Six-wheel unmanned vehicle gravity center adjusting system and obstacle crossing method

Abstract

The invention discloses a six-wheel unmanned vehicle gravity center adjusting system and an obstacle crossing method. The first cooling water tank and the second cooling water tank are installed on the front portion and the rear portion of the six-wheel unmanned vehicle respectively and connected through the water pump module, a flow meter used for controlling the water amount is arranged in the water pump module, and then the gravity center position of the six-wheel unmanned vehicle is adjusted. Water tank accessories are mounted at the tops of the two cooling water tanks; the method comprises the steps that the adjusting system is installed on the six-wheel unmanned vehicle, the six-wheel unmanned vehicle is moved to the obstacle crossing position, the water pump module is started, the gravity center position of the six-wheel unmanned vehicle is adjusted and controlled through the water pump module, and then obstacle crossing of the six-wheel unmanned vehicle is achieved. Adjustment of the gravity center of the six-wheel unmanned vehicle is achieved by adjusting the water amount of the front cooling water tank and the rear cooling water tank of the six-wheel unmanned vehicle, the situation that additional balance weights and mechanisms are added to achieve gravity center adjustment is avoided, the system structure is simplified, and the obstacle crossing capacity of the six-wheel unmanned vehicle is enhanced through gravity center adjustment in the obstacle crossing process.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned ground vehicles, and in particular relates to a gravity center adjustment system and an obstacle surmounting method for a six-wheeled unmanned vehicle. Background Art

[0002] With the advent of the intelligent era, unmanned vehicles have been widely used in national defense, military, industrial, detection and surveying and other fields. Six-wheeled unmanned vehicles play an important role in these fields due to their good off-road obstacle crossing performance and maneuverability.

[0003] After the design of a general six-wheeled unmanned vehicle is completed, its center of gravity position cannot be changed, which will restrict the passability of the six-wheeled unmanned vehicle in some special working conditions, such as wider trenches and higher vertical obstacles. Therefore, a method of changing the center of gravity position to adjust the vehicle performance has been created, such as the three-axis unmanned vehicle and its integrated vehicle control system and obstacle crossing method disclosed in Application No. 202110863176X, which indirectly changes the center of gravity position by adjusting the position of the vehicle's central axis to assist in obstacle crossing, but this makes the mechanical structure more complicated and increases the complexity of the system; such as the vehicle center of gravity adjustment system and method disclosed in Application No. 2021106251304, which can only ensure that the center of gravity is at a low position and the adjustment is limited; such as a vehicle center of gravity adjustment method, device, medium, system and vehicle disclosed in Application No. 2022102341306, a motor-driven counterweight method is used to change the center of gravity position of the vehicle. The use of additional mechanisms not only increases the vehicle's own weight, but also makes the system more complicated. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a six-wheeled unmanned vehicle center of gravity adjustment system and obstacle crossing method, which assists in enhancing the obstacle crossing ability by adjusting the center of gravity during the obstacle crossing process.

[0005] The technical solution adopted by the present invention is:

[0006] 1. A six-wheeled unmanned vehicle center of gravity adjustment system:

[0007] It includes a first cooling water tank, a second cooling water tank, a water pump module and water tank accessories. The first cooling water tank and the second cooling water tank are respectively installed at the front and rear of the six-wheeled unmanned vehicle. The first cooling water tank and the second cooling water tank are connected through the water pump module. The water pump module is provided with a flow meter for controlling the water volume, thereby realizing the adjustment of the center of gravity position of the six-wheeled unmanned vehicle. Water tank accessories are installed on the top of the first cooling water tank and the second cooling water tank.

[0008] The water pump module is mainly composed of a first water pump group and a second water pump group in parallel. The first water pump group includes a first water pump, a first one-way valve and a first flow meter. The inlet of the first water pump is connected to the first cooling water tank, and the outlet of the first water pump is connected to one end of the first flow meter through the first one-way valve, and the other end of the first flow meter is connected to the second cooling water tank; the second water pump group includes a second water pump, a second one-way valve and a second flow meter. The inlet of the second water pump is connected to the second cooling water tank, and the outlet of the second water pump is connected to one end of the second flow meter through the second one-way valve, and the other end of the second flow meter is connected to the first cooling water tank. The first flow meter and the second flow meter are used to monitor the liquid flow in the water pump module, and then adjust the center of gravity of the six-wheeled unmanned vehicle by the weight of the first cooling water tank and the second cooling water tank.

[0009] A first ball valve and a second ball valve are installed on the top of the first cooling water tank and the second cooling water tank, respectively, and the first ball valve and the second ball valve are connected through a pipeline.

[0010] The water tank accessories include a liquid level gauge and an air filter. The first cooling water tank and the second cooling water tank are both installed on the top with a liquid level gauge and an air filter. The liquid level gauge is used to monitor the liquid level in the first cooling water tank and the second cooling water tank in real time, and the air filter is used to ensure the air pressure balance inside and outside the first cooling water tank and the second cooling water tank.

[0011] A third ball valve and a fifth ball valve are installed at the bottom of the first cooling water tank, a fourth ball valve and a sixth ball valve are installed at the bottom of the second cooling water tank, the first water pump inlet in the first water pump group and the second flow meter in the second water pump group are connected to the third ball valve on the first cooling water tank through a pipeline, and the first flow meter in the first water pump group and the second water pump inlet in the second water pump group are connected to the fourth ball valve on the second cooling water tank through a pipeline.

[0012] 2. A method for adjusting the center of gravity of a six-wheeled unmanned vehicle to overcome obstacles, comprising the following steps:

[0013] Step S1, first, install the first cooling water tank and the second cooling water tank at the front and rear of the six-wheeled unmanned vehicle respectively, and then connect the first cooling water tank and the second cooling water tank through a water pump module;

[0014] Step S2, moving the six-wheeled unmanned vehicle to a position to be crossed;

[0015] Step S3, start the water pump module, and use the water pump module to adjust the center of gravity of the six-wheeled unmanned vehicle, so as to enable the six-wheeled unmanned vehicle to cross obstacles.

[0016] In step S3, the obstacles that the six-wheeled unmanned vehicle crosses include trenches and vertical obstacles;

[0017] When the obstacle to be crossed by the six-wheeled unmanned vehicle is a trench, step S3 is specifically as follows:

[0018] Step S3.1, when the front axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the middle axle and the rear axle of the six-wheeled unmanned vehicle by using the water pump module;

[0019] Step S3.2: Next, the front axle of the six-wheeled unmanned vehicle contacts the ground, and when the middle axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to the middle axle position of the six-wheeled unmanned vehicle by using the water pump module;

[0020] Step S3.3, then the middle axle of the six-wheeled unmanned vehicle touches the ground. When the rear axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the front axle and the middle axle of the six-wheeled unmanned vehicle using the water pump module, and finally the six-wheeled unmanned vehicle completes crossing the trench.

[0021] When the obstacle to be crossed by the six-wheeled unmanned vehicle is a vertical obstacle, step S3 is specifically as follows:

[0022] Step S3.1: First, use the water pump module to adjust the center of gravity of the six-wheeled unmanned vehicle to between the middle axle and the rear axle of the six-wheeled unmanned vehicle;

[0023] Step S3.2, the front axle suspension of the six-wheeled unmanned vehicle is retracted, the middle axle suspension is extended, and the rear axle suspension is retracted, so that the entire six-wheeled unmanned vehicle is in a lifted and climbing state until the front axle of the six-wheeled unmanned vehicle climbs over the obstacle;

[0024] Step S3.3, when the front axle of the six-wheeled unmanned vehicle climbs over the obstacle, the front axle suspension of the six-wheeled unmanned vehicle extends, the middle axle suspension retracts, and the rear axle suspension extends until the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle;

[0025] Step S3.4, when the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the front axle and the middle axle of the six-wheeled unmanned vehicle using the water pump module. At the same time, the front axle suspension and the rear axle suspension of the six-wheeled unmanned vehicle remain in the extended state, and the middle axle suspension is extended until the rear axle of the six-wheeled unmanned vehicle climbs over the obstacle, completing the six-wheeled unmanned vehicle's crossing of the vertical obstacle.

[0026] In order to avoid using complex mechanisms to adjust the center of gravity of the six-wheeled unmanned vehicle and reduce the complexity of the system, the present invention adjusts the center of gravity of the six-wheeled unmanned vehicle by adjusting the water volume of the front and rear cooling water tanks of the six-wheeled unmanned vehicle itself, thereby simplifying the system structure. At the same time, the center of gravity adjustment is used during the obstacle surmounting process to enhance the obstacle surmounting ability of the six-wheeled unmanned vehicle.

[0027] The beneficial effects of the present invention are:

[0028] 1. Compared with adopting additional weights and mechanisms to adjust the center of gravity of the six-wheeled unmanned vehicle, the present invention directly adjusts the water volume of the front and rear cooling water tanks of the six-wheeled unmanned vehicle by a water pump to adjust the center of gravity of the six-wheeled unmanned vehicle, thereby simplifying the system structure and reducing the complexity of the system.

[0029] 2. When crossing trenches and vertical obstacles, the present invention uses a center of gravity adjustment system to adjust the center of gravity to a suitable position, thereby improving the stability of the six-wheeled unmanned vehicle during the obstacle crossing process and enhancing the obstacle crossing capability of the six-wheeled unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the center of gravity adjustment system of the six-wheeled unmanned vehicle of the present invention;

[0031] Figure 2 This is a schematic diagram of the installation positions of the front and rear cooling water tanks of the gravity center adjustment system of the six-wheeled unmanned vehicle of the present invention;

[0032] Figure 3 The center of gravity adjustment range curve of the center of gravity adjustment system of the six-wheeled unmanned vehicle of the present invention;

[0033] Figure 4 A schematic diagram of a trench crossing strategy of a six-wheeled unmanned vehicle center of gravity adjustment system of the present invention;

[0034] Figure 5 A comparison diagram of the pitch angles of the six-wheeled unmanned vehicle center of gravity adjustment system of the present invention when crossing a trench with or without center of gravity adjustment;

[0035] Figure 6 A schematic diagram of a vertical obstacle crossing strategy of a six-wheeled unmanned vehicle center of gravity adjustment system of the present invention;

[0036] Figure 7 The figure is a comparison diagram of the pitch angles when the center of gravity adjustment system of the six-wheeled unmanned vehicle of the present invention crosses a vertical obstacle with and without the center of gravity adjustment.

[0037] In the figure: the first water pump group-1; the second water pump group-2; the first water pump-11; the first water pump-21; the first flow meter-13; the second flow meter-23; the first check valve-12; the first check valve-22; the front cooling water tank-31; the rear cooling water tank-32; the first ball valve-41; the second ball valve-42; the third ball valve-43; the fourth ball valve-44; the fifth ball valve-45; the sixth ball valve-46; the water tank accessory-5; the liquid level meter-51; the air filter-52. DETAILED DESCRIPTION

[0038] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0039] like Figure 1 As shown, the system includes a first cooling water tank 31, a second cooling water tank 32, a water pump module and a water tank accessory 5. The first cooling water tank 31 and the second cooling water tank 32 are respectively installed at the front and rear of the six-wheeled unmanned vehicle. Figure 2 As shown, the first cooling water tank 31 and the second cooling water tank 32 are connected via a water pump module, the water pump module is provided with a water pump for pumping liquid, and the water pump module is provided with a flow meter for controlling the water volume, so as to adjust the front and rear weights of the six-wheeled unmanned vehicle, and further adjust the center of gravity position of the six-wheeled unmanned vehicle, and water tank accessories 5 are installed on the top of the first cooling water tank 31 and the second cooling water tank 32.

[0040] The water pump module is externally connected to a control module to control the flow of the fluid in the water pump module.

[0041] The water pump module is mainly composed of a first water pump group 1 and a second water pump group 2 in parallel. The first water pump group 1 includes a first water pump 11, a first one-way valve 12 and a first flow meter 13. The inlet of the first water pump 11 is connected to the first cooling water tank 31, and the outlet of the first water pump 11 is connected to one end of the first flow meter 13 through the first one-way valve 12, and the other end of the first flow meter 13 is connected to the second cooling water tank 32; the second water pump group 2 includes a second water pump 21, a second one-way valve 22 and a second flow meter 23. The inlet of the second water pump 21 is connected to the second cooling water tank 32, and the outlet of the second water pump 21 is connected to one end of the second flow meter 23 through the second one-way valve 22, and the other end of the second flow meter 23 is connected to the first cooling water tank 31. The first flow meter 13 and the second flow meter 23 are used to monitor the liquid flow in the water pump module, and then adjust the center of gravity of the six-wheeled unmanned vehicle by the weight of the first cooling water tank 31 and the second cooling water tank 32.

[0042] The first water pump group and the second water pump group are connected in parallel and have the same composition structure, but are installed in opposite directions.

[0043] A first ball valve 41 and a second ball valve 42 are installed on the top of the first cooling water tank 31 and the second cooling water tank 32, respectively. The first ball valve 41 and the second ball valve 42 are connected by a pipeline. When the water level of the cooling water tank on one side is too high, the water is transported to the cooling water tank on the other side through the pipeline to prevent the cooling water tank from overflowing due to the high water level.

[0044] The water tank accessory 5 includes a liquid level gauge 51 and an air filter 52. The liquid level gauge 51 and the air filter 52 are installed on the top of the first cooling water tank 31 and the second cooling water tank 32. The liquid level gauge 51 is used to monitor the liquid level in the first cooling water tank 31 and the second cooling water tank 32 in real time, and the air filter 52 is used to ensure the air pressure balance inside and outside the first cooling water tank 31 and the second cooling water tank 32.

[0045] A third ball valve 43 and a fifth ball valve 45 are installed at the bottom of the first cooling water tank 31, and a fourth ball valve 44 and a sixth ball valve 46 are installed at the bottom of the second cooling water tank 32. The inlet of the first water pump 11 in the first water pump group 1 and the second flow meter 23 in the second water pump group 2 are connected to the third ball valve 43 on the first cooling water tank 31 through a pipeline, and the first flow meter 13 in the first water pump group 1 and the inlet of the second water pump 21 in the second water pump group 2 are connected to the fourth ball valve 44 on the second cooling water tank 32 through a pipeline.

[0046] The fifth ball valve 45 and the sixth ball valve 46 are reserved ball valves of the system.

[0047] The specific working principle of the present invention is as follows: when the center of gravity does not need to be adjusted, the water levels of the first cooling water tank 31 and the second cooling water tank 32 are both in the middle position, and the center of gravity is at the center axis position of the six-wheeled unmanned vehicle; when the center of gravity needs to be adjusted to between the center axis and the rear axle, the first water pump group 1 works, and the second water pump group 2 does not work. The first water pump 11 in the first water pump group 1 pumps the water in the first cooling water tank 31 into the second cooling water tank 32, and the first flow meter 13 monitors the amount of water pumped into the second cooling water tank 32. When the set value is reached, the first water pump 1 1 stops working, at this time the second cooling water tank 32 is heavier, so that the center of gravity is located between the middle axle and the rear axle; when the center of gravity needs to be adjusted to between the front axle and the middle axle, the second water pump group 2 works, the first water pump group 1 does not work, the second water pump 21 in the second water pump group 2 pumps the water in the second cooling water tank 32 into the first cooling water tank 31, and the second flow meter 23 monitors the amount of water pumped into the first cooling water tank 31. When the set value is reached, the second water pump 21 stops working, at this time the first cooling water tank 31 is heavier, so that the center of gravity is located between the front axle and the middle axle. Figure 3 As shown, the center of gravity adjustment range of the six-wheeled unmanned vehicle center of gravity adjustment system is approximately -60mm to 60mm.

[0048] The embodiment of the present invention includes the following steps:

[0049] Step S1, first, install the first cooling water tank 31 and the second cooling water tank 32 at the front and rear of the six-wheeled unmanned vehicle respectively, and then connect the first cooling water tank 31 and the second cooling water tank 32 through a water pump module;

[0050] Step S2, moving the six-wheeled unmanned vehicle to a position to be crossed;

[0051] Step S3, start the water pump module, and use the water pump module to adjust the center of gravity of the six-wheeled unmanned vehicle, so as to enable the six-wheeled unmanned vehicle to cross obstacles.

[0052] In step S3, the obstacles that the six-wheeled unmanned vehicle crosses include trenches and vertical obstacles;

[0053] When the obstacle to be crossed by the six-wheeled unmanned vehicle is a trench, step S3 is specifically as follows: Figure 4 As shown:

[0054] Step S3.1: When the trench width is greater than the wheel diameter of the six-wheeled unmanned vehicle, the suspension length of each axle of the six-wheeled unmanned vehicle remains unchanged, such as Figure 4 When the front axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the middle axle and the rear axle of the six-wheeled unmanned vehicle by using the water pump module;

[0055] Step S3.2: Figure 4 b, then, the front axle of the six-wheeled unmanned vehicle touches the ground, and when the middle axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to the middle axle position of the six-wheeled unmanned vehicle using the water pump module;

[0056] Step S3.3: Figure 4 c, and then the middle axis of the six-wheeled unmanned vehicle touches the ground. When the rear axle of the six-wheeled unmanned vehicle crosses the trench, the water pump module is used to adjust the center of gravity of the six-wheeled unmanned vehicle to between the front axle and the middle axis of the six-wheeled unmanned vehicle, and finally the six-wheeled unmanned vehicle is completed to cross the trench.

[0057] Figure 5 The pitch angle comparison of the six-wheeled unmanned vehicle with and without center of gravity adjustment when crossing a trench. The maximum pitch angle can reach 16° when there is no center of gravity adjustment, and the pitch angle is only 2° when there is center of gravity adjustment. This improves the stability of the six-wheeled unmanned vehicle during obstacle crossing and enhances its obstacle crossing capability.

[0058] When the obstacle to be crossed by the six-wheeled unmanned vehicle is a vertical obstacle, step S3 is specifically as follows: Figure 6 As shown:

[0059] Step S3.1: When encountering a high vertical obstacle, such as Figure 6 In step 1, first, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the middle axle and the rear axle of the six-wheeled unmanned vehicle using the water pump module;

[0060] Step S3.2: Figure 6 In steps 2 to 4, the front axle suspension of the six-wheeled unmanned vehicle is retracted, the middle axle suspension is extended, and the rear axle suspension is retracted, so that the entire six-wheeled unmanned vehicle is in a lifted and climbing state until the front axle of the six-wheeled unmanned vehicle climbs over the obstacle;

[0061] Step S3.3: Figure 6 In steps 5 to 7, after the front axle of the six-wheeled unmanned vehicle climbs over the obstacle, the front axle suspension of the six-wheeled unmanned vehicle extends, the middle axle suspension retracts, and the rear axle suspension extends until the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle;

[0062] Step S3.4: Figure 6In steps 8 to 10, after the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the front axle and the middle axle of the six-wheeled unmanned vehicle using the water pump module, while the front axle suspension and the rear axle suspension of the six-wheeled unmanned vehicle remain in the extended state, and the middle axle suspension is extended until the rear axle of the six-wheeled unmanned vehicle climbs over the obstacle, thereby completing the six-wheeled unmanned vehicle's crossing of the vertical obstacle.

[0063] Figure 7 The pitch angle comparison of the six-wheeled unmanned vehicle with and without center of gravity adjustment when crossing vertical obstacles is shown. The maximum pitch angle can reach 35° when there is no center of gravity adjustment, and the pitch angle is reduced to 26° when there is center of gravity adjustment. This improves the stability of the six-wheeled unmanned vehicle during obstacle crossing and enhances its obstacle crossing capability.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A six-wheeled unmanned vehicle center of gravity adjustment system, characterized in that: The vehicle comprises a first cooling water tank (31), a second cooling water tank (32), a water pump module and a water tank accessory (5); the first cooling water tank (31) and the second cooling water tank (32) are respectively installed at the front and rear of the six-wheeled unmanned vehicle; the first cooling water tank (31) and the second cooling water tank (32) are connected via the water pump module; a flow meter for controlling the amount of water is provided in the water pump module, thereby adjusting the center of gravity position of the six-wheeled unmanned vehicle; and water tank accessories (5) are installed on the top of the first cooling water tank (31) and the second cooling water tank (32).

2. A six-wheeled unmanned vehicle center of gravity adjustment system according to claim 1, characterized in that: The water pump module is mainly composed of a first water pump group (1) and a second water pump group (2) connected in parallel, the first water pump group (1) includes a first water pump (11), a first one-way valve (12) and a first flow meter (13), the inlet of the first water pump (11) is connected to a first cooling water tank (31), the outlet of the first water pump (11) is connected to one end of the first flow meter (13) through the first one-way valve (12), and the other end of the first flow meter (13) is connected to the second cooling water tank (32); the second water pump group (2) includes a second water pump (21), a second A one-way valve (22) and a second flow meter (23), the inlet of the second water pump (21) is connected to the second cooling water tank (32), the outlet of the second water pump (21) is connected to one end of the second flow meter (23) through the second one-way valve (22), the other end of the second flow meter (23) is connected to the first cooling water tank (31), the first flow meter (13) and the second flow meter (23) are used to monitor the liquid flow in the water pump module, and then the center of gravity position of the six-wheeled unmanned vehicle is regulated by the weight of the first cooling water tank (31) and the second cooling water tank (32).

3. The center of gravity adjustment system of a six-wheeled unmanned vehicle according to claim 1, characterized in that: A first ball valve (41) and a second ball valve (42) are respectively installed on the top of the first cooling water tank (31) and the second cooling water tank (32), and the first ball valve (41) and the second ball valve (42) are connected via a pipeline.

4. The center of gravity adjustment system of a six-wheeled unmanned vehicle according to claim 1, characterized in that: The water tank accessory (5) comprises a liquid level gauge (51) and an air filter (52). The top of the first cooling water tank (31) and the top of the second cooling water tank (32) are both equipped with a liquid level gauge (51) and an air filter (52). The liquid level gauge (51) is used to monitor the liquid level in the first cooling water tank (31) and the second cooling water tank (32) in real time. The air filter (52) is used to ensure the balance of air pressure inside and outside the first cooling water tank (31) and the second cooling water tank (32).

5. The center of gravity adjustment system of a six-wheeled unmanned vehicle according to claim 2, characterized in that: A third ball valve (43) and a fifth ball valve (45) are installed at the bottom of the first cooling water tank (31), a fourth ball valve (44) and a sixth ball valve (46) are installed at the bottom of the second cooling water tank (32), the inlet of the first water pump (11) in the first water pump group (1) and the second flow meter (23) in the second water pump group (2) are connected to the third ball valve (43) on the first cooling water tank (31) through a pipeline, and the first flow meter (13) in the first water pump group (1) and the inlet of the second water pump (21) in the second water pump group (2) are connected to the fourth ball valve (44) on the second cooling water tank (32) through a pipeline.

6. A method for adjusting the center of gravity of a six-wheeled unmanned vehicle to overcome obstacles applied to the system described in any one of claims 1 to 5, characterized in that: The following steps are involved: Step S1: First, install a first cooling water tank (31) and a second cooling water tank (32) at the front and rear of the six-wheeled unmanned vehicle respectively, and then connect the first cooling water tank (31) and the second cooling water tank (32) through a water pump module; Step S2, moving the six-wheeled unmanned vehicle to a position to be crossed; Step S3, start the water pump module, and adjust the center of gravity of the six-wheeled unmanned vehicle through the water pump module, so as to enable the six-wheeled unmanned vehicle to cross obstacles.

7. The method for adjusting the center of gravity of a six-wheeled unmanned vehicle to overcome obstacles according to claim 6, characterized in that: In step S3, the obstacles that the six-wheeled unmanned vehicle crosses include trenches and vertical obstacles; When the obstacle to be crossed by the six-wheeled unmanned vehicle is a trench, step S3 is specifically as follows: Step S3.1, when the front axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the middle axle and the rear axle of the six-wheeled unmanned vehicle by using the water pump module; Step S3.2: Next, the front axle of the six-wheeled unmanned vehicle contacts the ground, and when the middle axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to the middle axle position of the six-wheeled unmanned vehicle by using the water pump module; Step S3.3, then the middle axle of the six-wheeled unmanned vehicle touches the ground. When the rear axle of the six-wheeled unmanned vehicle crosses the trench, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the front axle and the middle axle of the six-wheeled unmanned vehicle using the water pump module, and finally the six-wheeled unmanned vehicle completes crossing the trench.

8. The method for adjusting the center of gravity of a six-wheeled unmanned vehicle to overcome obstacles according to claim 6, characterized in that: When the obstacle to be crossed by the six-wheeled unmanned vehicle is a vertical obstacle, step S3 is specifically as follows: Step S3.1: First, use the water pump module to adjust the center of gravity of the six-wheeled unmanned vehicle to between the middle axle and the rear axle of the six-wheeled unmanned vehicle; Step S3.2, the front axle suspension of the six-wheeled unmanned vehicle is retracted, the middle axle suspension is extended, and the rear axle suspension is retracted, so that the entire six-wheeled unmanned vehicle is in a lifted and climbing state until the front axle of the six-wheeled unmanned vehicle climbs over the obstacle; Step S3.3, when the front axle of the six-wheeled unmanned vehicle climbs over the obstacle, the front axle suspension of the six-wheeled unmanned vehicle extends, the middle axle suspension retracts, and the rear axle suspension extends until the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle; Step S3.4, when the middle axle of the six-wheeled unmanned vehicle climbs over the obstacle, the center of gravity of the six-wheeled unmanned vehicle is adjusted to between the front axle and the middle axle of the six-wheeled unmanned vehicle using the water pump module. At the same time, the front axle suspension and the rear axle suspension of the six-wheeled unmanned vehicle remain in the extended state, and the middle axle suspension is extended until the rear axle of the six-wheeled unmanned vehicle climbs over the obstacle, completing the six-wheeled unmanned vehicle's crossing of the vertical obstacle.

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