Dragging distance device suitable for limit control and unmanned motorcycle

Abstract

The invention belongs to the technical field of intelligent unmanned systems, and particularly relates to a towing distance device suitable for limit control and an unmanned motorcycle. The dragging distance changing device comprises a handlebar rotating shaft, a double-shoulder front fork, a handlebar upper holding piece, a handlebar lower holding piece, a double-shoulder front fork upper holding piece and a double-shoulder front fork lower holding piece. Wherein the handlebar upper clasping piece and the handlebar lower clasping piece are fixed on the handlebar rotating shaft, and the double-shoulder front fork upper clasping piece and the double-shoulder front fork lower clasping piece are fixed on the double-shoulder front fork; the double-shoulder front fork upper enclasping piece and the handlebar upper enclasping piece are connected through a connecting piece to form a revolute pair; a sliding groove is formed in the handlebar lower enclasping piece, a connecting piece is arranged to penetrate through the sliding groove to be connected with the double-shoulder front fork lower enclasping piece, the double-shoulder front fork lower enclasping piece can move in the sliding groove, and therefore the angle between the double-shoulder front fork and a handlebar rotating shaft is changed.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent unmanned systems, and in particular relates to a towing distance device suitable for extreme maneuvering and an unmanned motorcycle. Background Art

[0002] With the rapid development of unmanned technology, artificial intelligence technology and sensor technology, the development of intelligent unmanned systems has made great progress. Among them, ground unmanned vehicles have become an important part of military operations due to their advantages such as low casualties in high-risk scenarios, sustainable operations in extreme service environments, and real-time data acquisition in complex battlefield environments. Unmanned motorcycles are widely used in the transportation of wounded and reconnaissance and strike missions in complex terrain and narrow spaces due to their compact structure and maneuverability. In addition, their low operating noise and small radar characteristics make them an ideal execution platform for covert combat missions, surveillance missions and intelligence collection missions. Because its two wheels are arranged on the front and rear axles respectively, it shows higher flexibility and stronger climbing and obstacle crossing capabilities compared to self-balancing two-wheeled vehicles.

[0003] However, the nature of unmanned motorcycles is an under-actuated system. The steering subsystem is strongly coupled with the drive subsystem. There are unmodeled dynamics and external interference, which makes the balance and motion control of unmanned motorcycles extremely challenging. On the one hand, it is difficult for traditional motorcycle configurations to balance steering flexibility and straight-driving stability; on the other hand, in driving environments such as hillsides, jungles, and gravel, tire forces can easily enter the saturated nonlinear region. Traditional control strategies that reduce speed or reduce turning angles to avoid instability greatly weaken the vehicle's maneuverability. Existing research on unmanned motorcycles focuses on classical balance control based on traditional configurations. There have been no reports on the configuration design of unmanned motorcycles from static to motion without relying on torque gyroscopes, and motion control for extreme maneuvers. Summary of the invention

[0004] The purpose of the present invention is to provide a drag distance device and an unmanned motorcycle suitable for extreme maneuvers, which do not rely on a torque gyro, but instead achieve the change of the unmanned motorcycle's drag distance by introducing a variable triangle structure design at the front fork, and further coordinate static balance and straight-driving stability through positive and negative drag distance changes.

[0005] The technical solution for implementing the present invention is as follows:

[0006] In the first aspect, the present invention provides a trailing distance device suitable for extreme maneuvers, comprising a handlebar rotating shaft, a double-shoulder front fork, an upper handlebar clamping piece, a lower handlebar clamping piece, an upper handlebar clamping piece and a lower handlebar clamping piece; wherein the upper handlebar clamping piece and the lower handlebar clamping piece are fixed to the handlebar rotating shaft, and the upper handlebar clamping piece and the lower handlebar clamping piece are fixed to the double-shoulder front fork; the upper handlebar clamping piece and the upper handlebar clamping piece are connected with each other through a connecting piece to form a rotating pair; a sliding groove is arranged on the lower handlebar clamping piece, and the connecting piece passes through the sliding groove to be connected with the lower handlebar clamping piece of the double-shoulder front fork, so that the lower handlebar clamping piece can move in the sliding groove, thereby changing the angle of the double-shoulder front fork and the handlebar rotating shaft.

[0007] Furthermore, the present invention also includes a drag distance control module, which is connected to the lower clamping piece of the double-shoulder front fork and is used to control the lower clamping piece of the double-shoulder front fork to slide back and forth in the slide groove.

[0008] Furthermore, when the vehicle speed is stationary or the speed is less than the set threshold value V L When the vehicle speed is greater than the set threshold value V H When the trailing distance control module controls the double-shoulder front fork to move toward the rear end of the slideway.

[0009] Furthermore, the double-shoulder front fork of the present invention has a threaded line at the end for connection with the pneumatic active suspension.

[0010] Furthermore, the connecting member described in the present invention is a bare bolt, a pin or a machined part matched with a bearing.

[0011] In a second aspect, the present invention provides an unmanned motorcycle suitable for extreme maneuvers, comprising a transformable motorcycle body, a pneumatic active suspension, an upper sensing system, and a lower motion control system; wherein the transformable motorcycle body adopts the variable trailing distance device and the pneumatic active suspension disclosed in the above embodiment, and the pneumatic active suspension is connected between the variable trailing distance device and the front wheel of the transformable motorcycle body;

[0012] The upper layer perception system is used to obtain the driving environment information of the motorcycle;

[0013] The underlying motion control system is used to realize driving control of the unmanned motorcycle according to the environmental information.

[0014] Furthermore, the pneumatic active suspension of the present invention includes an air pressure chamber and a shock-absorbing spring, wherein the air pressure chamber is arranged inside the shock-absorbing spring, and the air pressure chamber and the shock-absorbing spring jointly change the hardness and softness of the suspension.

[0015] Furthermore, the pneumatic active suspension described in the present invention is mainly composed of an air pressure pump, an air cylinder, an electromagnetic valve, an air pipe interface, an air pressure chamber, a shock absorber spring and a threaded interface; wherein, the top end of the shock absorber spring is connected to the bottom end of the double-shoulder front fork of the variable trailing distance device through a threaded interface, the bottom end of the shock absorber spring is connected to the front wheel through a connecting piece, the air pressure chamber is installed inside the shock absorber spring, and the air pressure chamber push rod is fixedly connected to the threaded interface; the air pipe interface and the air pressure pump, air cylinder and electromagnetic valve are connected in series through an air pipe; the threaded interface and the end of the double-shoulder front fork are rotationally connected.

[0016] Furthermore, the upper-layer perception system of the present invention includes a laser radar, a binocular depth camera and a mounting platform; wherein the laser radar and the binocular depth camera are fixed on the mounting platform, and the mounting platform includes a square rotating platform and a pitch cradle, which are used to drive the laser radar and the binocular depth camera to move in the horizontal direction and / or pitch direction.

[0017] Furthermore, the mounting platform of this embodiment of the present invention includes a first stepper motor, a bearing seat, a bearing, a motor flange, a rotating platform, a bracket, a pitch cradle and a second stepper motor; wherein, the output shaft of the first stepper motor is connected to the rotating platform through the motor flange, and the rotating platform is installed in the bearing and the bearing seat, the bracket is installed on the rotating platform, the pitch cradle is installed on the inner side of the bracket, one side of the pitch cradle is connected to the second stepper motor, and the other side is connected to the rotating shaft of the mounting platform outside the bracket, and the outer side of the bracket is provided with a mounting platform for installing a laser radar; the pitch cradle is used to install a binocular depth camera.

[0018] Furthermore, the bottom-level motion control system of the present invention includes a host computer and a slave computer;

[0019] The host computer is used to receive, process and analyze the data transmitted by the upper perception system to achieve real-time monitoring and reconnaissance of the target area, including detection of road condition information and tracking of the target, and convert the obtained information into control quantity and transmit it to the lower computer;

[0020] The lower computer is used to control the stepper motor of the upper perception system according to the control quantity so that it can track the target in real time; at the same time, it observes the road condition information to control the suspension hardness and the air pressure in the air pressure chamber.

[0021] Beneficial effects:

[0022] First, the present invention designs the trailing distance device to be variable, that is, utilizes a variable triangle structure to adjust the inclination angle of the front fork and change the trailing distance. Based on the fact that a negative trailing distance is beneficial to ensuring the straight-driving stability of the vehicle, and a positive trailing distance is beneficial to enhancing the steering flexibility of the vehicle, the support force and gravity can be offset against each other by adjusting the handlebar angle to achieve static balance, thereby providing a main body structure guarantee for maintaining the stability of the vehicle body at different vehicle speeds.

[0023] Second, the design layout of the pneumatic active suspension of the present invention adjusts the hardness and softness of the suspension by changing the air pressure, and controls the closing of the solenoid valve to enable the vehicle body to achieve the jumping function, laying a structural foundation for the extreme sports control of unmanned motorcycles;

[0024] Third, the upper sensing system of the present invention is driven by two motors, which can realize all-round observation and perception. Observing and tracking the target can be realized by adjusting the observation and reconnaissance system, which weakens the requirements for the posture of the base platform and is more conducive to engineering practice and installation adjustment.

[0025] Fourth, the present invention uses an unmanned motorcycle as a new carrier of the reconnaissance robot, which can adapt to three-dimensional terrain and narrow road conditions, has strong maneuverability, and can flexibly shuttle in complex environments; the upper-mounted observation and aiming reconnaissance system can not only achieve the purpose of platform environment detection, but also provide support for its own motion planning, and has a structural reuse function. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A simplified side view of an unmanned motorcycle;

[0028] Figure 2 This is the rear view force analysis diagram of the unmanned motorcycle;

[0029] Figure 3 Side view of the trail device for extreme maneuvers;

[0030] Figure 4 Front view of the trail device for extreme maneuvers;

[0031] Figure 5 The left side clamping piece diagram is hidden for the trailing distance device for extreme maneuvering;

[0032] Figure 6 The figure is a flow chart of the variable drag distance control process;

[0033] Figure 7 A side view of an unmanned motorcycle suitable for extreme maneuvers;

[0034] Figure 8 A top view of an unmanned motorcycle suitable for extreme maneuvers;

[0035] Fig. 9 This is a schematic diagram of the pneumatic active suspension;

[0036] Fig.10 Schematic diagram of the upper-layer perception system. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0039] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0040] Figure 1 The side view of the unmanned motorcycle is shown, where: C2 represents the front wheel center, C1 represents the rear wheel center, P2 represents the front wheel ground contact point, P1 represents the rear wheel ground contact point, P3 represents the intersection of the handlebar shaft extension line and the ground, and θ represents the angle between the front fork and the handlebar shaft. The trail distance is defined as: the distance c between the intersection point P3 of the handlebar shaft extension line and the ground and the front wheel ground contact point P2, and it is stipulated that the direction of P2 after P3 is positive, and the direction of P2 before P3 is negative.

[0041] Figure 2 The rear view force analysis diagram of the unmanned motorcycle is shown, where: F g Represents the vehicle weight, N f Indicates the support force generated by the front wheel contacting the ground, F f represents the lateral friction generated by the ground at the front wheel contact point, h is the shortest distance from the center of mass of the vehicle to the line connecting P1 and P3, γα represents the shortest distance from point P2 to the line connecting P1 and P3, Indicates the body roll angle.

[0042] The design principle of the towing device of this application is: Figure 1 From the side view, we can see that the drag torque can be changed by changing the angle θ between the front fork and the handlebar shaft. Figure 2From the rear view, we can see that under the condition of negative trail, the support force N generated by the front wheel contacting the ground is f Being on the right side with gravity, negative trail is beneficial to ensuring the vehicle's straight-driving stability, while positive trail is beneficial to enhancing the vehicle's steering flexibility. Therefore, the support force and gravity can be offset against each other by adjusting the handlebar angle to achieve static balance.

[0043] like Figure 3-5 As shown, the embodiment of the present application is a trailing distance device suitable for extreme maneuvers, including a handlebar rotating shaft 51, a double-shoulder front fork 52, an upper handlebar clamping member 53, a lower handlebar clamping member 54, an upper handlebar clamping member 55 and a lower handlebar clamping member 56; wherein, the upper handlebar clamping member 53 and the lower handlebar clamping member 54 are fixed to the handlebar rotating shaft 51, and the upper handlebar clamping member 55 and the lower handlebar clamping member 56 are fixed to the double-shoulder front fork 52; the upper handlebar clamping member 55 and the upper handlebar clamping member 53 are connected by a connecting member 58 to form a rotating pair; a sliding groove 59 is provided on the lower handlebar clamping member 54, and the connecting member 58 passes through the sliding groove 59 to be connected to the lower handlebar clamping member 56, so that the lower handlebar clamping member 56 can move in the sliding groove, thereby changing the angle between the double-shoulder front fork 52 and the handlebar rotating shaft 51.

[0044] In the specific implementation of this embodiment, bolt holes are provided on the upper clamping member of the double shoulder front fork and the lower clamping member of the double shoulder front fork, and the bolts are tightened to clamp the double shoulder front fork; bolt holes are also provided on the upper clamping member of the handlebar and the lower clamping member of the handlebar, and the bolts are tightened to fix the handlebar rotating shaft. The upper clamping member of the double shoulder front fork is connected to the upper clamping member of the handlebar by a bare bolt, and the lower clamping member of the handlebar is connected to the lower clamping member of the double shoulder front fork by a bare bolt, forming a rotating pair, so that the double shoulder front fork and the handlebar can rotate relative to each other.

[0045] Another embodiment of the present application further includes a drag distance control module, which is connected to the lower clamping member 56 of the double-shoulder front fork and is used to control the lower clamping member 56 of the double-shoulder front fork to slide back and forth in the slide groove 59.

[0046] In order to realize the variable drag distance function, a slide groove is provided on the clamping part under the handlebar ( Figure 5 For the convenience of explanation, the left clamp is hidden. The clamp under the double shoulder front fork can move forward and backward in the slide slot, thereby changing the angle between the double shoulder front fork and the rotating shaft. Figure 4 As shown, the handlebar shaft, the double-shoulder front fork and the clamping member form a triangular structure, which ensures the stability of the structure.

[0047] In another embodiment of the present application, when the vehicle speed is stationary or the speed is less than the set threshold value V L When the vehicle speed is greater than the set threshold value VH When the trailing distance control module controls the double-shoulder front fork to move toward the rear end of the slideway.

[0048] In another embodiment of the present application, the connecting member can be a bare bolt, a pin or a machined part with a bearing, so that the clamping member on the double-shoulder front fork and the clamping member on the handlebar can be connected through the connecting member to form a rotating pair.

[0049] This embodiment can adjust the vehicle body structure according to the working conditions to meet the mobility requirements. At low speed or stationary conditions, the double-shoulder front fork is controlled to move toward the front end of the slide slot, thereby increasing the angle between the front fork and the rotating shaft to obtain a negative drag distance. The drag distance control module of this embodiment can adjust the handlebar angle based on the PID algorithm to ensure that the vehicle body is maintained in a balanced state. The forward speed is measured using the motor encoder. When the vehicle speed is greater than the set value, the double-shoulder front fork is controlled to move toward the rear end of the slide slot, thereby reducing the angle between the front fork and the rotating shaft to obtain a positive drag distance. At the same time, the control program is switched to the LQR-PID cascade control algorithm to ensure the smoothness of the movement. The self-balancing algorithm control process is as follows: Figure 6 shown.

[0050] In another embodiment of the present application, the double-crown front fork 52 has a threaded line at the end for connecting with a pneumatic active suspension.

[0051] The embodiment of the present application is an unmanned motorcycle suitable for extreme maneuvers, comprising a transformable motorcycle body, a pneumatic active suspension, an upper layer sensing system, and a lower layer motion control system; wherein the transformable motorcycle body adopts the variable trail device and the pneumatic active suspension disclosed in the above embodiment, and the pneumatic active suspension is connected between the variable trail device and the front wheel of the transformable motorcycle body;

[0052] The upper layer perception system is used to obtain the driving environment information of the motorcycle;

[0053] The underlying motion control system is used to realize driving control of the unmanned motorcycle according to the environmental information.

[0054] like Figure 7-8 As shown, in this embodiment, an unmanned motorcycle suitable for extreme maneuvers adopts the variable drag device disclosed in the above embodiment. The rest of the modifiable motorcycle body can be implemented using existing technologies, specifically: a mid-mounted motor 1 is used to drive the rear wheel through a belt drive 2; the handlebar uses a servo 3 to achieve steering through a four-bar linkage 4; a variable drag device 5 with a variable triangle structure is used at the front fork to achieve configuration changes of the variable drag distance, ensuring that balance can be achieved even at low speeds and when stationary; a pneumatic active suspension 6 is used at the lower end of the front fork to achieve jumping movements. The upper perception system 7 and the lower motion control system 8 can be set on the modifiable motorcycle body, which can realize functions such as autonomous driving and zero-speed starting.

[0055] In this embodiment, the unmanned motorcycle drive system adopts a mid-mounted motor and drives the rear wheel through a belt drive. The handlebar adopts a servo through a four-bar mechanism to achieve steering, and the front suspension adopts pneumatic active suspension support to achieve jumping and nose-lifting under extreme working conditions. It integrates the upper-level perception system and the underlying control system to realize functions such as autonomous driving and zero-speed starting, providing theoretical and technical support for the design of unmanned motorcycle motion control systems under complex extreme working conditions.

[0056] like Fig. 9 As shown, another embodiment of the present application, the pneumatic active suspension includes an air pressure chamber and a shock absorber spring, wherein the air pressure chamber is arranged inside the shock absorber spring, and the air pressure chamber and the shock absorber spring jointly change the hardness and softness of the suspension.

[0057] In specific implementation, the pneumatic active suspension is composed of an air pressure pump 61, an air cylinder 62, an electromagnetic valve 63, an air pipe interface 64, an air pressure chamber 65, a shock absorber spring 66 and a threaded interface 67; wherein the top of the shock absorber spring 66 is connected to the bottom of the double shoulder front fork of the variable trailing distance device through a threaded interface 67, and the bottom of the shock absorber spring 66 is connected to the front wheel through a connector, the air pressure chamber 65 is installed inside the shock absorber spring 66, and the air pressure chamber push rod is fixed to the threaded interface 67, and the hardness of the suspension is determined by the air pressure of the air pressure chamber 65 and the hardness of the shock absorber spring 66. The air pipe interface 64 and the air pressure pump 61, the air cylinder 62, and the electromagnetic valve 63 are connected in series through an air pipe. The air pressure pump 61 generates controllable high-pressure gas and transmits it to the air cylinder, which is then transmitted to the electromagnetic valve 63 through the pressure stabilization buffer of the air cylinder 62, and the electromagnetic valve 63 is opened and then transmitted to the air pressure chamber 61 through the interface 64. By controlling the suction force of the air pressure pump 61, different air pressures can be generated, thereby changing the hardness and softness of the suspension. The threaded interface 67 is rotatably connected to the end of the double-shoulder front fork.

[0058] In this embodiment, when the air pressure pump is working, the solenoid valve is closed to store ultra-high pressure gas in the gas cylinder. At this time, the solenoid valve is opened, and the high-pressure gas suddenly flows into the air pressure chamber, causing the suspension to suddenly extend, thereby lifting the handlebars to achieve the jumping movement of the vehicle body. The jumping movement of the motorcycle can be used to cross small gullies, low walls or roadblocks. In some special scenes such as mountains, it can be used to approach the target unexpectedly or escape quickly. For example, in firefighting activities in special terrains such as wildfires, firefighters can use motorcycles to quickly and efficiently transport materials and personnel, while also jumping over obstacles such as gullies and earth slopes to save time.

[0059] like Fig.10 As shown, the upper-level perception system includes a laser radar, a binocular depth camera and a mounting platform; wherein the laser radar and the binocular depth camera are fixed on the mounting platform, and the mounting platform includes a square rotating platform and a pitch cradle, which are used to drive the laser radar and the binocular depth camera to move in the horizontal direction and / or pitch direction.

[0060] In a specific implementation, the mounting platform of this embodiment includes a first stepper motor 71, a bearing seat 72, a bearing 73, a motor flange 74, a rotating platform 75, a bracket 76, a pitch cradle 710 and a second stepper motor 711; wherein, the output shaft of the first stepper motor 71 is connected to the rotating platform 75 through the motor flange 74, and the rotating platform is installed in the bearing 73 and the bearing seat 72, the bracket 76 is installed on the rotating platform 75, the pitch cradle 710 is installed on the inner side of the bracket 76, one side of the pitch cradle 710 is connected to the second stepper motor 711, and the other side is connected to the rotating shaft of the mounting platform outside the bracket 76, and the outer side of the bracket 76 is provided with a mounting platform for mounting a laser radar 78; the pitch cradle 710 is used to mount a binocular depth camera 79;

[0061] In this embodiment, in order to achieve all-round observation, the observation and reconnaissance system is installed with two stepper motors 71 and 711. The output shaft of the first stepper motor 71 is connected to the rotating platform 75 through the motor flange 74, thereby ensuring the horizontal rotation of the rotating platform. A bracket 76 is installed on the rotating platform 75, and the inner side of the bracket is a pitch cradle 710 for realizing the pitch movement of the binocular depth camera 79. One side of the pitch cradle 710 is driven by the stepper motor 711, and the other side has a stepped shaft fixed in the bearing embedded in the inner side of the side plate of the bracket 76, so that the camera can be pitched. At the same time, a laser radar 78 is installed on the outer side of the bracket to enable the reconnaissance robot to perceive the surrounding environment and realize functions such as path planning. The binocular depth camera 79 is installed on the pitch cradle 710 to obtain surrounding environment information in real time and realize target recognition function.

[0062] Motion control system: The control system consists of a host computer and a slave computer;

[0063] The upper computer is used to receive, process and analyze the data transmitted by the upper perception system to achieve real-time monitoring and reconnaissance of the target area, including detection of road conditions and tracking of targets, and convert the obtained information into control quantity and transmit it to the lower computer;

[0064] The lower computer is used to control the stepper motor of the upper perception system according to the control quantity so that it can track the target in real time; at the same time, it observes the road condition information to control the softness and hardness of the suspension to avoid excessive impact to damage the vehicle body structure, and can perform jumping motion control under necessary conditions such as obstacle crossing.

[0065] In this embodiment, the drag distance control module and the lower computer may be integrated into one, and both may be implemented with common hardware.

[0066] In this embodiment, the lower computer 77 for controlling the first stepper motor 71 and the second stepper motor 711 may be disposed in the bracket 76 .

[0067] In this embodiment, the host computer also needs to receive various state parameters of the unmanned motorcycle base platform and map information obtained by laser radar scanning to ensure that the unmanned motorcycle can realize functions such as path planning and automatic driving during stable driving.

[0068] The embodiment of the present application integrates the above-mentioned transformable unmanned motorcycle, pneumatic active suspension, upper-level perception system and motion control system to form an unmanned transformable motorcycle and its motion control system for extreme working conditions. It can realize autonomous detection, environmental perception and target recognition in three-dimensional terrain and narrow space; the pneumatic active suspension can adapt to extreme road conditions and extreme control, and the variable drag distance structure design gives full play to its self-balancing performance. The proposed variable drag distance two-wheel reconnaissance robot gives full play to the low-speed stability, rapid maneuverability and complex terrain passability of the unmanned motorcycle, greatly enriching the application scope of the unmanned motorcycle.

[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 drag device suitable for extreme maneuvering, characterized in that: It includes a handlebar rotating shaft, a double-shoulder front fork, an upper handlebar clamping piece, a lower handlebar clamping piece, an upper handlebar clamping piece and a lower handlebar clamping piece; wherein, the upper handlebar clamping piece and the lower handlebar clamping piece are fixed on the handlebar rotating shaft, and the upper handlebar clamping piece and the lower handlebar clamping piece are fixed on the double-shoulder front fork; the upper handlebar clamping piece and the upper handlebar clamping piece are connected with each other through a connecting piece to form a rotating pair; a sliding groove is arranged on the lower handlebar clamping piece, and the connecting piece passes through the sliding groove to be connected with the lower handlebar clamping piece of the double-shoulder front fork so that the lower handlebar clamping piece of the double-shoulder front fork can move in the sliding groove, thereby changing the angle of the double-shoulder front fork and the handlebar rotating shaft.

2. The trailing distance device suitable for extreme maneuvering according to claim 1, characterized in that: It also includes a drag distance control module, which is connected to the lower clamping piece of the double-shoulder front fork and is used to control the lower clamping piece of the double-shoulder front fork to slide back and forth in the slide groove.

3. The drag distance device suitable for extreme maneuvering according to claim 2, characterized in that: When the vehicle speed is stationary or the speed is less than the set threshold V L When the vehicle speed is greater than the set threshold value V H When the trailing distance control module controls the double-shoulder front fork to move toward the rear end of the slideway.

4. The trailing distance device suitable for extreme maneuvering according to claim 1 or 2, characterized in that: The double-crown front fork has threads at the end for connection with the pneumatic active suspension.

5. An unmanned motorcycle suitable for extreme maneuvers, characterized in that: The invention comprises a transformable motorcycle body, a pneumatic active suspension, an upper sensing system and a lower motion control system; wherein the transformable motorcycle body adopts the variable trail device and the pneumatic active suspension disclosed in the above embodiment, and the pneumatic active suspension is connected between the variable trail device and the front wheel of the transformable motorcycle body; The upper layer perception system is used to obtain the driving environment information of the motorcycle; The underlying motion control system is used to realize driving control of the unmanned motorcycle according to the environmental information.

6. The unmanned motorcycle suitable for extreme maneuvers according to claim 5, characterized in that: The pneumatic active suspension includes an air pressure chamber and a shock-absorbing spring. The air pressure chamber is arranged inside the shock-absorbing spring, and the air pressure chamber and the shock-absorbing spring work together to change the hardness and softness of the suspension.

7. The unmanned motorcycle suitable for extreme maneuvers according to claim 6, characterized in that: The pneumatic active suspension is mainly composed of an air pressure pump, an air cylinder, an electromagnetic valve, an air pipe interface, an air pressure chamber, a shock absorber spring and a threaded interface; wherein, the top end of the shock absorber spring is connected to the bottom end of the double-shoulder front fork of the variable trailing distance device through a threaded interface, and the bottom end of the shock absorber spring is connected to the front wheel through a connecting piece, the air pressure chamber is installed inside the shock absorber spring, and the air pressure chamber push rod is fixedly connected to the threaded interface; the air pipe interface and the air pressure pump, air cylinder, and electromagnetic valve are connected in series through an air pipe; the threaded interface and the end of the double-shoulder front fork are rotationally connected.

8. The unmanned motorcycle suitable for extreme maneuvers according to claim 5, characterized in that: The upper-layer perception system includes a laser radar, a binocular depth camera and a mounting platform; wherein the laser radar and the binocular depth camera are fixed on the mounting platform, and the mounting platform includes a square rotating platform and a pitch cradle, which are used to drive the laser radar and the binocular depth camera to move in the horizontal direction and / or pitch direction.

9. The unmanned motorcycle suitable for extreme maneuvers according to claim 8, characterized in that: The mounting platform of this embodiment includes a first stepper motor, a bearing seat, a bearing, a motor flange, a rotating platform, a bracket, a pitch cradle and a second stepper motor; wherein, the output shaft of the first stepper motor is connected to the rotating platform through the motor flange, and the rotating platform is installed in the bearing and the bearing seat, the bracket is installed on the rotating platform, the pitch cradle is installed on the inner side of the bracket, one side of the pitch cradle is connected to the second stepper motor, and the other side is connected to the rotating shaft of the mounting platform outside the bracket, and the outer side of the bracket is provided with a mounting platform for installing a laser radar; the pitch cradle is used to install a binocular depth camera.

10. The unmanned motorcycle suitable for extreme maneuvers according to claim 5, characterized in that: The underlying motion control system includes a host computer and a slave computer; The host computer is used to receive, process and analyze the data transmitted by the upper perception system to achieve real-time monitoring and reconnaissance of the target area, including detection of road condition information and tracking of the target, and convert the obtained information into control quantity and transmit it to the lower computer; The lower computer is used to control the stepper motor of the upper perception system according to the control amount so that it can track the target in real time; at the same time, it observes the road condition information to control the softness and hardness of the suspension and the air pressure in the air pressure chamber.

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