Complex terrain inspection vehicle and Unity3D-based virtual-real control system thereof

Abstract

The invention provides a complex terrain inspection vehicle and a virtual-real control system based on Unity 3D, the complex terrain inspection vehicle comprises a driving chassis, at least four amphibious driving devices, a loading base and at least four take-off cylinders, the bottom of the driving chassis is provided with an air bag body, and the center of the bottom of the driving chassis is provided with a balancing weight; the amphibious driving device comprises a connecting rod driving mechanism and a roller mechanism arranged at the bottom of the connecting rod driving mechanism; the loading base is arranged in the center of the top of the driving chassis, the edge of the driving chassis exceeds the edge of the driving chassis, an airbag body is arranged on the side face of the loading base, and an equipment fixing device is arranged at the top of the loading base; the take-off air cylinders are evenly distributed at the bottom of the carrying base in the circumferential direction, the take-off air cylinders and the central axis of the carrying base form an inclination angle of 15-65 degrees, and the extending directions of all the take-off air cylinders are far away from one another. The technical problem that an existing amphibious driving intelligent inspection vehicle cannot cope with various complex terrains is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a complex terrain inspection vehicle and a Unity3D-based virtual-reality control system thereof. Background Art

[0002] Existing intelligent inspection vehicle technology has developed a relatively mature architecture. For example, through multi-sensor fusion and Unity3D, it demonstrates significant advantages in industrial scenarios. Its core technologies include a simultaneous positioning and mapping system based on LiDAR and visual inertial odometry, combined with Beidou centimeter-level positioning for precise navigation within complex factory areas. Equipped with a high-resolution optical zoom camera, infrared thermal imager, and partial discharge detector, these systems utilize lightweight neural network models for real-time identification of equipment defects. Four-wheel independent suspension and differential steering adapt to gravel roads and slopes of less than 15°. Select models feature a robotic arm expansion module for simplified operation. The communication system utilizes a hybrid 5G and LoRa network to ensure stable data transmission in signal-restricted environments such as tunnels and basements.

[0003] However, conventional intelligent inspection vehicles generally have shortcomings in their design for adaptability to water conditions: since they are not equipped with water surface drive devices such as propellers and inflatable buoys, when the equipment accidentally enters a river or a flooded area, it will not only lose its ability to move due to failure of the power system.

[0004] To address these issues, intelligent inspection vehicles with integrated, independent amphibious dual-mode drive systems have emerged. These vehicles achieve amphibious capabilities by removing the propellers or folding the pontoons. However, these designs often increase the weight of the equipment by over 35%, and the volume expansion increases the minimum turning radius to 2.3 times that of conventional models. Excessive deadweight can easily create a ground pressure exceeding 50kPa in soft, swampy terrain, causing the equipment to sink. The increased size of the vehicle makes it difficult to pass through confined spaces such as pipeline corridor inspection openings (the standard aperture is typically 800×800mm). This contradiction is particularly prominent in scenarios such as flood disaster relief and coastline inspections, which require both navigating muddy flats and traversing narrow environments. This exposes the current innovation bottlenecks of intelligent inspection equipment in areas such as lightweight amphibious drive and modular functional expansion.

[0005] Unity3D (Unity for short) is a cross-platform game development engine developed by Unity Technologies. It is primarily used to create interactive content such as 2D / 3D games, virtual reality (VR), augmented reality (AR), architectural visualization, and real-time 3D animation. Currently, the application of Unity3D in the field of patrol vehicles has gradually become a key direction of industry technological development. Its core advantage lies in the deep integration of digital twins and real-time interactive capabilities. The virtual inspection platform built with Unity3D can accurately restore the 3D model of the patrol vehicle and its working environment. In combination with sensor data acquisition and processing technology, it can achieve dynamic simulation and optimization of the inspection process. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides a complex terrain inspection vehicle and its virtual-reality control system based on Unity3D, which solves the technical problem that the existing amphibious-driven intelligent inspection vehicle cannot cope with various complex terrains.

[0007] A complex terrain inspection vehicle according to an embodiment of the present invention includes:

[0008] Driving chassis: An airbag is provided at the bottom of the driving chassis, and a counterweight is provided at the center of the bottom of the driving chassis;

[0009] At least four amphibious drive devices: including a connecting rod drive mechanism and a roller mechanism arranged at the bottom of the connecting rod drive mechanism, the four connecting rod drive mechanisms are respectively installed at the front and rear parts of both sides of the drive chassis, and the connecting rod drive mechanisms at the front and rear parts of both sides are symmetrically arranged with each other, and the remaining connecting rod drive mechanisms are arranged between the front and rear connecting rod drive mechanisms, and the front and rear connecting rod drive mechanisms rotate within the third quadrant and the fourth quadrant respectively;

[0010] The carrying base is arranged at the top center of the driving chassis, the edge of the driving chassis exceeds the edge of the driving chassis, an air bag is provided on the side of the carrying base, and an equipment fixing device is provided on the top of the carrying base;

[0011] At least four take-off cylinders; the take-off cylinders are evenly distributed circumferentially at the bottom of the loading base, the take-off cylinders are inclined at an angle of 15°-65° to the central axis of the loading base, and the extension directions of all the take-off cylinders are away from each other.

[0012] The technical principle of the present invention is that when moving on a flat ground, the roller mechanism is used to drive the entire inspection vehicle to move stably and quickly.

[0013] When moving on complex surfaces such as potholes, soft ground, and inclined ground, the connecting rod drive mechanism drives the entire inspection vehicle forward, and this movement is a bionic movement method, similar to the walking of four-limbed animals; at the same time, the roller mechanism can move synchronously on inclined ground, potholes, etc. to speed up the movement efficiency.

[0014] When the connecting rod drive mechanism is stuck on the soft ground, two methods can be used. For example, when a single connecting rod drive mechanism is stuck in the ground, it can be disengaged by lifting the connecting rod mechanism and synchronously rotating the roller mechanism sunk into the ground to facilitate disengagement; when multiple connecting rod drive mechanisms are stuck in the ground, four jumping cylinders are used to push them towards the ground, causing the entire inspection vehicle to jump and allowing the connecting rod drive mechanism to be released from the ground.

[0015] When there is an obstacle in the way and the obstacle cannot be crossed by the connecting rod drive mechanism and cannot be bypassed, four jumping cylinders can be used, and the direction of the jump can be controlled by the different air pressure instantly filled in each jumping cylinder. At the same time, the airbag on the upper side and the counterweight block in the center of the bottom can effectively ensure that the entire inspection vehicle lands on the ground first and will not roll over.

[0016] At the same time, when the mobile amphibious drive device is moving and the inspection vehicle is about to roll over, the jumping cylinder can be extended to prevent the inspection vehicle from rolling over.

[0017] When moving on a wading road, the connecting rod drive mechanism drives the roller mechanism to move upward, allowing the airbag at the bottom of the drive chassis to contact the water surface, so that the inspection vehicle floats on the water surface. At this time, the connecting rod drive mechanism drives the roller mechanism to move to a position in the water but not contacting the riverbed, and then the roller mechanism rotates to drive the entire inspection vehicle to move on the water surface.

[0018] When it is necessary to pass through a narrow area, the connecting rod drive mechanism can be folded and moved through by the roller mechanism.

[0019] In summary, the inspection vehicle of the present application can effectively move on various terrains such as potholes, soft ground, inclined ground, narrow spaces and water areas, and complete functions such as inspection, rescue, and material transportation.

[0020] Compared with the existing technology, the present invention has the following beneficial effects: through an amphibious drive device with a rolling mechanism and a connecting rod drive mechanism, in combination with a drive chassis with an airbag and a cargo base and a jumping cylinder for jumping, it solves the technical problem that the existing amphibious-driven intelligent inspection vehicle cannot cope with various complex terrains.

[0021] Furthermore, the connecting rod driving mechanism includes a rotating rod and a connecting rod, one end of the rotating rod is connected to a rotating motor, and the rotating motor is installed on the driving chassis;

[0022] The other end of the rotating rod is hinged to the middle of the connecting rod, the roller mechanism is installed at one end of the connecting rod, the other end of the connecting rod is hinged to a leg-lifting push rod, and the leg-lifting push rod is hinged to the middle of the rotating rod;

[0023] Arc grooves are provided on both sides of the driving chassis, and a connecting shaft is provided at a position of the rotating rod corresponding to the arc groove. A buffer spring is connected to one end of the connecting shaft and the arc groove.

[0024] The bionic walking effect is achieved by rotating rods and connecting rods in conjunction with the leg-lifting push rod and rotating motor. Compared with four-wheel or tracked movement, it can more easily cross obstacles.

[0025] A buffer spring is provided for buffering during movement. At the same time, when landing after taking off, the buffer spring cooperates with the rotation of the rotating motor and the extension and retraction of the leg lifting push rod to ensure that the inspection vehicle lands stably.

[0026] Furthermore, the roller mechanism includes a drive motor and a drive wheel, and the side surface of the drive wheel is uniformly distributed with raised patterns along the circumference;

[0027] A buffer seat is provided at one end of the connecting rod, and the drive motor is installed on the buffer seat. The buffer seat includes a large annular frame and a small annular frame. The drive motor is fixed on the inner side of the large annular frame, and the rotating shaft of the drive motor is passed through the small annular frame. A rubber buffer layer is provided between the large annular frame and the drive motor, and a rubber buffer layer is also provided between the small annular frame and the rotating shaft of the drive motor. A bearing is provided between the rotating shaft of the drive motor and the rubber buffer layer.

[0028] The wheel structure is formed by driving wheels and driven by a driving motor to perform rolling movement, that is, the present application is at least four-wheel drive. The use of this separate driving method is more convenient for dealing with soft and inclined ground, and the rubber buffer layer can well protect the driving motor to prevent it from being damaged by impact.

[0029] Furthermore, the driving wheel includes a main support wheel and a wheel cover installed on one side of the main support wheel, and a rotating wheel arranged in the center of the main support wheel and the wheel cover, and the center of the rotating wheel and the main support wheel are both connected to the rotating shaft of the driving motor;

[0030] The center of the main support wheel is evenly distributed with card slots in the circumferential direction, the rotating wheel is evenly distributed with key slots in the circumferential direction, and the rotating shaft of the driving motor is evenly distributed with card blocks in the circumferential direction. The card blocks are simultaneously inserted into the card slots and the key slots, and the card blocks can move along the card slots;

[0031] The side of the rotating wheel is evenly distributed with inclined protrusions in the circumferential direction, the side of the main support wheel is provided with a mounting slot, and the mounting slot is provided with a rotating blade that moves along the mounting slot. The inclined protrusion is provided with an inclined groove on the side away from the center of the main support wheel, and one end of each rotating blade is connected to an inclined slot.

[0032] The rotating blades are matched with the inclined protrusions, and the moving range of the rotating wheel is limited by the matching of the slots and the blocks. When the rotating wheel rotates clockwise, the rotating blades are firmly contracted in the main support wheel, and the appearance is in the state of a wheel; when the rotating wheel rotates counterclockwise, the rotating blades will be pushed out to form a propeller, which is used to increase the moving speed of the inspection vehicle on the water surface.

[0033] It should be noted that in special circumstances, such as on the ground to get out of the mud, the rotating wheel can be rotated counterclockwise; such as on the water surface to get out of being stuck on foreign objects such as branches, the rotating wheel can be rotated clockwise.

[0034] Furthermore, the front and rear parts of the driving chassis are respectively provided with steering devices;

[0035] The steering device includes a vertical rod and a transverse suspension rod connected perpendicularly to each other, the top and bottom of the vertical rod are provided with bearing seats, the two bearing seats are respectively connected to the bottom of the load base and the driving chassis, and the two ends of the transverse suspension rod are respectively installed with a rotating motor, and the rotating shaft of the rotating motor passes through the two sides of the driving chassis and is connected to the rotating rod;

[0036] A gear body is provided on the vertical rod, and the gear body is connected to a steering motor, which is installed on a driving chassis.

[0037] The original steering requires a connecting rod drive mechanism to cooperate with the roller mechanism to complete the steering. After the steering device is set up, the steering mechanism can be used in conjunction with the connecting rod drive mechanism to perform on-site steering, and the steering mechanism can be used in conjunction with the roller mechanism to achieve a steering mode similar to vehicle steering, that is, it has multiple steering methods to cope with various complex terrains; if there is actual need, the steering device can also be used in conjunction with the connecting rod drive mechanism and the roller mechanism to steer. For example, if there is a stone in front of one side of the inspection vehicle, the corresponding connecting rod drive mechanism can be lifted at this time, and the remaining roller mechanism can be used in conjunction with the steering device to steer.

[0038] Furthermore, an air pump is provided in the carrying base, the air circuit of the air pump is connected to a take-off solenoid valve, the take-off solenoid valve is connected to the air circuit of the take-off cylinder via a transmission connection, a metering valve is provided between the take-off solenoid valve and the take-off cylinder, and an air pressure sensor is provided between the air pump and the take-off solenoid valve; a rubber support plate is provided on the top of the piston rod of the take-off cylinder.

[0039] By controlling the air pump and the starting electronic valve, the air pressure and air volume in the starting cylinder are controlled, while the metering valve is used to feedback the air pressure entering the starting cylinder, and the air pressure sensor is used to feedback the air pressure size.

[0040] The specific usage is like jumping forward. After turning on the air pump, directly connect the take-off solenoid valve to the rear take-off cylinder, let the piston rod of the rear take-off cylinder press against the ground first, then close the take-off solenoid valve, let the take-off cylinder keep pressing against the ground, then the air pump continues to work, let the air pressure between the air pump and the take-off battery valve continue to increase, when it reaches the set value, directly open the take-off solenoid valve, let the air enter all the take-off cylinders at the same time, because the rear take-off cylinder has touched the ground, so the rear of the inspection car will jump earlier than the front, and then the front take-off cylinder touches the ground, causing the front of the inspection car to jump as well, forming a forward jumping movement.

[0041] Furthermore, connecting plates are provided on both sides of the driving chassis, an airbag channel is provided between the connecting plates and the driving chassis, and a gap is provided between the connecting plates and the driving chassis, and the gap is used to accommodate the amphibious driving device;

[0042] A boat-shaped airbag is respectively provided on the two connecting plates, an airbag push rod is provided on the driving chassis, a telescopic rod of the airbag push rod passes through the airbag channel and is connected to the middle part of the boat-shaped airbag, and an airbag solenoid valve is provided between the boat-shaped airbag and the air pump;

[0043] The air pump is connected to all the airbags through air paths, and an electromagnetic on-off valve is provided between each of the airbags and the air pump.

[0044] When the inspection vehicle is traveling horizontally, the airbag push rod extends to form a boat shape, and then the air pump injects air into the boat-shaped airbag through the airbag solenoid valve. The two inflated boat-shaped airbags cooperate with the driving chassis to form a boat shape, which facilitates the inspection vehicle to move in the water. The two boat-shaped airbags here can be bow-shaped and stern-shaped respectively.

[0045] Furthermore, the equipment fixing device includes a carrier plate and blade bodies evenly distributed circumferentially on the edge of the carrier plate, the blade bodies are hingedly connected to the carrier plate, support rods are evenly distributed circumferentially between the carrier plate and the carrier base, an extension stem is provided on the blade body near the carrier base, an opening and closing push rod is hinged between the extension stem and the center of the carrier plate, and sealing strips are provided on the carrier plate and the edges of all blade bodies.

[0046] The closed blades form a water drop-shaped structure, which can effectively prevent the internal items from being wetted by water and the internal items from being impacted by the outside world. At the same time, the water drop shape helps the inspection vehicle to fall steadily when it jumps up.

[0047] Furthermore, at least four gimbal cameras are evenly distributed on the side of the loading base, radar devices are respectively provided at the front and rear of the driving chassis, and a balance sensor is provided in the middle of the driving chassis.

[0048] The environmental distance is measured through a gimbal camera and a radar device, while the balance sensor is used to maintain the balance of the inspection vehicle.

[0049] According to an embodiment of the present invention, a virtual-reality control system based on Unity3D is described, which is used to control a complex terrain inspection vehicle;

[0050] The virtual-reality control system includes a master control module and a movement module, a bounce control module, and a distance calculation module controlled by the master control module. The master control module is also connected to a wireless transceiver module and a storage module. The wireless transceiver module is connected to a cloud server.

[0051] The mobile module controls the rotation and rotation angle of the rotating motor, controls the rotation of the roller mechanism and the rotation and rotation angle of the two steering motors, and adjusts the horizontal state of the inspection vehicle according to the balance sensor;

[0052] The jumping control module controls the jumping direction and height of the jumping cylinder and adjusts the horizontal state of the inspection vehicle according to the balance sensor.

[0053] The distance calculation module controls the operation of the gimbal camera and the radar device, receives the image data captured by the gimbal camera and the electromagnetic wave chain signal of the radar device, calculates the distance value based on the image data and the electromagnetic wave chain signal of the radar device, and then calculates the distance average value of the two measured distance values ​​according to the proportion. The data of the finally calculated distance average value is transmitted to the main control module, which stores it in the storage module or transmits it to the cloud server;

[0054] The master control module calculates the moving path of the mobile module and the moving path of the bounce control module based on the path data in the cloud server or storage module and the average distance through Unity3D simulation, and transmits the two moving paths to the mobile module and the bounce control module respectively.

[0055] The distance is measured once by the gimbal camera, and at the same time, the radar device also performs a distance measurement. The proportion of the two is determined according to the environment. For example, in a multi-obstacle environment, the distance measurement ratio of the radar device is 2, while the measurement ratio of the gimbal camera is 1; or the proportion is calculated multiple times based on different positions, where the proportion of small value changes is 2, and the proportion of large changes is 1. The different positions are formed by the movement of the amphibious drive device. This method is mainly used in situations where environments such as heavy rain and heavy snow have an impact on both the gimbal camera and the radar device.

[0056] The calculation method of the distance calculation module mentioned above effectively improves the accuracy of the inspection vehicle's judgment on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a structural diagram of a complex terrain inspection vehicle according to embodiment 1 of the present invention.

[0058] Figure 2 This is a bottom view of the complex terrain inspection vehicle according to embodiment 1 of the present invention.

[0059] Figure 3 This is a structural schematic diagram of the connecting rod drive mechanism of Example 1 of the present invention when it is located in the second quadrant.

[0060] Figure 4 Schematic diagram of the front and rear connecting rod drive mechanism structure of Example 1 of the present invention.

[0061] Figure 5 Schematic diagram of the front and rear steering device structures of Example 1 of the present invention.

[0062] Figure 6 This is a schematic structural diagram of the steering device according to embodiment 1 of the present invention.

[0063] Figure 7 This is a schematic diagram of the roller mechanism structure of Example 1 of the present invention.

[0064] Figure 8 This is a cross-sectional view of the main support wheel of Example 1 of the present invention.

[0065] Figure 9 This is a cross-sectional view of the rotating wheel of Example 1 of the present invention.

[0066] Figure 10 This is the air circuit control diagram of the complex terrain inspection vehicle according to embodiment 1 of the present invention.

[0067] Figure 11 This is a structural block diagram of the virtual-reality control system of embodiment 1 of the present invention.

[0068] Figure 12 This is a schematic diagram of the driving chassis structure of the boat-shaped airbag in the inflated state according to Example 2 of the present invention.

[0069] Figure 13 This is the air path control diagram of the complex terrain inspection vehicle according to embodiment 2 of the present invention.

[0070] Figure 14 This is a structural block diagram of the virtual-reality control system of embodiment 2 of the present invention.

[0071] Figure 15 This is a schematic diagram of the structure of the equipment fixing device of Example 3 of the present invention.

[0072] In the above drawings: 1. driving chassis; 101. arc-shaped groove; 102. counterweight; 11. connecting plate; 111. airbag channel; 12. boat-shaped airbag; 13. airbag push rod; 2. amphibious driving device; 201. connecting rod driving mechanism; 202. roller mechanism; 21. rotating rod; 211. rotating motor; 212. connecting shaft; 213. buffer spring; 22. connecting rod; 221. leg lifting push rod; 23. driving motor; 231. clamping block; 24. driving wheel; 241. main support wheel; 2411. clamping groove; 2412. mounting seam; 242. wheel cover; 243. rotating wheel; 2431. keyway; 2432. tilting protrusion; 244. rotating blade; 2441. tilting groove; 25. Buffer seat; 251. Large ring frame; 252. Small ring frame; 253. Rubber buffer layer; 3. Carrying base; 301. Airbag body; 31. Air pump; 311. Take-off solenoid valve; 312. Metering valve; 313. Air pressure sensor; 314. Solenoid on / off valve; 315. Airbag solenoid valve; 32. Universal camera; 33. Radar device; 4. Take-off cylinder; 41. Rubber support plate; 5. Steering device; 51. Vertical rod; 511. Bearing seat; 512. Gear body; 52. Horizontal suspension rod; 53. Steering motor; 6. Equipment fixing device; 601. Sealing strip; 61. Carrying plate; 611. Support rod; 62. Blade body; 621. Extension stem; 63. Opening and closing push rod. DETAILED DESCRIPTION

[0073] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0074] Example 1

[0075] like Figure 1-2 The complex terrain inspection vehicle shown includes a driving chassis 1, at least four amphibious driving devices 2, a loading base 3 and at least four jumping cylinders 4. In this embodiment, there are four amphibious driving devices 2 and six jumping cylinders 4.

[0076] Specifically, the loading base 3 is arranged at the top center of the driving chassis 1, and the edge of the driving chassis 1 exceeds the edge of the driving chassis 1 to provide a larger loading space. An equipment fixing device 6 is provided on the top of the loading base 3 for fixing the loaded items, which is an elastic binding belt in this embodiment.

[0077] like Figure 1 As shown, the jumping cylinders 4 are evenly distributed circumferentially at the bottom of the loading base 3, and the jumping cylinders 4 are inclined at an angle of 15°-65° to the central axis of the loading base 3, with 30° being the best. The extension directions of all the jumping cylinders 4 are away from each other, so that the inspection vehicle can be straightened in time when the inspection vehicle falls sideways.

[0078] Specifically, airbags 301 are provided at the bottom of the driving chassis 1 and the side of the cargo base 3. A counterweight 102 is provided at the bottom center of the driving chassis 1 for counterweighting so that the driving chassis 1 must face downward when the inspection vehicle falls in the air.

[0079] like Figure 1-2 As shown, the amphibious drive device 2 includes a connecting rod drive mechanism 201 and a roller mechanism 202 arranged at the bottom of the connecting rod drive mechanism 201. The four connecting rod drive mechanisms 201 are respectively installed at the front and rear of both sides of the drive chassis 1, and the connecting rod drive mechanisms 201 at the front of both sides and the connecting rod drive mechanisms 201 at the rear of both sides are symmetrically arranged. The remaining connecting rod drive mechanisms 201 are arranged between the front and rear connecting rod drive mechanisms 201. In this embodiment, there are only four connecting rod drive mechanisms 201, so there is no connecting rod drive mechanism 201 in the middle. The connecting rod drive mechanisms 201 at the front and rear rotate within the third quadrant and the fourth quadrant respectively. Of course, if it is necessary to pass through ground conditions such as quicksand and swamps, the connecting rod drive mechanism 201 moving in the third quadrant can be moved to the second quadrant, and the connecting rod drive mechanism 201 moving in the fourth quadrant can be moved to the first quadrant. Figure 3 shown.

[0080] like Figure 3-6 As shown, the connecting rod drive mechanism 201 includes a rotating rod 21 and a connecting rod 22, wherein one end of the rotating rod 21 is connected to a rotating motor 211, so that the rotating rod 21 can be driven by the rotating motor 211 to rotate; the other end of the rotating rod 21 is hinged to the middle part of the connecting rod 22, and the roller mechanism 202 is installed at one end of the connecting rod 22 for contacting the ground, and the other end of the connecting rod 22 is hinged to a leg-lifting push rod 221, which is hingedly installed in the middle part of the rotating rod 21 and is used to drive the connecting rod 22 to rotate around the hinge between the rotating rod 21 and the connecting rod 22, forming a similar leg-lifting action.

[0081] Arc grooves 101 are provided on both sides of the driving chassis 1, and a connecting shaft 212 is provided at the rotating rod 21 corresponding to the arc groove 101. The rotation stability of the rotating rod 21 is improved by the cooperation between the arc groove 101 and the connecting shaft 212. A buffer spring 213 is connected to one end of the connecting shaft 212 and the arc groove 101 for buffering.

[0082] like Figure 5-6As shown, a steering device 5 is provided at the front and rear of the driving chassis 1 respectively; the specific steering device 5 includes a vertical rod 51 and a transverse suspension rod 52 connected perpendicularly to each other, wherein the top and bottom of the vertical rod 51 are provided with bearing seats 511, and the two bearing seats 511 are respectively connected to the bottom of the loading base 3 and the driving chassis 1, and a rotating motor 211 is respectively installed on both ends of the transverse suspension rod 52, and the rotating shaft of the rotating motor 211 passes through both sides of the driving chassis 1 and is connected to the rotating rod 21; a gear body 512 is provided on the vertical rod 51, and the gear body 512 is connected to the steering motor 53 by a gear, and the steering motor 53 is installed on the driving chassis 1, so that the transverse suspension rod 52 can swing following the steering motor 53 to achieve steering.

[0083] like Figure 7 As shown, the roller mechanism 202 includes a drive motor 23 and a drive wheel 24. The side surface of the drive wheel 24 is evenly distributed with raised patterns in the circumferential direction to increase the friction with the ground; a buffer seat 25 is provided at one end of the connecting rod 22, and the drive motor 23 is installed on the buffer seat 25. The buffer seat 25 includes a large annular frame 251 and a small annular frame 252. The drive motor 23 is fixed on the inner side of the large annular frame 251, and the rotating shaft of the drive motor 23 is passed through the small annular frame 252. A rubber buffer layer 253 is provided between the large annular frame 251 and the drive motor 23, and a rubber buffer layer 253 is also provided between the small annular frame 252 and the rotating shaft of the drive motor 23. A bearing is provided between the rotating shaft of the drive motor 23 and the rubber buffer layer 253 to buffer the drive motor 23 and reduce the risk of damage to the drive motor 23.

[0084] like Figure 7-9 As shown, the driving wheel 24 includes a main support wheel 241 and a wheel cover 242 installed on one side of the main support wheel 241, and a rotating wheel 243 arranged in the center of the main support wheel 241 and the wheel cover 242. The rotating wheel 243 and the center of the main support wheel 241 are connected to the rotating shaft of the driving motor 23, so that the driving motor 23 can drive the rotating wheel 243 and the main support wheel 241 to rotate.

[0085] Specifically, the center of the main support wheel 241 has slots 2411 evenly distributed circumferentially, the rotating wheel 243 has key slots 2431 evenly distributed circumferentially, and the rotating shaft of the driving motor 23 has blocks 231 evenly distributed circumferentially. The blocks 231 are simultaneously engaged in the slots 2411 and the key slots 2431, and the blocks 231 can move along the slots 2411. That is, when rotating forward, the rotating wheel 243 can directly rotate with the rotating shaft, while the main support wheel 241 can only rotate when the blocks 231 are close to the slots 2411.

[0086] Specifically, inclined protrusions 2432 are evenly distributed circumferentially on the side surface of the rotating wheel 243, and a mounting slot 2412 is provided on the side surface of the main support wheel 241. A rotating blade 244 that moves along the mounting slot 2412 is provided in the mounting slot 2412, and an inclined groove 2441 is provided on the side of the inclined protrusion 2432 away from the center of the main support wheel 241. One end of each rotating blade 244 is connected to an inclined groove 2441, so that the rotating blade 244 will slide along the inclined groove 2441. During the sliding process, the rotating blade 244 will gradually rise or fall following the inclined direction of the inclined groove 2441; because the rotating wheel 243 will rotate earlier than the main support wheel 241, the rotating blade 244 will slide along the inclined slot 2441 during this process of first rotation, thereby realizing the contraction or extension of the rotating blade 244.

[0087] like Figure 10 As shown, an air pump 31 is provided in the loading base 3, and the air circuit of the air pump 31 is connected to a take-off solenoid valve 311, and the take-off solenoid valve 311 is connected to the take-off cylinder 4 through an air circuit transmission, a metering valve 312 is provided between the take-off solenoid valve 311 and the take-off cylinder 4, and an air pressure sensor 313 is provided between the air pump 31 and the take-off solenoid valve 311; a rubber support plate 41 is provided on the top of the piston rod of the take-off cylinder 4, that is, the extension and retraction of the take-off cylinder 4 can be controlled by the air pump 31 and the take-off solenoid valve 311.

[0088] Specifically, the air pump 31 is connected to all the airbags 301 through an air path, and an electromagnetic on-off valve 314 is provided between each airbag 301 and the air pump 31 for inflating the airbag 301 .

[0089] like Figure 1-2 As shown in Figures 11, at least four universal cameras 32 are evenly distributed on the side of the loading base 3. In this embodiment, four cameras are provided for observing the conditions in the four directions of front, back, left and right. Radar devices 33 are respectively provided at the front and rear of the driving chassis 1 for detecting the conditions in the forward direction. A balance sensor is provided in the middle of the driving chassis 1 for maintaining the balance of the inspection vehicle.

[0090] like Figure 11 As shown, the virtual-reality control system based on Unity3D is used to control the complex terrain inspection vehicle. The specific virtual-reality control system includes a master control module and a mobile module, a bounce control module and a distance calculation module controlled by the master control module. The master control module is also connected to a wireless transceiver module and a storage module. The wireless transceiver module is connected to a cloud server. Of course, further structures such as infrared detectors and Bluetooth transceiver modules can be set.

[0091] like Figure 11As shown; the mobile module controls the rotation of the rotating motor 211 and the rotation angle, controls the rotation of the drive motor 23 of the roller mechanism 202 and the two steering motors 53 and the rotation angle, and adjusts the horizontal state of the inspection vehicle according to the balance sensor, which is used here for adjusting the horizontal state during normal mobile state.

[0092] The bounce control module controls the direction and height of the jumping cylinder 4, namely the air pump 31, the jumping solenoid valve 311, the metering valve 312 and the air pressure sensor 313, and adjusts the horizontal state of the inspection vehicle according to the balance sensor. Here it is used for the horizontal state adjustment during the bouncing state. The specific electromagnetic on-off valve 314 is also controlled by the bounce control module.

[0093] The distance calculation module controls the operation of the gimbal camera 32 and the radar device 33, and receives the image data taken by the gimbal camera 32 and the electromagnetic wave chain signal of the radar device 33. It calculates the distance value according to the image data and the electromagnetic wave chain signal of the radar device 33 respectively, and then calculates the distance average value according to the proportion of the two measured distance values, and transmits the final distance average value data to the main control module, which stores it in the storage module or transmits it to the cloud server for storage so that it can be retrieved and used later.

[0094] The master control module calculates the moving path of the mobile module and the moving path of the bounce control module based on the path data in the cloud server or storage module and the average distance through Unity3D simulation, and transmits the two moving paths to the mobile module and the bounce control module respectively.

[0095] Example 2

[0096] like Figure 12 As shown, the difference between this embodiment and embodiment 1 is that: connecting plates 11 are provided on both sides of the driving chassis 1, an airbag channel 111 is provided between the connecting plates 11 and the driving chassis 1, and a gap is provided between the connecting plates 11 and the driving chassis 1, and the gap is used to accommodate the amphibious drive device 2 to avoid interference with the amphibious drive device 2.

[0097] A boat-shaped airbag 12 is fixed on each of the two connecting plates 11 . An airbag push rod 13 is provided on the driving chassis 1 . The telescopic rod of the airbag push rod 13 passes through the airbag channel 111 and is connected to the middle of the boat-shaped airbag 12 .

[0098] like Figure 13 As shown, an airbag solenoid valve 315 is provided between the boat-shaped airbag 12 and the air pump 31 for inflating the boat-shaped airbag 12 .

[0099] like Figure 14 As shown, the airbag push rod 13 and the airbag solenoid valve 315 are both controlled by the bounce control module.

[0100] Example 3

[0101] like Figure 15 As shown, the difference between this embodiment and embodiment 1-2 is that: the equipment fixing device 6 includes a carrier plate 61 and blade bodies 62 that are evenly distributed circumferentially on the edge of the carrier plate 61, the blade bodies 62 are hingedly connected to the carrier plate 61, and the carrier plate 61 is connected to the carrier base 3 by support rods 611 that are evenly distributed circumferentially. The blade body 62 is integrally formed with an extension stem 621 near the carrier base 3, and an opening and closing push rod 63 is hinged between the extension stem 621 and the center of the carrier plate 61 to form an opening and closing structure, which can wrap the carrier therein. The carrier here can be an object, or a person or an animal.

[0102] Specifically, sealing strips 601 are provided on the edges of the carrier plate 61 and all blade bodies 62 to prevent water from entering; the blade body 62 may include a skeleton and an airbag structure to effectively protect the internal carrier.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A complex terrain inspection vehicle, characterized by: include: Driving chassis: An airbag is provided at the bottom of the driving chassis, and a counterweight is provided at the center of the bottom of the driving chassis; At least four amphibious drive devices: including a connecting rod drive mechanism and a roller mechanism arranged at the bottom of the connecting rod drive mechanism, the four connecting rod drive mechanisms are respectively installed at the front and rear parts of both sides of the drive chassis, and the connecting rod drive mechanisms at the front and rear parts of both sides are symmetrically arranged with each other, and the remaining connecting rod drive mechanisms are arranged between the front and rear connecting rod drive mechanisms, and the front and rear connecting rod drive mechanisms rotate within the third quadrant and the fourth quadrant respectively; The carrying base is arranged at the top center of the driving chassis, the edge of the driving chassis exceeds the edge of the driving chassis, an air bag is provided on the side of the carrying base, and an equipment fixing device is provided on the top of the carrying base; At least four take-off cylinders; the take-off cylinders are evenly distributed circumferentially at the bottom of the loading base, the take-off cylinders are inclined at an angle of 15°-65° to the central axis of the loading base, and the extension directions of all the take-off cylinders are away from each other.

2. The complex terrain inspection vehicle according to claim 1, characterized in that: The connecting rod driving mechanism includes a rotating rod and a connecting rod, one end of the rotating rod is connected to a rotating motor, and the rotating motor is installed on the driving chassis; The other end of the rotating rod is hinged to the middle of the connecting rod, the roller mechanism is installed at one end of the connecting rod, the other end of the connecting rod is hinged to a leg-lifting push rod, and the leg-lifting push rod is hinged to the middle of the rotating rod; Arc grooves are provided on both sides of the driving chassis, and a connecting shaft is provided at a position of the rotating rod corresponding to the arc groove. A buffer spring is connected to one end of the connecting shaft and the arc groove.

3. The complex terrain inspection vehicle according to claim 2, characterized in that: The roller mechanism includes a drive motor and a drive wheel, and the side surface of the drive wheel is uniformly distributed with raised patterns along the circumference; A buffer seat is provided at one end of the connecting rod, and the drive motor is installed on the buffer seat. The buffer seat includes a large annular frame and a small annular frame. The drive motor is fixed on the inner side of the large annular frame, and the rotating shaft of the drive motor is passed through the small annular frame. A rubber buffer layer is provided between the large annular frame and the drive motor, and a rubber buffer layer is also provided between the small annular frame and the rotating shaft of the drive motor. A bearing is provided between the rotating shaft of the drive motor and the rubber buffer layer.

4. The complex terrain inspection vehicle according to claim 3, characterized in that: The driving wheel includes a main support wheel and a wheel cover installed on one side of the main support wheel, and a rotating wheel arranged in the center of the main support wheel and the wheel cover, and the center of the rotating wheel and the main support wheel are both connected to the rotating shaft of the driving motor; The center of the main support wheel is evenly distributed with card slots in the circumferential direction, the rotating wheel is evenly distributed with key slots in the circumferential direction, and the rotating shaft of the driving motor is evenly distributed with card blocks in the circumferential direction. The card blocks are simultaneously inserted into the card slots and the key slots, and the card blocks can move along the card slots; The side of the rotating wheel is evenly distributed with inclined protrusions in the circumferential direction, the side of the main support wheel is provided with a mounting slot, and the mounting slot is provided with a rotating blade that moves along the mounting slot. The inclined protrusion is provided with an inclined groove on the side away from the center of the main support wheel, and one end of each rotating blade is connected to an inclined slot.

5. The complex terrain inspection vehicle according to any one of claims 2 to 4, characterized in that: Steering devices are respectively provided at the front and rear of the driving chassis; The steering device includes a vertical rod and a transverse suspension rod connected perpendicularly to each other, the top and bottom of the vertical rod are provided with bearing seats, the two bearing seats are respectively connected to the bottom of the load base and the driving chassis, and the two ends of the transverse suspension rod are respectively installed with a rotating motor, and the rotating shaft of the rotating motor passes through the two sides of the driving chassis and is connected to the rotating rod; A gear body is provided on the vertical rod, and the gear body is connected to a steering motor, which is installed on a driving chassis.

6. The complex terrain inspection vehicle according to claim 1, characterized in that: An air pump is provided in the carrying base, the air circuit of the air pump is connected to a take-off solenoid valve, the take-off solenoid valve is connected to the air circuit of the take-off cylinder through transmission, a metering valve is provided between the take-off solenoid valve and the take-off cylinder, and an air pressure sensor is provided between the air pump and the take-off solenoid valve; a rubber support plate is provided on the top of the piston rod of the take-off cylinder.

7. The complex terrain inspection vehicle according to claim 6, characterized in that: Connecting plates are provided on both sides of the driving chassis, and an airbag channel is provided between the connecting plates and the driving chassis. A gap is provided between the connecting plates and the driving chassis, and the gap is used to accommodate the amphibious driving device; A boat-shaped airbag is respectively provided on the two connecting plates, an airbag push rod is provided on the driving chassis, a telescopic rod of the airbag push rod passes through the airbag channel and is connected to the middle part of the boat-shaped airbag, and an airbag solenoid valve is provided between the boat-shaped airbag and the air pump; The air pump is connected to all the airbags through air paths, and an electromagnetic on-off valve is provided between each of the airbags and the air pump.

8. The complex terrain inspection vehicle according to claim 1, characterized in that: The equipment fixing device includes a carrier plate and blade bodies uniformly distributed circumferentially on the edge of the carrier plate, the blade bodies are hingedly connected to the carrier plate, support rods uniformly distributed circumferentially connect the carrier plate and the carrier base, an extension stem is provided on the blade body near the carrier base, an opening and closing push rod is hinged between the extension stem and the center of the carrier plate, and sealing strips are provided on the carrier plate and the edges of all blade bodies.

9. The complex terrain inspection vehicle according to claim 5, characterized in that: At least four universal cameras are evenly distributed on the side of the loading base, radar devices are respectively provided at the front and rear of the driving chassis, and a balance sensor is provided in the middle of the driving chassis.

10. A virtual-reality control system based on Unity3D, characterized by: Used to control a complex terrain inspection vehicle as claimed in claim 9; The virtual-reality control system includes a master control module and a movement module, a bounce control module, and a distance calculation module controlled by the master control module. The master control module is also connected to a wireless transceiver module and a storage module. The wireless transceiver module is connected to a cloud server. The mobile module controls the rotation and rotation angle of the rotating motor, controls the rotation of the roller mechanism and the rotation and rotation angle of the two steering motors, and adjusts the horizontal state of the inspection vehicle according to the balance sensor; The jumping control module controls the jumping direction and height of the jumping cylinder and adjusts the horizontal state of the inspection vehicle according to the balance sensor. The distance calculation module controls the operation of the gimbal camera and the radar device, receives the image data captured by the gimbal camera and the electromagnetic wave chain signal of the radar device, calculates the distance value based on the image data and the electromagnetic wave chain signal of the radar device, and then calculates the distance average value of the two measured distance values ​​according to the proportion. The data of the finally calculated distance average value is transmitted to the main control module, which stores it in the storage module or transmits it to the cloud server; The master control module calculates the moving path of the mobile module and the moving path of the bounce control module based on the path data in the cloud server or storage module and the average distance through Unity3D simulation, and transmits the two moving paths to the mobile module and the bounce control module respectively.

Images