Six-wheel drive vehicle suitable for use in underground roadways

Abstract

The utility model discloses a six wheel drive car suitable for underground laneway, including car body, hydraulic system, electric control system and six sets of steering mechanism that are set up symmetrically to car body front and back and left and right, each set of steering mechanism all includes drive shaft subassembly and hydraulic cylinder, and the inboard end of drive shaft subassembly is hinged and is connected with car body, and the outside end of drive shaft subassembly is installed with wheel, and the hydraulic motor transmission connection with wheel is installed on drive shaft subassembly, and the both ends of hydraulic cylinder are respectively hinged and are installed with car body and drive shaft subassembly, hydraulic system includes hydraulic pump station and hydraulic control valve group, and hydraulic control valve group is connected with the hydraulic motor of six sets of steering mechanism and hydraulic cylinder through hydraulic pipeline respectively, and electric control system includes industrial computer that is electrically connected with hydraulic pump station and hydraulic control valve group respectively. The utility model discloses through setting up six wheel independent drive mode and steering mode, can better adapt to the underground narrow, complex laneway working condition, and the transportation efficiency and safety are improved significantly.

Description

Technical Field

[0001] This utility model relates to a drive vehicle, specifically a six-wheel drive vehicle suitable for underground tunnels, belonging to the field of vehicle engineering technology. Background Technology

[0002] In mining operations such as coal and metal mines, the transportation of materials, tools, and equipment within underground mine roadways is a crucial link in ensuring continuous production. Due to the confined space, complex environment, and harsh road conditions underground, extremely high requirements are placed on the maneuverability, reliability, and flexibility of transportation equipment.

[0003] Traditional four-wheel drive vehicles, such as the Chinese invention patent CN119225364A entitled "A Car Applicable to Multiple Terrains and Its Control Method," generally suffer from large turning radii and insufficient maneuverability in narrow tunnels. To further improve driving smoothness and stability in complex terrain, six-wheel drive vehicles have emerged in the prior art, such as the Chinese invention patent CN119190224A entitled "Six-Wheel All-Terrain Unmanned Vehicle Chassis." This disclosed six-wheel all-terrain unmanned vehicle chassis has six wheels and a six-wheel drive system, and two Ackerman steering systems are installed at the rear. Compared to traditional four-wheel drive vehicles, this greatly improves the vehicle's maneuverability, but it still suffers from a large turning radius and low terrain adaptability. Furthermore, existing engineering six-wheel drive vehicles have low levels of automation and intelligence, weak terrain adaptability, and limited functionality, failing to address the challenges of confined spaces and complex working conditions encountered in mining and shaft engineering projects. Summary of the Invention

[0004] To address the problems existing in the prior art, this utility model provides a six-wheel drive vehicle suitable for underground tunnels, which can achieve a small turning radius, excellent terrain adaptability and intelligent control, and is particularly suitable for scenarios with confined spaces and complex working conditions, such as underground tunnels.

[0005] To achieve the above objectives, this six-wheel drive vehicle applicable to underground roadways includes a body, a hydraulic system, an electronic control system, and six steering mechanisms symmetrically arranged relative to the front and rear and left and right sides of the body.

[0006] Each steering mechanism includes a drive shaft assembly and a hydraulic cylinder. The inner end of the drive shaft assembly is hinged to the vehicle body via a rotating pin, and the axial direction of the rotating pin is vertical. The outer end of the drive shaft assembly is rotatably fitted with a wheel. The hydraulic motor is mounted on the drive shaft assembly and is connected to the wheel drive. The cylinder body end of the hydraulic cylinder is hinged to the vehicle body, and the telescopic end is hinged to the drive shaft assembly.

[0007] The hydraulic system includes a hydraulic pump station and a hydraulic control valve group, which is connected to the hydraulic motors and hydraulic cylinders of the six steering mechanisms through hydraulic pipelines.

[0008] The electrical control system includes an industrial computer, which is electrically connected to the hydraulic pump station and the hydraulic control valve group.

[0009] As a further improvement of this utility model, the electronic control system also includes a multi-sensor fusion module connected to the industrial control computer. The multi-sensor fusion module includes an angle sensor, an odometer, an inertial sensor, a vision sensor, and a laser rangefinder. The angle sensor is installed on the wheel, the odometer is installed on the hydraulic motor, the inertial sensor and the vision sensor are installed at the front of the vehicle body, and the laser rangefinder is symmetrically installed on both sides of the vehicle body.

[0010] As a further improvement of this utility model, it also includes a signal receiving system, which is used to establish a wireless communication connection with external control equipment and transmit the received control commands and telemetry data to the electronic control system.

[0011] Compared with existing technologies, this six-wheel drive vehicle suitable for underground roadways has the following advantages:

[0012] 1. The steering and drive of the six-wheel drive vehicle are independently controllable, allowing for sharp turns and stationary rotations. Based on feedback from the steering angle sensor, it dynamically coordinates the speed and steering angle of the inner and outer wheels, ensuring smooth steering, reducing tire wear, and achieving the minimum turning radius.

[0013] 2. By fusing different signals from multiple sensors, a perception model of the environment and vehicle body status can be constructed, providing a precise data foundation for vehicle control.

[0014] 3. Based on a distributed control architecture that coordinates upper and lower level machines, high-level decision-making can be decoupled from low-level real-time control, ensuring system intelligence, response speed and operational reliability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is the control flowchart of this utility model;

[0017] Figure 3 This is a framework diagram of the driving mode control of this utility model;

[0018] Figure 4 This is a schematic diagram of turning in the normal mode of this utility model (taking a left turn as an example).

[0019] Figure 5 This is a schematic diagram of a sharp turn in the sharp turn mode of this utility model (taking a left turn as an example).

[0020] Figure 6This is a schematic diagram of the rotation mode of this utility model (taking clockwise rotation as an example).

[0021] In the diagram: 1. Vehicle body; 2. Signal receiving system; 3. Hydraulic system; 4. Electronic control system; 5. Angle sensor; 6. Odometer; 7. Inertial sensor; 8. Vision sensor; 9. Laser rangefinder sensor; 10. Rotating pin; 11. Drive shaft assembly; 12. Hydraulic motor; 13. Wheel; 14. Hydraulic cylinder. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1 As shown, this six-wheel drive vehicle applicable to underground roadways includes a body 1, a signal receiving system 2, a hydraulic system 3, an electronic control system 4, and six steering mechanisms symmetrically arranged relative to the front, rear, left, and right sides of the body 1.

[0024] Each steering mechanism includes a drive shaft assembly 11 and a hydraulic cylinder 14. The inner end of the drive shaft assembly 11 is hinged to the vehicle body 1 via a rotating pin 10, and the axial direction of the rotating pin 10 is vertically arranged. The outer end of the drive shaft assembly 11 is rotatably fitted with a wheel 13. The hydraulic motor 12 is coaxially mounted on the drive shaft assembly 11 and is connected to the wheel 13 in a transmission manner. The cylinder end of the hydraulic cylinder 14 is hinged to the vehicle body 1, and the telescopic end is hinged to the drive shaft assembly 11. By controlling the extension and retraction of the hydraulic cylinder 14, the drive shaft assembly 11 can be controlled to swing in the forward and backward direction, thereby achieving steering.

[0025] The hydraulic system 3 includes a hydraulic pump station and a hydraulic control valve group. The hydraulic control valve group includes an electromagnetic proportional directional valve. The hydraulic control valve group is connected to the hydraulic motors 12 and hydraulic cylinders 14 of the six steering mechanisms through hydraulic pipelines. The hydraulic drive system 3 can selectively provide hydraulic power to the hydraulic motors 12 and hydraulic cylinders 14 of each steering mechanism through the hydraulic control valve group.

[0026] The electronic control system 4 includes an industrial computer, an STM32 microcontroller, and a multi-sensor fusion module. The multi-sensor fusion module includes a laser rangefinder 9 for detecting distance information. The laser rangefinder 9 is symmetrically arranged on both sides of the vehicle body 1. An IMU inertial sensor 7 and a monocular vision sensor 8 are installed at the front of the vehicle body 1. The inertial sensor 7 can be an IMU inertial sensor, and the vision sensor 8 can be a monocular vision sensor. An angle sensor 5 for collecting wheel rotation angle is installed on the wheel 13. The hydraulic motor 12 is equipped with an odometer 6 for real-time acquisition of rotation speed. The odometer 6 can be a wheel-type odometer.

[0027] The signal receiving system 2 is used to establish a wireless communication connection with external control equipment and transmit the received control commands and telemetry data to the electronic control system 4. The industrial control computer is responsible for high-level perception, state estimation and strategy decision-making, and the STM32 control unit is responsible for real-time execution and lower-level control. It also communicates and controls the electromagnetic proportional directional valve and hydraulic actuators in real time through the CAN bus.

[0028] like Figure 2 , Figure 3 As shown, the industrial control computer uses a nonlinear least squares optimization method based on a sliding window to fuse multi-sensor measurement information. Specifically, this includes the visual observation residual generated by monocular vision 8, the pre-integration residual generated by IMU inertial sensor 7, the odometer observation residual generated by wheeled odometer 6, and the sliding window prior residual. The fused motion state estimation results, such as pose and velocity, are input to the PID controller along with the target velocity and target rotation angle to form a closed-loop control. The output of the PID controller is converted by STM32 into drive commands for each electromagnetic proportional directional valve, thereby precisely controlling the hydraulic drive unit and realizing closed-loop adjustment of the vehicle's attitude and motion state.

[0029] When performing nonlinear optimization of the sliding window, the monocular vision residual, IMIU residual, wheel odometer residual, and sliding window prior residual are all treated as least squares objective function terms. Linearization is applied and the Jacobian matrix of each residual is calculated for efficient solution, thereby achieving real-time online pose state optimization estimation.

[0030] During braking, the electronic control system 4 sends braking or reverse torque commands to each hydraulic motor 12 according to the vehicle's actual speed, attitude, and braking requirements, causing the hydraulic motors 12 to apply braking torque to the wheels 13 to achieve the braking effect. At the same time, the controller rationally distributes the braking force among the six wheels through a lateral and longitudinal force distribution strategy to ensure vehicle stability during braking and minimize unstable conditions such as sideslip or fishtailing.

[0031] When this six-wheel drive vehicle, applicable to underground roadways, is traveling in a straight line, the industrial control computer calculates and sends unified or equivalent drive commands to the six hydraulic motors 12 based on the set target speed and direction of travel, so that the six wheels 13 rotate synchronously with the same or specified equivalent speed and driving force, thereby realizing the vehicle's straight forward or backward movement.

[0032] When this six-wheel drive vehicle, applicable to underground roadways, is turning, the industrial control computer implements the inner and outer wheel speed difference distribution based on real-time sampling of the angle sensor 5 and the wheel odometer 6: differential steering is achieved by reducing the speed and driving force of the inner wheel 13 and increasing the speed and driving force of the outer wheel 13. The steering angle and wheel speed errors are compensated and corrected by the PID controller, and the opening of the electromagnetic proportional reversing valve adapted to the hydraulic cylinder 14 and the hydraulic motor 12 is adjusted respectively. The hydraulic cylinder 14 is driven to extend and retract, thereby pushing the drive shaft assembly 11 to drive the hydraulic motor 12 to deflect, so that the corresponding wheel 13 can turn around the rotating pin 10, thus coordinating the required steering speed and steering accuracy.

[0033] This six-wheel drive vehicle, suitable for underground roadways, in normal driving mode, such as Figure 4 As shown, the wheels 13 of each steering mechanism rotate in the same direction; in sharp turn mode, as... Figure 5 As shown, the wheels 13 of the first four steering mechanisms rotate in the opposite direction to the wheels 13 of the last two steering mechanisms; in the self-rotation mode, as... Figure 6 As shown, the wheels 13 of the first two steering mechanisms rotate clockwise with the wheels 13 of the last two steering mechanisms.

[0034] This six-wheel drive vehicle, suitable for underground tunnels, supports multiple drive modes. The hydraulic drive system 3 selectively provides hydraulic power to the hydraulic motors 12 of each steering mechanism, enabling switchable modes such as front-wheel drive, rear-wheel drive, four-wheel drive, and all-wheel drive. The electronic control system 4 can automatically or manually switch drive modes based on vehicle posture and operator commands. In narrow, flat terrain, front-wheel drive can be prioritized for energy conservation, while in complex obstacle-crossing environments, all-wheel drive can be switched to improve passability.

[0035] This six-wheel drive vehicle, designed for underground tunnels, features independent drive and steering modes for each of the six wheels, allowing for flexible control of the vehicle's steering and movement. This enables it to better adapt to the narrow and complex working conditions of underground tunnels, significantly improving transportation efficiency and safety.

Claims

1. A six-wheel drive vehicle suitable for underground roadways, characterized in that, It includes a body (1), a hydraulic system (3), an electronic control system (4), and six steering mechanisms symmetrically arranged relative to the front and rear and left and right sides of the body (1); Each steering mechanism includes a drive shaft assembly (11) and a hydraulic cylinder (14). The inner end of the drive shaft assembly (11) is hinged to the vehicle body (1) via a rotating pin (10), and the axial direction of the rotating pin (10) is vertical. The outer end of the drive shaft assembly (11) is rotatably fitted with a wheel (13). The hydraulic motor (12) is mounted on the drive shaft assembly (11) and is connected to the wheel (13) via transmission. The cylinder end of the hydraulic cylinder (14) is hinged to the vehicle body (1), and the telescopic end is hinged to the drive shaft assembly (11). The hydraulic system (3) includes a hydraulic pump station and a hydraulic control valve group. The hydraulic control valve group is connected to the hydraulic motors (12) and hydraulic cylinders (14) of the six steering mechanisms through hydraulic pipelines. The electrical control system (4) includes an industrial computer, which is electrically connected to the hydraulic pump station and the hydraulic control valve group respectively.

2. The six-wheel drive vehicle suitable for underground roadways according to claim 1, characterized in that, The electronic control system (4) also includes a multi-sensor fusion module connected to the industrial control computer. The multi-sensor fusion module includes an angle sensor (5), an odometer (6), an inertial sensor (7), a vision sensor (8), and a laser rangefinder (9). The angle sensor (5) is installed on the wheel (13), the odometer (6) is installed on the hydraulic motor (12), the inertial sensor (7) and the vision sensor (8) are installed on the front of the vehicle body (1), and the laser rangefinder (9) is symmetrically installed on both sides of the vehicle body (1).

3. The six-wheel drive vehicle suitable for underground roadways according to claim 1, characterized in that, It also includes a signal receiving system (2), which is used to establish a wireless communication connection with external control equipment and transmit the received control commands and telemetry data to the electronic control system (4).

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