Wheel-track-foot composite walking platform and obstacle crossing method based on same

Abstract

The invention discloses a wheel-track-foot composite walking platform and an obstacle crossing method based on the same. Comprising a mobile platform trunk, a remote control device, a hydraulic system, a modularized wheel-track-foot composite walking mechanism, a main controller integrated with a wireless communication function, and a mobile platform trunk tilt angle sensor, a composite walking mechanism track unit tilt angle sensor and a composite walking mechanism lower limb leg tilt angle sensor which are connected with the input end of the main controller, the composite walking mechanism oil cylinder pressure sensor surrounds the high-definition camera; the modularized wheel-track-foot composite walking mechanisms are symmetrically arranged on the two sides of the trunk of the mobile platform, the main controller sends collected sensor data and environment information shot by the surrounding high-definition camera to the remote control device, and an operator observes the data on a screen of the remote control device and judges the posture of the platform and the type of an obstacle in front. An instruction issued by the remote control device is sent to the main controller, and the main controller sends the received instruction to the hydraulic system and the modularized wheel-track-foot composite walking mechanism for posture adjustment of the body of the mobile platform. The universal maneuverability, trafficability and obstacle crossing ability of the walking platform can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle surmounting platforms, and in particular to a wheel-track-foot composite walking platform and a method for achieving obstacle surmounting based on the same. Background Art

[0002] Traditional mobile platforms usually adopt wheeled or tracked walking structures, which have good maneuverability and stability on flat roads. However, in complex, changeable and irregular terrain environments, such as uneven ground or raised vertical obstacles, the obstacle-crossing ability and flexibility of these traditional structures are greatly limited. In the fields of emergency rescue, exploration and surveying, industry and agriculture, there is an increasing demand for mobile platforms to move efficiently and overcome obstacles in irregular terrain. Mobile platforms based on traditional mechanisms cannot meet the comprehensive requirements of mobility, passability and obstacle-crossing ability in these fields, so it is necessary to improve the global mobility, passability and obstacle-crossing ability of mobile platforms. Summary of the invention

[0003] In view of this, the present invention provides a wheel-track-foot composite walking platform and a method for achieving obstacle crossing based on the same, which can improve the global maneuverability, passability and obstacle crossing ability of the walking platform.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A wheel-track-foot composite walking platform, comprising a main controller with integrated wireless communication function, a remote control device, a hydraulic system, a mobile platform trunk inclination sensor, a modular wheel-track-foot composite walking mechanism, a composite walking mechanism crawler unit inclination sensor, a composite walking mechanism lower limb leg inclination sensor, a composite walking mechanism oil cylinder pressure sensor, a surround high-definition camera and a mobile platform trunk;

[0006] The modular wheel-foot composite walking mechanism is symmetrically arranged on both sides of the mobile platform trunk, and the input end of the main controller is connected with the mobile platform trunk inclination sensor, the composite walking mechanism track unit inclination sensor, the composite walking mechanism lower limb leg inclination sensor, the composite walking mechanism cylinder pressure sensor, and the surround high-definition camera. The main controller sends the collected sensor data and the environmental information captured by the surround high-definition camera to the remote control device through wireless communication. The operator observes the data on the screen of the remote control device to judge the platform posture and the type of obstacles in front; the instructions issued by the remote control device are sent to the main controller through wireless communication, and the main controller sends the received instructions to the hydraulic system and the modular wheel-foot composite walking mechanism to adjust the posture of the mobile platform trunk.

[0007] Furthermore, the modular wheel-foot composite walking mechanism includes: a crawler track unit, a crawler drive motor, a hydraulic motor, a self-locking worm gear reducer, an oil-gas spring, a lower limb leg and a driving and braking integrated electric wheel;

[0008] The crawler unit includes a driving wheel, a crawler frame, a guide wheel, and a crawler track; the driving wheel and the guide wheel are respectively installed at both ends of the crawler frame, and the crawler track is wound around the driving wheel and the guide wheel;

[0009] The input end of the self-locking worm gear reducer is connected to the hydraulic motor, and the output end is fixedly connected to the track bracket; the track drive motor is fixed on the track bracket, and the output end of the track drive motor is connected to the driving wheel; the upper end of the lower limb leg is hinged to the track bracket at the guide wheel end, and the lower end of the lower limb leg is connected to the driving and braking integrated electric wheel; the upper fulcrum of the oil and gas spring is hinged to the track bracket at the driving wheel end, and the lower fulcrum is hinged to the lower limb leg.

[0010] Furthermore, the modular wheel-foot composite walking mechanism has three pairs, which serve as the front wheels, middle wheels and rear wheels of the platform respectively.

[0011] Furthermore, when walking in wheeled mode, the crawler unit acts as a support for the upper leg, and the position is locked by the self-locking function of the self-locking worm gear reducer; the main controller controls the driving and braking of the integrated electric wheel;

[0012] The hydraulic system drives the oil-gas spring to actively extend and retract, thereby driving the lower limbs to rotate forward / reverse relative to the track frame;

[0013] The hydraulic system controls the hydraulic motor to reduce speed and increase torque through the self-locking worm gear reducer to drive the crawler bracket to actively rotate 360° forward / reverse around the connecting shaft relative to the mobile platform trunk, and the position is locked by the self-locking function of the self-locking worm gear reducer;

[0014] When walking in crawler mode, the hydraulic system drives the oil and gas spring to retract, and the hydraulic motor drives the modular wheel-foot composite walking mechanism to rotate, so that the crawler tracks contact the ground.

[0015] The present invention also provides a method for achieving obstacle crossing based on a wheel-track-foot composite walking platform, using the above-mentioned wheel-track-foot composite walking platform, the method is as follows:

[0016] Step 1: Adjust the front wheel to be suspended in the air and make the bottom of the integrated driving and braking electric wheel not lower than the upper surface of the obstacle. At this time, the center of gravity of the walking platform is located between the middle wheel and the rear wheel;

[0017] Step 2: The walking platform moves forward, the front wheel's integrated electric wheel with driving and braking is attached to the upper surface of the obstacle, and then the walking platform's posture is adjusted so that the bottom of the track unit of the middle wheel is not lower than the upper surface of the obstacle, and the center of gravity of the walking platform is located between the front wheel and the middle wheel;

[0018] Step 3: Move the walking platform forward until the bottom of the track unit of the middle wheel is above the obstacle, and then adjust the posture of the walking platform so that the bottom of the track unit of the middle wheel contacts the upper surface of the obstacle;

[0019] Step 4: Adjust the posture of the walking platform so that the bottom of the rear wheel is not lower than the upper surface of the obstacle;

[0020] Step 5: The drive-brake integrated electric wheels corresponding to the front and rear wheels and the crawler drive motor 13 corresponding to the middle wheel cooperate to output driving force to move the walking platform forward, adjust the posture of the walking platform to a normal state, and complete the obstacle crossing process;

[0021] Step 6: Adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the middle wheel and the rear wheel; the walking platform moves forward until the driving and braking integrated electric wheel of the front wheel is suspended;

[0022] Step 7: Adjust the posture of the walking platform so that the driving and braking integrated electric wheel of the front wheel contacts the ground, and the bottom of the driving and braking integrated electric wheel of the middle wheel is not lower than the upper surface of the obstacle, and the walking platform continues to move forward;

[0023] Step 8, adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the front wheel and the middle wheel, and the bottom of the driving and braking integrated electric wheel of the middle wheel is in contact with the ground, and the bottom of the driving and braking integrated electric wheel of the rear wheel is not lower than the upper surface of the obstacle;

[0024] Step nine, the walking platform moves forward, and the posture of the walking platform is adjusted to a normal state to complete the obstacle crossing process.

[0025] Furthermore, the adjustment method in step one is: cooperatively controlling the hydraulic motor to drive the modular wheel-foot composite walking mechanism to rotate and the hydraulic system to drive the oil-gas spring to actively extend and retract.

[0026] Furthermore, the method for moving the walking platform forward in step 2 includes: coordinating the control of the hydraulic motor to drive the modular wheel-foot composite walking mechanism corresponding to the front, middle and rear wheels to rotate, and the hydraulic system to drive the oil and gas spring of the front wheel to actively extend and the oil and gas spring of the middle wheel to actively retract.

[0027] Furthermore, the adjustment method in step 2 is: cooperatively controlling the hydraulic motor to drive the modular wheel-foot composite walking mechanism corresponding to the front, middle and rear wheels to rotate, and the hydraulic system drives the front wheel oil-gas spring to actively retract, the middle wheel oil-gas spring to actively extend, and the rear wheel oil-gas spring to actively retract.

[0028] Beneficial effects:

[0029] 1. The present invention integrates the high maneuverability of a wheeled structure, the high passability of a tracked structure, and the excellent obstacle-crossing ability of a footed structure. Through a wheel-track-foot composite walking mode, combined with the many advantages of the three walking structures, the obstacle-crossing height of the mobile platform is greatly increased, the adaptability of the walking platform to irregular terrain is enhanced, and the driving needs of the mobile platform under increasingly complex terrain conditions are met.

[0030] 2. The crawler unit of the modular wheel-foot composite walking mechanism of the present invention has both the driving function and the load support function as the upper leg, and can also actively adjust the contact area of ​​the crawler. Secondly, the wheel-foot composite walking platform has active / passive vibration reduction functions in the wheeled walking mode, that is, by reasonably controlling the hydraulic system to actively fill and return oil to the oil-gas spring cylinder, the oil-gas spring piston rod is actively extended and retracted, and then the lower limb is driven to rotate relative to the crawler bracket, so that the integrated electric wheel can be driven to actively move up and down relative to the trunk of the mobile platform, so as to achieve the purpose of active vibration reduction, and the passive vibration reduction function is realized through the throttling effect of the internal damping hole of the oil-gas spring, thereby taking into account the passive vibration reduction requirements during high-speed driving and the active vibration reduction requirements during obstacle crossing; while having the functions, the structure is greatly simplified.

[0031] 3. The present invention can arbitrarily adjust the trunk posture of the mobile platform within the boundary range by collaboratively controlling the rotation of the modular wheel-track-foot composite walking mechanism and the active extension and retraction of the oil-gas spring, so as to enable a mobile platform with a smaller profile to cross ultra-high obstacles based on the composite walking of wheels, tracks and feet under low power input, while having the high maneuverability of wheeled walking, high passability of tracked walking, and high obstacle crossing ability of footed walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 This is a schematic diagram of the modular wheel-foot composite walking mechanism structure.

[0034] Figure 3 This is a schematic diagram of the wheeled walking mode of the present invention;

[0035] Figure 4 This is a schematic diagram of the crawler-type walking mode of the present invention;

[0036] Figure 5 It is a diagram of the obstacle surmounting process of the present invention;

[0037] Figure 6 It is a diagram of the obstacle crossing process of the present invention;

[0038] Among them, 1-main controller with integrated wireless communication function, 2-remote control device, 3-hydraulic system, 4-mobile platform trunk, 5-mobile platform trunk inclination sensor, 6-modular wheel-foot composite walking mechanism, 7-composite walking mechanism track unit inclination sensor, 8-composite walking mechanism lower limb leg inclination sensor, 9-composite walking mechanism cylinder pressure sensor, 10-surround high-definition camera, 11-drive and brake integrated electric wheel, 12-track unit, 13-track drive motor, 14-hydraulic motor, 15-self-locking worm gear reducer, 16-oil and gas spring, 17-lower limb leg. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0040] The present invention provides a wheel-track-foot composite walking platform, comprising a main controller 1 with integrated wireless communication function, a remote control device 2, a hydraulic system 3, a mobile platform trunk inclination sensor 5, a modular wheel-track-foot composite walking mechanism 6, a composite walking mechanism crawler unit inclination sensor 7, a composite walking mechanism lower limb leg inclination sensor 8, a composite walking mechanism oil cylinder pressure sensor 9, a surround high-definition camera 10 and a mobile platform trunk 4;

[0041] The modular wheel-foot composite walking mechanism 6 is symmetrically arranged on both sides of the mobile platform trunk 4. In this embodiment, the modular wheel-foot composite walking mechanism 6 is three pairs in number, serving as the front wheel, middle wheel and rear wheel of the platform respectively, and all can be independently controlled. The main controller 1 with integrated wireless communication function can perform long-distance wireless communication with the remote control device 2; the input end of the main controller 1 with integrated wireless communication function is connected to the mobile platform trunk inclination sensor 5, the composite walking mechanism track unit inclination sensor 7, the composite walking mechanism lower limb leg inclination sensor 8, the composite walking mechanism cylinder pressure sensor 9, and the surround high-definition camera 10, and the output end is connected to the hydraulic system 3 and the modular wheel-foot composite walking mechanism 6; the main controller 1 with integrated wireless communication function sends the collected sensor data and the environmental information captured by the surround high-definition camera 10 to the remote control device 2 through wireless communication, and the operator observes the data on the screen of the remote control device 2 to judge the platform posture and the type of obstacles in front; the instructions issued by the remote control device 2 are sent to the main controller 1 with integrated wireless communication function through wireless communication, and the main controller 1 with integrated wireless communication function sends the received instructions to the hydraulic system 3 and the modular wheel-foot composite walking mechanism 6 to adjust the posture of the mobile platform trunk 4.

[0042] Specifically, Figure 2As shown, the modular wheel-foot composite walking mechanism 6 includes: a crawler track unit 12, a crawler track drive motor 13, a hydraulic motor 14, a self-locking worm gear reducer 15, an oil-gas spring 16, a lower limb leg 17 and an integrated drive and brake electric wheel 11.

[0043] The crawler unit 12 includes a driving wheel, a crawler frame, a guide wheel, and a crawler track; the driving wheel and the guide wheel are respectively installed at both ends of the crawler frame, and the crawler track is wound around the driving wheel and the guide wheel.

[0044] The driving and braking integrated electric wheel 11 is composed of a hub motor, a brake, and a tire.

[0045] The housing of the self-locking worm gear reducer 15 is fixedly connected to the mobile platform trunk 4, the input end of the self-locking worm gear reducer 15 is connected to the hydraulic motor 14, and the output end is fixedly connected to the track bracket; the track drive motor 13 is fixed on the track bracket, and the output end of the track drive motor 13 is connected to the driving wheel; the upper end of the lower limb leg 17 is hinged to the track bracket at the guide wheel end, and the lower end of the lower limb leg 17 is connected to the driving and braking integrated electric wheel 11; the upper fulcrum of the oil and gas spring 16 is hinged to the track bracket at the driving wheel end, and the lower fulcrum is hinged to the lower limb leg 17.

[0046] When walking in wheeled mode, the track unit 12 serves as the upper leg to provide support, and the position is locked by the self-locking function of the self-locking worm gear reducer 15; the main controller 1 with integrated wireless communication function controls the driving and braking of the integrated drive and brake electric wheel 11; the oil-gas spring 16 integrates the functions of elastic elements and damping elements, and realizes passive vibration reduction function through the throttling effect of the internal damping hole of the oil-gas spring 16, and the mobile platform has high maneuverability.

[0047] The hydraulic system 3 drives the oil-gas spring 16 to actively extend and retract, thereby driving the lower limb 17 to rotate forward / reverse relative to the crawler frame;

[0048] The hydraulic system 3 controls the hydraulic motor 14 to reduce speed and increase torque through the self-locking worm gear reducer 15 to drive the crawler bracket to actively rotate 360° forward / reverse around the connecting shaft relative to the mobile platform trunk 4, and the position is locked by the self-locking function of the self-locking worm gear reducer 15;

[0049] By collaboratively controlling the rotation of the modular wheel-track-foot composite walking mechanism 6 and the active extension and retraction of the oil-gas spring 16, the posture of the mobile platform trunk 4 can be arbitrarily adjusted within the boundary range, so that a walking platform with a smaller profile can overcome ultra-high obstacles based on the composite walking of wheels, tracks and feet under low power input, while having the high maneuverability of wheeled walking, the high passability of tracked walking, and the high obstacle-crossing ability of footed walking.

[0050] When the crawler mode is used, the hydraulic system 3 drives the oil-gas spring 16 to retract, and the hydraulic motor 14 drives the modular wheel-foot composite walking mechanism 6 to rotate, so that the crawler contacts the ground. If the axle spacing is small, in order to prevent the modular wheel-foot composite walking mechanisms 6 from interfering with each other, the contact area between the middle crawler and the ground is reduced; the crawler drive motor 13 outputs driving force to drive the crawler to rotate, and the mobile platform has high passability.

[0051] The present invention also provides a method for achieving obstacle crossing based on a wheel-track-foot composite walking platform, using the above-mentioned wheel-track-foot composite walking platform, the method is as follows:

[0052] Step 1, such as Figure 5 As shown, the front wheel is adjusted to be suspended in the air and the bottom of the driving and braking integrated electric wheel 11 is not lower than the upper surface of the obstacle. At this time, the center of gravity of the walking platform is located between the middle wheel and the rear wheel; in this embodiment, the obstacle is a vertical wall.

[0053] Specifically, the cooperatively controlled hydraulic motor 14 drives the modular wheel-foot composite walking mechanism 6 corresponding to the front, middle and rear wheels to actively rotate 360° forward / reverse around the connecting axis relative to the mobile platform trunk 4 through the self-locking worm gear reducer 15 to reduce speed and increase torque, and the hydraulic system 3 drives the oil-gas spring 16 to actively extend and retract to drive the lower limb leg 17 to rotate forward / reverse relative to the crawler frame, so as to adjust the center of gravity of the walking platform to be between the middle wheel and the rear wheel, and the front wheel is suspended and adjusted so that the bottom of the tire of the integrated driving and braking electric wheel 11 is not lower than the upper surface of the vertical wall, and the mobile platform trunk 4 is in a "head-up" state.

[0054] Step 2: The walking platform moves forward, the front wheel integrated driving and braking electric wheel 11 is attached to the upper surface of the obstacle, and then the walking platform posture is adjusted so that the bottom of the track unit 12 of the middle wheel is not lower than the upper surface of the obstacle, and the center of gravity of the walking platform is located between the front wheel and the middle wheel;

[0055] Specifically, the driving and braking integrated electric wheel 11 outputs driving force, the walking platform moves forward, the driving and braking integrated electric wheel 11 of the front wheel is attached to the upper surface of the vertical wall, the hydraulic system 3 drives the oil and gas spring 16 of the middle wheel to actively retract, and the hydraulic motor 14 drives the modular wheel-foot composite walking mechanism 6 corresponding to the middle wheel to rotate, so as to adjust the posture of the walking platform so that the bottom of the crawler unit 12 of the middle wheel is not lower than the upper surface of the vertical wall, and the center of gravity of the walking platform is located between the front wheel and the middle wheel.

[0056] Step 3: The walking platform moves forward until the bottom of the track unit 12 of the middle wheel is located above the obstacle, and then the posture of the walking platform is adjusted so that the bottom of the track unit 12 of the middle wheel contacts the upper surface of the obstacle;

[0057] Specifically, the driving and braking integrated electric wheel 11 outputs driving force, and the walking platform moves forward until the crawler unit 12 of the middle wheel is located above the vertical wall. The hydraulic motor 14 is coordinated and controlled to drive the modular wheel-foot composite walking mechanism 6 corresponding to the front, middle and rear wheels to rotate, and the hydraulic system 3 drives the oil-gas spring 16 to actively extend and retract, so as to adjust the posture of the mobile platform so that the crawler unit 12 of the middle wheel contacts the upper surface of the vertical wall.

[0058] Step 4: Adjust the posture of the walking platform so that the bottom of the rear wheel is not lower than the upper surface of the obstacle;

[0059] Specifically, the hydraulic motor 14 drives the modular wheel-foot composite walking mechanism 6 corresponding to the rear wheel to rotate, so that the bottom of the modular wheel-foot composite walking mechanism 6 (drive-brake integrated electric wheel 11 or crawler unit 12) corresponding to the rear wheel is not lower than the upper surface of the vertical wall.

[0060] Step 5: The integrated driving and braking electric wheels 11 corresponding to the front and rear wheels and the track drive motor 13 corresponding to the middle wheels cooperate to output driving force to move the walking platform forward, adjust the posture of the walking platform to a normal state, and complete the vertical wall obstacle surmounting process.

[0061] Step 6: Figure 6 As shown, the posture of the walking platform is adjusted so that the center of gravity of the walking platform is located between the middle wheel and the rear wheel; the walking platform moves forward until the driving and braking integrated electric wheel 11 of the front wheel is suspended;

[0062] Specifically, the hydraulic motor 14 is coordinated to drive the modular wheel-foot composite walking mechanism 6 to rotate and the hydraulic system 3 is coordinated to drive the oil-gas spring 16 to actively extend and retract, so as to adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the middle and rear wheels; the driving and braking integrated electric wheel 11 outputs driving force, and the walking platform moves forward until the driving and braking integrated electric wheel 11 of the front wheel is suspended;

[0063] Step 7: Adjust the posture of the walking platform so that the driving and braking integrated electric wheel 11 of the front wheel is in contact with the ground, and the bottom of the driving and braking integrated electric wheel 11 of the middle wheel is not lower than the upper surface of the obstacle, and the walking platform continues to move forward;

[0064] Specifically, the hydraulic motor 14 is cooperatively controlled to drive the modular wheel-foot composite walking mechanism 6 corresponding to the front, middle and rear wheels to rotate, and the hydraulic system 3 drives the oil-gas spring 16 of the front wheel to actively extend and the oil-gas spring 16 of the middle wheel to actively retract. The trunk of the walking platform is in a "nodding" state, so that the front wheel is in contact with the ground and the bottom of the driving and braking integrated electric wheel 11 of the middle wheel is not lower than the surface of the vertical wall; the driving and braking integrated electric wheel 11 outputs driving force, and the walking platform continues to move forward.

[0065] Step 8, adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the front wheel and the middle wheel, and the bottom of the driving and braking integrated electric wheel 11 of the middle wheel is in contact with the ground, and the bottom of the driving and braking integrated electric wheel 11 of the rear wheel is not lower than the upper surface of the obstacle;

[0066] Specifically, the hydraulic motor 14 is cooperatively controlled to drive the modular wheel-foot composite walking mechanism 6 corresponding to the front, middle and rear wheels to rotate, and the hydraulic system 3 drives the oil-gas spring 16 of the front wheel to actively retract, the oil-gas spring 16 of the middle wheel to actively extend, and the oil-gas spring 16 of the rear wheel to actively retract, so that the center of gravity of the walking platform is located between the front and middle wheels, and the driving and braking integrated electric wheel 11 of the middle wheel is in contact with the ground, and the bottom of the driving and braking integrated electric wheel 11 of the rear wheel is not lower than the upper surface of the vertical wall.

[0067] Step nine, the walking platform moves forward, and the posture of the walking platform is adjusted to a normal state to complete the obstacle crossing process.

[0068] Specifically, the integrated driving and braking electric wheel 11 outputs driving force, the walking platform moves forward, and the hydraulic motor 14 is coordinated and controlled to drive the modular wheel-foot composite walking mechanism 6 to rotate and the hydraulic system 3 to drive the oil-gas spring 16 to actively extend and retract, so as to adjust the posture of the walking platform to a normal state and complete the vertical wall obstacle surmounting process at ultra-height in the wheel-foot composite mode.

[0069] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheel-foot composite walking platform, characterized in that: It includes a main controller with integrated wireless communication function, a remote control device, a hydraulic system, a mobile platform trunk inclination sensor, a modular wheel-foot composite walking mechanism, a composite walking mechanism crawler unit inclination sensor, a composite walking mechanism lower limb leg inclination sensor, a composite walking mechanism oil cylinder pressure sensor, a surround high-definition camera and a mobile platform trunk; The modular wheel-foot composite walking mechanism is symmetrically arranged on both sides of the mobile platform trunk, and the input end of the main controller is connected with the mobile platform trunk inclination sensor, the composite walking mechanism track unit inclination sensor, the composite walking mechanism lower limb leg inclination sensor, the composite walking mechanism cylinder pressure sensor, and the surround high-definition camera. The main controller sends the collected sensor data and the environmental information captured by the surround high-definition camera to the remote control device through wireless communication. The operator observes the data on the screen of the remote control device to judge the platform posture and the type of obstacles in front. The instructions issued by the remote control device are sent to the main controller via wireless communication, and the main controller sends the received instructions to the hydraulic system and the modular wheel-foot composite walking mechanism to adjust the posture of the mobile platform trunk.

2. The wheel-track-foot composite walking platform according to claim 1, characterized in that: The modular wheel-foot composite walking mechanism includes: a crawler track unit, a crawler drive motor, a hydraulic motor, a self-locking worm gear reducer, an oil-gas spring, a lower limb leg and a drive-brake integrated electric wheel; The crawler unit includes a driving wheel, a crawler frame, a guide wheel, and a crawler track; the driving wheel and the guide wheel are respectively installed at both ends of the crawler frame, and the crawler track is wound around the driving wheel and the guide wheel; The input end of the self-locking worm gear reducer is connected to the hydraulic motor, and the output end is fixedly connected to the track bracket; the track drive motor is fixed on the track bracket, and the output end of the track drive motor is connected to the driving wheel; the upper end of the lower limb leg is hinged to the track bracket at the guide wheel end, and the lower end of the lower limb leg is connected to the driving and braking integrated electric wheel; the upper fulcrum of the oil and gas spring is hinged to the track bracket at the driving wheel end, and the lower fulcrum is hinged to the lower limb leg.

3. The wheel-track-foot composite walking platform according to claim 1 or 2, characterized in that: The modular wheel-foot composite walking mechanism has three pairs, which serve as the front wheels, middle wheels and rear wheels of the platform respectively.

4. The wheel-track-foot composite walking platform as claimed in claim 3, characterized in that: When walking in wheeled mode, the crawler unit acts as the upper leg to support the vehicle, and the position is locked by the self-locking function of the self-locking worm gear reducer; the main controller controls the driving and braking of the integrated electric wheel; The hydraulic system drives the oil-gas spring to actively extend and retract, thereby driving the lower limbs to rotate forward / reverse relative to the track frame; The hydraulic system controls the hydraulic motor to reduce speed and increase torque through the self-locking worm gear reducer to drive the crawler bracket to actively rotate 360° forward / reverse around the connecting shaft relative to the mobile platform trunk, and the position is locked by the self-locking function of the self-locking worm gear reducer; When walking in crawler mode, the hydraulic system drives the oil and gas spring to retract, and the hydraulic motor drives the modular wheel-foot composite walking mechanism to rotate, so that the crawler tracks contact the ground.

5. A method for overcoming obstacles based on a wheel-track-foot composite walking platform, characterized in that: The wheel-track-foot composite walking platform as claimed in claim 3 is used, and the method is as follows: Step 1: Adjust the front wheel to be suspended in the air and make the bottom of the integrated driving and braking electric wheel not lower than the upper surface of the obstacle. At this time, the center of gravity of the walking platform is located between the middle wheel and the rear wheel; Step 2: The walking platform moves forward, the front wheel's integrated electric wheel with driving and braking is attached to the upper surface of the obstacle, and then the walking platform's posture is adjusted so that the bottom of the track unit of the middle wheel is not lower than the upper surface of the obstacle, and the center of gravity of the walking platform is located between the front wheel and the middle wheel; Step 3: Move the walking platform forward until the bottom of the track unit of the middle wheel is above the obstacle, and then adjust the posture of the walking platform so that the bottom of the track unit of the middle wheel contacts the upper surface of the obstacle; Step 4: Adjust the posture of the walking platform so that the bottom of the rear wheel is not lower than the upper surface of the obstacle; Step 5: The drive-brake integrated electric wheels corresponding to the front and rear wheels and the crawler drive motor 13 corresponding to the middle wheel cooperate to output driving force to move the walking platform forward, adjust the posture of the walking platform to a normal state, and complete the obstacle crossing process; Step 6: Adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the middle wheel and the rear wheel; the walking platform moves forward until the driving and braking integrated electric wheel of the front wheel is suspended; Step 7: Adjust the posture of the walking platform so that the driving and braking integrated electric wheel of the front wheel contacts the ground, and the bottom of the driving and braking integrated electric wheel of the middle wheel is not lower than the upper surface of the obstacle, and the walking platform continues to move forward; Step 8, adjust the posture of the walking platform so that the center of gravity of the walking platform is located between the front wheel and the middle wheel, and the bottom of the driving and braking integrated electric wheel of the middle wheel is in contact with the ground, and the bottom of the driving and braking integrated electric wheel of the rear wheel is not lower than the upper surface of the obstacle; Step nine: Move the walking platform forward, adjust the walking platform posture to a normal state, and complete the obstacle crossing process.

6. The method for overcoming obstacles based on a wheel-track-foot composite walking platform as claimed in claim 5, characterized in that: The adjustment method in step 1 is: cooperatively controlling the hydraulic motor to drive the modular wheel-foot composite walking mechanism to rotate and the hydraulic system to drive the oil-gas spring to actively extend and retract.

7. The method for overcoming obstacles based on a wheel-track-foot composite walking platform as claimed in claim 5, characterized in that: The method for moving the walking platform forward in step 2 includes: cooperatively controlling the hydraulic motor to drive the modular wheel-foot composite walking mechanism corresponding to the front, middle and rear wheels to rotate, and the hydraulic system drives the oil and gas spring of the front wheel to actively extend and the oil and gas spring of the middle wheel to actively retract.

8. The method for overcoming obstacles based on a wheel-track-foot composite walking platform as claimed in claim 5 or 7, characterized in that: The adjustment method in step 2 is: coordinately control the hydraulic motor to drive the modular wheel-foot composite walking mechanism corresponding to the front, middle and rear wheels to rotate, and the hydraulic system drives the front wheel oil-gas spring to actively retract, the middle wheel oil-gas spring to actively extend, and the rear wheel oil-gas spring to actively retract.

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