 extends, the hollow telescopic shaft 4 stretches to both sides, and the two side frame modules 2 slide to both sides, locking when the extension of the wheel track adjusting spring 112 is 10cm; after receiving the control signal, the wheel height adjusting spring 115 of the middle power module 1 retracts, and the upper swing arm 104 and the lower swing arm 105 rotate downward or upward around the swing arm axis, locking when the retraction of the wheel height adjusting spring 115 is 10cm; after receiving the control signal, the wheel track adjusting spring 112 between the front and middle power modules 1 retracts 10cm and locks, and the wheel track adjusting spring 112 between the middle and rear power modules 1 extends 10cm and locks.

[0078] The present invention has been described according to specific embodiments, but is not limited to the above examples. Any technical solution that conforms to the ideas of the present invention and is obtained by using similar structures and material substitution methods is within the protection scope of the present invention.

Claims

1. A modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use, comprising a power module, a frame module, a grid frame module, a hollow telescopic axle, and a remote control system, characterized in that: The power module controls the vehicle platform's movement via a hub motor system. At least two power modules are installed at the bottom of each frame module, prioritizing the installation at both ends to ensure platform stability. The power modules at both ends of the frame module have their height spring mounting seats fixed to the lower part of the bolt inserts using bolts. The power modules at both ends of the frame module are also fixed to the inner side of the frame's inner side plate via connecting pins and bolts. The power module in the middle of the frame module has its height spring mounting seat installed in the slide rail at the lower part of the slide rail insert. When the wheelbase changes, the height spring mounting seat of this power module slides in the slide rail at the lower part of the slide rail insert, following the wheelbase change. The power module in the middle of the frame module is installed in the slide rail on the inner side of the frame's inner side plate. When the wheelbase changes, the connecting plate of this power module... The inner side plate of the frame slides in the slide rail, following the wheelbase change; two adjacent power modules are connected by a wheelbase adjustment spring; the wheelbase adjustment spring on the upper part of the power module passes through the round holes on both sides of the telescopic cover and mates with the multi-functional grid frame; spring seats are installed on the inner side plate of the frame module and the outer side of the multi-functional grid frame, and the frame module and the grid frame module are elastically connected by the torsion spring in the spring seat; the telescopic covers on both sides of the grid frame module are installed on the outer side of the inner side plate of the frame module; the two ends of the hollow telescopic shaft are respectively installed on the inner side of the outer side plate of the grid frame module and the hollow telescopic shaft passes through the grid frame module for bearing; the battery packs of the frame module and the grid frame module are connected to the electrical equipment of each module through wires; the signal processing system and control system of each module are connected through wires and data lines; The power module is used to control the vehicle platform's movement and adjust the wheel height and platform track by ±0.2m. It includes wheels, wheel brackets, pin assemblies, upper control arms, lower control arms, a hub motor system, a hydraulic steering system, steering springs, spring brackets, a wheelbase adjustment spring mounting base, a connecting plate, a track adjustment spring, a height spring mounting base, a wheel height adjustment spring, a signal processing system, and a control system. The hub motor system is mounted on the inner side of the wheel hub. The wheel bracket is mounted on the outer side of the hub motor system and has two round-hole extension arms and one ball-joint extension arm, providing three connection interfaces for easy connection of the upper control arm, lower control arm, and hydraulic steering system. The narrow and wide ends of the upper and lower control arms are respectively mounted on the round-hole extension arms and spring brackets of the wheel bracket and restricted to movement by the pin assemblies, allowing only rotation around the axis. The lower control arm is equipped with a cylindrical shaft... The upper control arm has a large notch to increase the range of motion of the wheelbase adjustment spring and improve the redundancy of wheelbase adjustment. The spring frame is connected to the connecting plate through a steering spring, which can not only absorb the impact on the wheel but also provide steering torque. The two ends of the hydraulic steering system are respectively engaged with the ball joint extension arm of the wheel bracket and the connecting plate. The wheelbase adjustment spring mounting seat is installed on the two narrow sides of the connecting plate. The upper and lower ends of the wheel height adjustment spring are respectively installed on the height spring mounting seat and the column shaft of the lower control arm. The wheel track adjustment spring is installed on the upper end of the connecting plate and is limited by a pin group. The signal processing system and control system of the power module are located in the middle of the connecting plate and are connected by data lines and wires. The signal processing system and control system are connected to the hub motor system, wheel height adjustment spring, wheel track adjustment spring, and hydraulic cylinder of the hydraulic steering system through data lines and wires. The frame module is used to provide power, protect the power module, and achieve wheelbase adjustment of ±0.2m; it includes: outer frame plate, inner frame plate, top frame plate, bolt insert plate, slide rail insert plate, wheelbase adjustment spring, side-view camera, frame battery pack, frame battery pack cover plate, and signal processing system and control system; the long sides of the top frame plate, bolt insert plate, and slide rail insert plate are directly fitted to the inner sides of the outer frame plate and the inner frame plate, and the two wide sides of the slide rail insert plate are directly fitted to the wide sides of the bolt insert plates on both sides; the wheelbase adjustment spring is arranged inside the frame. On the lower inner side of the side panel, a power module is connected to each side of each wheelbase adjustment spring; side-view cameras are installed at both ends of the upper part of the outer side panel of the frame; two frame battery packs are installed in two grooves at the lower part of the top plate of the frame and are fixed by frame battery pack covers, which have round holes for wires to pass through; the wires pass through the round holes of the frame battery pack covers and connect to the electrical equipment; the signal processing system and control system of the frame module are located in the middle of the inner side of the frame, and are connected to the wheelbase adjustment springs through data lines and wires; The space frame module is used to provide power and carry mission equipment; it includes: a multi-functional space frame, a telescopic cover, conical locking springs, a surround-view camera, conical pins, spring seats, a chassis battery pack, a chassis battery pack cover, a torsion spring, and a signal processing system and a control system. The multi-functional space frame serves as the mounting unit for other components of the space frame module. The telescopic covers on both sides, six conical locking springs, and four spring seats are all installed on the lower part of both sides of the multi-functional space frame. The surround-view camera is installed on the lower part of both ends of the multi-functional space frame. The conical pins are installed in the conical holes on the upper part of the ball joint groove of the multi-functional space frame. A chassis battery pack is installed in the groove at the lower part of the multi-functional space frame and is fixed by the chassis battery pack cover. The wires of the chassis battery pack pass through the round holes of the chassis battery pack cover and are connected to the conical locking springs and other electrical equipment of the module. The signal processing system and control system of the space frame module are located at the lower part of the multi-functional space frame and are connected by data cables and wires. The signal processing system and control system are connected to the conical locking springs by data cables and wires. The remote control system includes a remote control keyboard, a communication system, and at least one display screen, used to observe the environment around the platform and issue control commands to the platform's power module, frame module, and grid module via the remote control keyboard. The wheels, wheel brackets, pin assemblies, upper control arms, lower control arms, spring frames, hydraulic steering systems, wheelbase adjustment spring mounting seats, connecting plates, wheel track adjustment springs, wheel height spring mounting seats, wheel height adjustment springs, outer frame plates, inner frame plates, multi-functional space frames, telescopic covers, and conical locking springs are self-made parts, while the remaining parts are commercially available parts. The frame module serves as the platform's protective structure, with trapezoidal notches machined in the upper part of the outer and inner side panels of the frame to facilitate riding. The multifunctional space frame uses welded ball joints for its space frame nodes to ensure the mechanical properties of the space frame. The structural modules and multifunctional space frame are made of UHMWPE fiber through mechanical processing, ensuring bulletproof performance and lightweight. The hollow telescopic shaft is made of 34CrNiMo6 alloy and machined. The control system of the power module, the framework module, and the grid module consists of a communication module, a hardware security module, an STM32 microcontroller, a circuit board, data lines, and wires. The relationship between them is as follows: the communication module, the hardware security module, and the STM32 microcontroller are all soldered on the circuit board and connected by data lines and wires.

2. The modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The lower part of the slide rail insert plate has a through T-shaped groove. During assembly, the wheel height adjustment spring mounting seat is inserted from the T-shaped groove entrance on one side, and then the slide rail insert plate is directly fitted with the bolt insert plates on both sides. Since there are no grooves on the bolt insert plates, the wheel height adjustment spring mounting seat can only slide on the T-shaped groove, thus limiting the range of wheelbase variation. Increasing the length of the slide rail insert plate can further increase the range of wheelbase variation.

3. The modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The wheelbase adjustment spring mounting base has a boss and bolt holes in the middle of its lower side, and pulleys on both sides. The pulleys extend 2-4mm beyond the upper plane of the mounting base, so that the wheelbase adjustment spring mounting base can be fixed in the groove of the bolt plate by bolts, or inserted into the slide groove of the slide rail plate and slid left and right by the pulleys, thereby adjusting the wheelbase while adjusting the wheel height.

4. The modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The power module's connecting plate is equipped with a sliding pin, and the inner side of the frame's inner plate is equipped with a groove that mates with the sliding pin on the connecting plate. Lubricant is pre-applied between the sliding pin and the groove. After the connecting plate of the power module in the middle is inserted into the groove of the sliding pin, it can be slid towards the center to complete the assembly. However, after the connecting plates of the power modules at both ends are inserted into the groove of the sliding pin, they need to be slid towards the sides and fixed with 2-4 bolts. This speeds up the disassembly and assembly of the power module and improves the reliability of the assembly structure.

5. A modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The vehicle platform is reconfigurable and can be quickly assembled into 2×2, 3×3, 4×4, 5×5, and 6×6 vehicle platforms. When the vehicle platform is 6×6 or 5×5, wheel height, wheelbase, and track width can be adjusted simultaneously. When the vehicle platform is 4×4, wheel height and track width can be adjusted simultaneously. When the vehicle platform is 3×3, wheel height and wheelbase can be adjusted simultaneously. When the vehicle platform is 2×2, wheel height can be adjusted.

6. The modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The vehicle platform adjusts wheel height, wheelbase, track width, acceleration, and steering angle via control signals sent by a remote control system. This is used for traversing wide trenches and climbing steps. When facing a wide trench, the wheelbase of the front and middle power modules is reduced in advance via remote control, allowing the front wheels to cross the trench first. Then, the wheelbase of the middle and rear power modules is continuously reduced until they cross the trench, completing the trench crossing. When facing steps, the front power module wheels are raised in advance, allowing them to begin climbing. The middle power module gradually lifts off the ground, and then the height of the middle power module wheels is appropriately lowered, using the middle and rear power modules for support. The height of the rear power module wheels is then lowered, and the front power module gradually touches the ground. The middle power module bears most of the load, and finally, the rear power module climbs the step, completing the step climbing.

7. The modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: When the power module in the middle is centered or moves longitudinally by +0.2m, the conical locking spring at the bottom of the multi-functional space frame will extend and insert the cone into the conical hole in the middle of the connecting plate to achieve mechanical locking of the wheelbase change.

8. A modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The remote control system can adjust the height of one or several wheels while keeping the height of the remaining wheels unchanged; it can also adjust the wheelbase and track width of the power modules on one or both sides.

9. A modularly reconfigurable multi-functional wheeled unmanned vehicle platform for field use according to claim 1, characterized in that: The remote control keyboard includes a keyboard module, a hardware security module, and a communication module. Control commands input by the keyboard module are first encrypted with AES by the hardware security module inside the keyboard, and then sent out by the communication module. The hardware security module on the vehicle platform receives the signal, decrypts the AES signal, and transmits the decrypted control signal to the wheel track adjustment spring, wheel height adjustment spring, and wheelbase adjustment spring to improve communication security.

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