Multi-section crawler-type surveying and mapping robot chassis self-adaptive to complex terrains

Abstract

The invention discloses a multi-section crawler-type surveying and mapping robot chassis self-adaptive to complex terrains, and relates to the technical field of robot chassis, the multi-section crawler-type surveying and mapping robot chassis self-adaptive to complex terrains comprises a chassis frame and rubber crawler belts arranged on the two sides of the chassis frame, the chassis frame is provided with a workbench panel used for bearing a surveying and mapping instrument, and the chassis frame is provided with a wheel direction combination used for driving a single set of rubber crawler belts. The chassis rack is provided with a moving mechanism for adjusting the shape of the vertical section of the rubber track during operation, the moving mechanism comprises a connecting plate used for supporting a directional wheel and a swing wheel, and the directional wheel and the connecting plate are arranged on the connecting plate in a fixed-axis rotation mode. The chassis rack is provided with an array-variable obstacle-responding assembly which drives the connecting plate to swing and synchronously adjusts the horizontal position of the driving wheel so as to change the tension degree of the rubber track. Dynamic and continuous adjustment of the advancing roll angle of the rubber track is achieved, so that the cross section shape of the track can be flexibly changed from a horizontal range to a large-dip-angle range, and the movement capacity of the track on different landforms is improved.

Description

Technical Field

[0001] This invention relates to the field of robot chassis technology, specifically to a multi-section tracked surveying robot chassis that adapts to complex terrain. Background Technology

[0002] With the deepening application of robotics technology in the surveying and mapping field, the demand for robotic platforms capable of autonomously moving and performing high-precision surveying and mapping tasks in complex unstructured terrains (such as ruins, mountains, swamps, and ravines) is becoming increasingly urgent. Currently, mobile chassis used in such scenarios are mainly wheeled, single-tracked, and traditional multi-tracked.

[0003] Current tracked robots still have certain shortcomings, specifically: Their track systems are mostly fixed geometric configurations (usually rectangular or trapezoidal with a fixed inclination angle). In complex and varied terrain, fixed track configurations make it difficult to achieve real-time optimization of traction and attitude. Fixed tracks can only adopt a compromise design, which limits their overall performance in all terrains. When conducting surveying in rugged terrain, high-precision surveying equipment (such as lidar, oblique photography cameras, and high-precision IMUs) has high requirements for the static levelness and dynamic stability of the platform. Even a slight tilt angle or high-frequency vibration of the platform may cause distortion of the acquired 3D point cloud, blurring of images, and accumulation of positioning and calculation errors, which may seriously reduce or even invalidate the surveying data.

[0004] Therefore, an adaptive multi-section tracked mapping robot chassis for complex terrain is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive multi-section tracked mapping robot chassis for complex terrain, which has the advantages of coping with different terrains and further ensuring mapping accuracy, and solves the problem of limited comprehensive performance under all terrains.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-section tracked surveying robot chassis that adapts to complex terrain, comprising a chassis frame and rubber tracks on both sides, a worktable panel for supporting surveying instruments on the chassis frame, and an inertial measurement unit for monitoring the levelness of the worktable panel on the chassis frame, a wheel alignment assembly for driving a single set of rubber tracks on the chassis frame, the wheel alignment assembly being composed of a directional wheel, a sway wheel, a drive wheel and multiple sets of limit wheels, and a displacement mechanism for adjusting the vertical cross-sectional shape of the rubber tracks during operation on the chassis frame; The relocation mechanism includes a connecting plate for supporting the directional wheel and the swing wheel. The directional wheel and the connecting plate rotate on the connecting plate with a fixed axis. Multiple sets of limit wheels are arranged in an equidistant array below the directional wheel. The connecting plate swings freely in the vertical direction with the directional wheel as the center. The chassis frame is equipped with a variable array obstacle relief component that drives the connecting plate to swing and synchronously adjusts the horizontal position of the drive wheel to change the tension of the rubber track. The chassis frame is provided with a rectangular ring-shaped stacked frame for supporting the workbench panel, and the chassis frame is provided with a universal self-leveling component for adjusting the level of the rectangular ring-shaped stacked frame.

[0007] Preferably, the drive wheel and the directional wheel are at the same horizontal height, and the chassis frame is equipped with a buffer assembly that drives the limit wheel to cope with changes in terrain.

[0008] Preferably, the variable array emergency response assembly includes a transverse shaft that is driven by a motor and can rotate freely in the vertical direction. The transverse shaft is fixedly rotated on the chassis frame. A double convex plate is coaxially fixed on the transverse shaft. A notched convex plate is provided on the side of the double convex plate facing the connecting plate. The notched convex plate is fixedly rotated on the chassis frame, and the notched convex plate is coaxially fixed with the connecting plate. The double convex plate is fixedly connected to a first stop pin and a second stop pin on the side facing the notched convex plate. The notched convex plate has an upper guide groove for the first stop pin to slide and a lower guide groove for the second stop pin to slide.

[0009] Preferably, the variable array emergency response assembly further includes a corresponding rod fixedly sleeved on the transverse axis, and a connecting rod rotatably connected to the end of the corresponding rod away from the transverse axis. The chassis frame is provided with an extension rod and has a rectangular groove for the extension rod to slide horizontally. The drive wheel rotates on the extension rod with a fixed axis, and the end of the connecting rod away from the corresponding rod rotates on the extension rod with a fixed axis.

[0010] Preferably, when the longitudinal angle between the connecting plate and the vertical line is at its minimum, the rubber track between the sway wheel and the limit wheel is in a horizontal state.

[0011] Preferably, the buffer assembly includes an external bracket fixedly connected to the chassis frame. Each external bracket has a set of V-shaped torsion discs that rotate on a fixed axis above multiple sets of limit wheels, and the limit wheels rotate on the V-shaped torsion discs. The bottom column seat of the V-shaped torsion disc, which is away from the limit wheel, is fixedly rotated on the axis. The top column seat is fixedly rotated on the external bracket. A buffer spring is provided between the top column seat and the bottom column seat. The two ends of the buffer spring are fixedly connected to the top column seat and the bottom column seat, respectively.

[0012] Preferably, the universal self-leveling assembly includes a fork-shaped support fixedly connected to the chassis frame, and a cross-shaped torsion column is provided on the fork-shaped support. The cross-shaped torsion column includes a short column portion and a long column portion that are integrally formed and arranged at right angles. Both ends of the short column are fixedly pivoted on the fork-shaped support, and both ends of the long column are fixedly pivoted on the rectangular annular stacked frame. The rectangular annular stacked frame is fixedly connected to the workbench panel.

[0013] Preferably, the outer periphery of the rectangular annular stacked frame is provided with two sets of electric actuators. The two sets of electric actuators are respectively located on two adjacent sides of the rectangular annular stacked frame. The two sets of electric actuators include an integrally formed fixed end and a telescopic end, and both ends are fixedly connected with ball head pins. Ball head seats for sliding connection of corresponding ball head pins are fixedly connected to both the rectangular annular stacked frame and the chassis frame.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention enables dynamic and continuous adjustment of the forward tilt angle of the rubber track, allowing the track cross-sectional shape to flexibly change from "horizontal" to "large tilt angle," thereby improving mobility on different terrains. Specifically, the small tilt angle mode can smoothly roll over low obstacles, reducing impact; the large tilt angle mode can form a "wedge-shaped guide angle," converting vertical resistance into forward force, and efficiently climbing higher obstacles; and the near-horizontal track can maximize the ground contact area, improving adhesion to hard surfaces.

[0015] This invention enables high-precision surveying equipment to achieve high static levelness and dynamic stability through a worktable panel that can be adjusted in all directions, thereby avoiding phenomena such as 3D point cloud distortion, image blurring, or accumulation of positioning and calculation errors, and further ensuring the accuracy of surveying data. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the component containing the rectangular annular stacked frame of the present invention; Figure 3 This is a schematic diagram of the component containing the rubber track of the present invention; Figure 4 This is a schematic diagram of the component containing the double convex disk of the present invention; Figure 5 This is a schematic diagram of the component containing the notched convex disc of the present invention; Figure 6 This is a schematic diagram of the component containing the cross-shaped torsion post of the present invention; Figure 7 This is a schematic diagram of the component containing the fork-shaped support base of the present invention; Figure 8 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 9 This is a schematic diagram showing the horizontal tilt angle of the rubber track in its initial state of forward movement according to the present invention; Figure 10 This is a schematic diagram of the rubber track of the present invention in a state where the horizontal tilt angle in the forward direction increases; Figure 11 This is a schematic diagram of the rubber track of the present invention in a state where the horizontal tilt angle in the forward direction decreases.

[0017] In the diagram: 1. Chassis frame; 2. Rubber track; 3. Directional wheel; 4. Swing wheel; 5. Limit wheel; 6. Drive wheel; 7. Lateral shaft; 8. Notched cam; 9. Double cam; 10. No. 1 stop pin; 11. No. 2 stop pin; 12. Upper guide groove; 13. Lower guide groove; 14. Connecting plate; 15. Corresponding rod; 16. Connecting rod; 17. Extension rod; 18. V-shaped torsion plate; 19. Top column seat; 20. Bottom column seat; 21. Buffer spring; 22. Worktable panel; 23. Rectangular ring-shaped stacked frame; 24. Cross torsion column; 25. Fork-shaped support seat; 26. Ball head seat; 27. Electric actuator. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1 to 11 The present invention provides a technical solution: a multi-section tracked surveying robot chassis that adapts to complex terrain, including a chassis frame 1 and rubber tracks 2 arranged on both sides. The chassis frame 1 is provided with a worktable panel 22 for supporting surveying instruments, and the chassis frame 1 is also provided with an inertial measurement unit for monitoring the levelness of the worktable panel 22. The chassis frame 1 is provided with a wheel arrangement for driving a single set of rubber tracks 2. The wheel arrangement consists of a directional wheel 3, a sway wheel 4, a drive wheel 6 and multiple sets of limit wheels 5. The chassis frame 1 is provided with a displacement mechanism for adjusting the vertical cross-sectional shape of the rubber tracks 2 when they are running. The relocation mechanism includes a connecting plate 14 for supporting the directional wheel 3 and the swing wheel 4. The directional wheel 3 and the connecting plate 14 rotate on the connecting plate 14 with a fixed axis. Multiple sets of limit wheels 5 are arranged in an equidistant array below the directional wheel 3. The connecting plate 14 swings freely in the vertical direction with the directional wheel 3 as the center. The chassis frame 1 is provided with a variable array obstacle relief assembly that drives the connecting plate 14 to swing and synchronously adjusts the horizontal position of the drive wheel 6 to change the tension of the rubber track 2. The chassis frame 1 is provided with a rectangular ring-shaped stacked frame 23 for supporting the worktable panel 22. The chassis frame 1 is provided with a universal self-leveling component for adjusting the level of the rectangular ring-shaped stacked frame 23. The drive wheel 6 and the directional wheel 3 are at the same horizontal height.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 9 , Figure 10 and Figure 11 As shown, when driving the robot carrying the surveying instrument to move, the drive component causes the drive wheel 6 to rotate in the vertical direction, which in turn drives the rubber track 2 connected to it to operate according to the set cross-sectional shape, thereby causing the robot to move on the ground and cooperate with the surveying instrument carried on it to complete the surveying work of the terrain.

[0021] In actual use, such as Figure 9 As shown, the relative positions of the directional wheel 3 and the limiting wheel 5 on the chassis frame 1 do not change. The sway wheel 4 is located on the forward side of both the directional wheel 3 and the limiting wheel 5. The arrangement of the three causes the rubber track 2 in this position to form a triangular shape, so that the forward side of the rubber track 2 forms a certain horizontal angle with the ground. This allows the sloping leading edge of the rubber track 2 to climb the obstacle first when the robot moves, thereby converting some of the vertical resistance into a horizontal component force that is beneficial to the forward movement of the robot chassis. This significantly reduces the initial impact of climbing. At the same time, when moving in soft media, it can push some of the soft media to the sides or squeeze the soft media on the forward path through its slope, thereby reducing the resistance of accumulation in front.

[0022] Meanwhile, driven by the variable-array obstacle-resistance component, the connecting plate 14 can swing at a certain angle around the directional wheel 3, thereby changing the relative position of the sway wheel 4 on the directional wheel 3. However, the distance between the sway wheel 4 and the directional wheel 3 will not change. Figure 10 and Figure 11 As shown, when the sway wheel 4 swings with the connecting plate 14, the relative position between the sway wheel 4 and the limit wheel 5 changes, which causes the horizontal tilt angle of the rubber track 2 at the corresponding positions of the directional wheel 3, the sway wheel 4 and the limit wheel 5 to be different. Thus, through the change of tilt angle, the robot chassis can cope with different terrains and obstacles when moving forward, so as to ensure that it will not overturn or collapse during the forward movement.

[0023] It should be noted that, as Figures 9-11As shown, since both the directional wheel 3 and the sway wheel 4 are mounted on the connecting plate 14, and the swaying of the connecting plate 14 changes the relative position of the sway wheel 4 and the limiting wheel 5, the distance M between the directional wheel 3 and the sway wheel 4 will not change. Even if the position deflection of the sway wheel 4 causes a change in the transmission angle between the rubber track 2 and the directional wheel 3 and the sway wheel 4, the actual length of the rubber track 2 between the directional wheel 3 and the sway wheel 4 will not change much. At the same time, the change in the relative position of the sway wheel 4 and the limiting wheel 5 causes a significant change in the distance N between them. Although the transmission angle between the rubber track 2 and the limiting wheel 5 and the sway wheel 4 changes, the actual length of the rubber track 2 between the directional wheel 3 and the sway wheel 5 will not change much. The actual length of the rubber track 2 between the 4 and the limiting wheel 5 still varies significantly. Therefore, when the connecting plate 14 swings and changes the position of the sway wheel 4, the horizontal position of the drive wheel 6 is changed to cope with the change in the actual running length on the forward side of the rubber track 2 caused by the change in the structural shape of the forward side. Thus, in actual use, when the horizontal angle on the forward side of the rubber track 2 decreases, the drive wheel 6 is moved closer to the directional wheel 3 to move horizontally. When the horizontal angle on the forward side of the rubber track 2 increases, the drive wheel 6 is moved away from the directional wheel 3 to move horizontally. This allows the tension of the rubber track 2 to be adjusted when the structural shape of the rubber track 2 changes.

[0024] In one preferred embodiment, the chassis frame 1 is provided with a buffer assembly that drives the limiting wheels 5 to cope with changes in terrain. The buffer assembly includes an external bracket fixedly connected to the chassis frame 1. The external bracket has a set of V-shaped torsion discs 18 that rotate on a fixed axis above the multiple sets of limiting wheels 5. The limiting wheels 5 rotate on the V-shaped torsion discs 18. The V-shaped torsion disc 18 has a fixed axis at one end away from the limiting wheel 5, which rotates to the bottom column seat 20. The external bracket has a fixed axis at the top column seat 19, and a buffer spring 21 is provided between the top column seat 19 and the bottom column seat 20. The two ends of the buffer spring 21 are fixedly connected to the top column seat 19 and the bottom column seat 20, respectively.

[0025] like Figure 1 , Figure 2 , Figure 3 and Figure 8 As shown, in the initial state, driven by the elastic potential energy of the buffer spring 21, the fixed-axis limiting wheel 5 on the V-shaped torsion disk 18 is in close contact with the rubber track 2, thereby causing the rubber track 2 between the multiple sets of limiting wheels 5 to be in a horizontal straight line state. When the robot chassis moves on a rough road, the protruding obstacles on the road surface will cause the corresponding limiting wheel 5 to move upward, thereby driving the V-shaped torsion disk 18 to deflect, and then driving the buffer spring 21 to deform. At the same time, the presence of the buffer spring 21 can provide a certain shock absorption effect for the limiting wheel 5, so as to avoid rigid collisions affecting the stability during the movement.

[0026] Meanwhile, in actual use, shock absorbers acting on the sway wheel 4 can be installed on the connecting plate 14, and shock absorbers acting on the drive wheel 6 can be installed according to the actual situation to further ensure the stability of the robot during movement.

[0027] Based on the buffer assembly embodiment, the variable array emergency response assembly includes a transverse shaft 7 that is driven by a motor and can rotate freely in the vertical direction. The transverse shaft 7 is fixedly rotated on the chassis frame 1. A double convex disk 9 is coaxially fixed on the transverse shaft 7. A notched convex disk 8 is provided on the side of the double convex disk 9 facing the connecting plate 14. The notched convex disk 8 is fixedly rotated on the chassis frame 1, and the notched convex disk 8 and the connecting plate 14 are coaxially fixedly arranged. The double convex disk 9 is fixedly connected to a first stop pin 10 and a second stop pin 11 on the side facing the notched convex disk 8. The notched convex disk 8 has an upper guide groove 12 for the first stop pin 10 to slide through, and the notched convex disk 8 also has a lower guide groove 13 for the second stop pin 11 to slide through.

[0028] The variable-array emergency response assembly also includes a co-position rod 15 fixedly sleeved on the transverse shaft 7. The end of the co-position rod 15 away from the transverse shaft 7 is rotatably connected to a connecting rod 16. The chassis frame 1 is provided with an extension rod 17 and has a rectangular groove for the extension rod 17 to slide horizontally. The drive wheel 6 rotates on the extension rod 17. The end of the connecting rod 16 away from the co-position rod 15 rotates on the extension rod 17.

[0029] When the longitudinal angle between the connecting plate 14 and the vertical line is at its minimum, the rubber track 2 between the sway wheel 4 and the limit wheel 5 is in a horizontal state.

[0030] like Figures 2-5 As shown, the horizontal shaft 7, which is driven by a motor fixed on the chassis frame 1, rotates freely in the vertical direction, thereby driving the double convex disk 9 coaxially arranged with it. The double convex disk 9 is fixedly equipped with a first stop pin 10 and a second stop pin 11. The first stop pin 10 is slidably connected to the notched convex disk 8 through the upper guide groove 12, while the second stop pin 11 is slidably connected to the notched convex disk 8 through the lower guide groove 13. Therefore, only one of the first stop pin 10 and the second stop pin 11 can act in the corresponding functional slot at the same time.

[0031] When the rotation of the double cam 9 drives the first stop pin 10 to slide at the upper guide groove 12, it can cause the notched cam 8 to deflect downward, and then cause the connecting plate 14, which is coaxially fixed to the notched cam 8, to deflect upward, so as to increase the horizontal tilt angle of the forward side of the rubber track 2. At the same time, a corresponding rod 15 is also coaxially sleeved on the transverse shaft 7. The connecting rod 16 between the corresponding rod 15 and the extension rod 17 can deflect freely, and the extension rod 17 can only move in the horizontal direction under the restriction of the rectangular slide groove. Therefore, when the horizontal tilt angle of the forward side of the rubber track 2 increases, it can cause the drive wheel 6 to move closer to the directional wheel 3. The change in the horizontal position of the drive wheel 6 can change the distance between itself and the adjacent limit wheel 5, and thus change the effective length of the rubber track 2 between them. Therefore, the horizontal displacement of the drive wheel 6 needs to compensate for the bidirectional difference caused by the change in the structural shape of the rubber track 2.

[0032] Meanwhile, when the rotation of the double convex disc 9 causes the second stop pin 11 to slide on the lower guide groove 13, it can cause the connecting plate 14 to move downward, thereby reducing the horizontal tilt angle on the forward side of the rubber track 2. At the same time, it can also drive the extension rod 17 and the drive wheel 6 to move horizontally away from the directional wheel 3. The horizontal distance between the drive wheel 6 and the directional wheel 3 is adjusted according to the different swing directions of the connecting plate 14 to ensure that the tension of the rubber track 2 is within a reasonable range, thereby ensuring the normal operation of the rubber track 2.

[0033] It should be noted that in actual use, such as Figure 11 As shown, when the connecting plate 14 swings horizontally, its extreme position is that the lowest horizontal position of the sway wheel 4 and the limit wheel 5 are the same, which causes the rubber track 2 between the sway wheel 4 and the limit wheel 5 to be in a horizontal state. In this state, the contact area between the rubber track 2 and the ground can be increased to improve adhesion and stability on hard and rugged roads.

[0034] The power component used to drive the rubber track 2 is mounted on the extension rod 17, which can first drive the drive wheel 6 to rotate and cause the wheel combination to run, thereby ensuring that the rubber track 2 with a certain tension can move along the set trajectory, and thus achieve the movement purpose of the robot chassis.

[0035] Based on the embodiment of the variable array obstacle response component, the universal self-leveling component includes a fork-shaped support base 25 fixedly connected to the chassis frame 1. The fork-shaped support base 25 is provided with a cross torsion column 24. The cross torsion column 24 includes a short column part and a long column part that are integrally formed and arranged at right angles. Both ends of the short column part are fixedly rotatable on the fork-shaped support base 25, and both ends of the long column part are fixedly rotatable on the rectangular annular stacked frame 23. The rectangular annular stacked frame 23 is fixedly connected to the worktable panel 22.

[0036] Two sets of electric actuators 27 are provided on the outer periphery of the rectangular annular stacked frame 23. The two sets of electric actuators 27 are respectively located on two adjacent side positions of the rectangular annular stacked frame 23. The two sets of electric actuators 27 include an integrally formed fixed end and a telescopic end, and both ends are fixedly connected with ball head pins. Ball head seats 26 for sliding connection of corresponding ball head pins are fixedly connected on the rectangular annular stacked frame 23 and the chassis frame 1.

[0037] like Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the level of the surveying instrument on the workbench panel 22 is detected by the inertial measurement unit. When it is necessary to adjust the level of the workbench panel 22 and the surveying instrument on it to ensure the stability of the surveying benchmark and eliminate the surveying deviation caused by tilting, the rectangular ring-shaped stacked frame 23 is independently deflected in the horizontal and vertical directions by extending and retracting the actual length of the two sets of electric push rods 27 until the rubber track 2 can be in a horizontal state.

[0038] Meanwhile, the chassis frame 1 is supported by a cross-shaped torsion column 24 via a fork-shaped support 25. The short column of the cross-shaped torsion column 24 is fixedly mounted on the fork-shaped support 25, while the long column of the cross-shaped torsion column 24 is fixedly mounted on the rectangular annular stacked frame 23. Thus, the cross-shaped torsion column 24 can provide support for the rectangular annular stacked frame 23 and can meet the rotation requirements of the rectangular annular stacked frame 23 at different angles.

[0039] Meanwhile, the electric actuator 27 includes an integrally formed fixed end and a telescopic end, and the angles of the telescopic end and the fixed end relative to the rectangular annular stacked frame 23 and the chassis frame 1 can be adjusted arbitrarily, thereby ensuring that the adjustment process of any horizontal angle of the rectangular annular stacked frame 23 will not be affected by motion interference.

[0040] The rectangular ring-shaped stacked frame 23 is fixedly connected to the workbench panel 22 through the connecting column. In actual use, the connecting column is driven to protrude out of the chassis frame 1, and an elastic pad is set on the chassis frame 1 at the position corresponding to the connecting column. This allows for the adjustment of the connecting column angle while preventing external debris from entering the internal space of the chassis frame 1, thereby preventing damage to the internal components of the chassis frame 1.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-segment tracked surveying robot chassis adaptable to complex terrain, comprising a chassis frame and rubber tracks on both sides, a worktable panel for supporting surveying instruments on the chassis frame, and an inertial measurement unit for monitoring the levelness of the worktable panel on the chassis frame, characterized in that: The chassis frame is equipped with a wheel assembly for driving a single set of rubber tracks. The wheel assembly consists of a directional wheel, a sway wheel, a drive wheel, and multiple sets of limit wheels. The chassis frame is also equipped with a displacement mechanism for adjusting the vertical cross-sectional shape of the rubber tracks during operation. The relocation mechanism includes a connecting plate for supporting the directional wheel and the swing wheel. The directional wheel and the connecting plate rotate on the connecting plate with a fixed axis. Multiple sets of limit wheels are arranged in an equidistant array below the directional wheel. The connecting plate swings freely in the vertical direction with the directional wheel as the center. The chassis frame is equipped with a variable array obstacle relief component that drives the connecting plate to swing and synchronously adjusts the horizontal position of the drive wheel to change the tension of the rubber track. The chassis frame is provided with a rectangular ring-shaped stacked frame for supporting the workbench panel, and the chassis frame is provided with a universal self-leveling component for adjusting the level of the rectangular ring-shaped stacked frame.

2. The adaptive complex terrain multi-segment tracked mapping robot chassis according to claim 1, characterized in that: The drive wheel and the directional wheel are at the same horizontal height, and the chassis frame is equipped with a buffer component that drives the limit wheel to cope with changes in terrain.

3. The adaptive multi-segment tracked mapping robot chassis for complex terrain according to claim 1, characterized in that: The variable array emergency response component includes a transverse shaft that is driven by a motor and can rotate freely in the vertical direction. The transverse shaft is fixedly rotated on the chassis frame. A double convex plate is coaxially fixed on the transverse shaft. A notched convex plate is provided on the side of the double convex plate facing the connecting plate. The notched convex plate is fixedly rotated on the chassis frame, and the notched convex plate and the connecting plate are coaxially fixed. The double convex plate is fixedly connected to a first stop pin and a second stop pin on the side facing the notched convex plate. The notched convex plate has an upper guide groove for the first stop pin to slide and a lower guide groove for the second stop pin to slide.

4. The adaptive complex terrain multi-segment tracked mapping robot chassis according to claim 3, characterized in that: The variable array emergency response assembly also includes a co-position rod fixedly sleeved on the transverse axis, with a connecting rod rotating at the end of the co-position rod away from the transverse axis. The chassis frame is provided with an extension rod and has a rectangular groove for the extension rod to slide horizontally. The drive wheel rotates on the extension rod with a fixed axis, and the end of the connecting rod away from the corresponding rod rotates on the extension rod with a fixed axis.

5. The adaptive multi-segment tracked mapping robot chassis for complex terrain according to claim 4, characterized in that: When the longitudinal angle between the connecting plate and the vertical line is at its minimum, the rubber track between the sway wheel and the limit wheel is in a horizontal state.

6. The adaptive complex terrain multi-segment tracked mapping robot chassis according to claim 2, characterized in that: The buffer assembly includes an external bracket fixedly connected to the chassis frame. Each external bracket has a set of V-shaped torsion discs that rotate on a fixed axis above multiple sets of limit wheels. The limit wheels rotate on the V-shaped torsion discs. The bottom column seat of the V-shaped torsion disc, which is away from the limit wheel, is fixedly rotated on the axis. The top column seat is fixedly rotated on the external bracket. A buffer spring is provided between the top column seat and the bottom column seat. The two ends of the buffer spring are fixedly connected to the top column seat and the bottom column seat, respectively.

7. The adaptive multi-segment tracked mapping robot chassis for complex terrain according to claim 1, characterized in that: The universal self-leveling assembly includes a fork-shaped support base fixedly connected to the chassis frame. The fork-shaped support base is provided with a cross-shaped torsion column. The cross-shaped torsion column includes a short column part and a long column part that are integrally formed and arranged at right angles. Both ends of the short column are fixedly pivoted on the fork-shaped support, and both ends of the long column are fixedly pivoted on the rectangular annular stacked frame. The rectangular annular stacked frame is fixedly connected to the workbench panel.

8. The adaptive complex terrain multi-segment tracked mapping robot chassis according to claim 7, characterized in that: The outer periphery of the rectangular annular stacked frame is provided with two sets of electric actuators. The two sets of electric actuators are respectively located on two adjacent sides of the rectangular annular stacked frame. The two sets of electric actuators include an integrally formed fixed end and a telescopic end, and both ends are fixedly connected with ball head pins. Ball head seats for sliding connection of corresponding ball head pins are fixedly connected on the rectangular annular stacked frame and the chassis frame.

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