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An automatic following obstacle-crossing vehicle

An automatic following and obstacle technology, applied in the direction of motor vehicles, non-electric variable control, vehicle position/route/height control, etc., can solve the problem of stable obstacle-crossing performance, poor carrying capacity, high requirements on the road surface environment, and the inability to realize automatic handling, etc. problems, to achieve good obstacle-surpassing performance and carrying stability, low requirements on road conditions, and low cost

Active Publication Date: 2019-12-13
玄智(深圳)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Due to the limitation of simple structure and single movement mode, traditional robotic trolleys can only complete simple flat road movement. The obstacle-surpassing performance and stable carrying capacity of the traditional universal wheel structure are poor, and the requirements for the road environment are high. Terrain to climb, such as multi-level stairs
In the case of complex ground environment and diverse terrain characteristics, ordinary four-wheel drive vehicles and tracked vehicles cannot complete the obstacle-crossing requirements at all.
Most of the existing obstacle vehicles at home and abroad are manually assisted or manually controlled electric assisted, which cannot realize automatic handling in principle, and the functions are not perfect
In addition, existing products such as vision-following cars use similar vision to calibrate the target and follow the target, but their adaptability to the site is very limited, and they can only work under better ground conditions.

Method used

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  • An automatic following obstacle-crossing vehicle
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  • An automatic following obstacle-crossing vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 1 As shown, the present invention provides an auto-following obstacle-crossing vehicle, which is used to automatically follow a target to move under multiple road conditions, and includes at least one inner planetary compound gear train unit 1, and the inner planetary compound gear train unit 1 It is used to walk and jump over obstacles when encountering obstacles.

[0031] Combine Figure 2 to Figure 6 As shown, the inner planetary compound gear train unit 1 includes:

[0032] A ring gear 18, which is arranged on the inner surface of a tire 19 and rotates at the same speed as the tire 19;

[0033] A main bearing wheel 11, the main bearing wheel 11 is coaxially provided with a gear 111 meshing with the ring gear, the main bearing wheel 11 rotates at the same speed as the gear 111, and the main bearing wheel 11 can Rolling and sliding around the inner surface 191 of the tire 19, while at the same time, the gear 111 rotates relative to the ring gear 18;

[0034] A...

Embodiment 2

[0044] As with the auto-following obstacle-crossing vehicle described above, this embodiment differs from it in that the auto-following obstacle-crossing vehicle further includes a frame 3, and the frame 3 is connected with four sets of the inner planetary composite The wheel train unit 1, four groups of the inner planetary compound wheel train unit 1 are respectively placed at the four corners of the frame 3, thereby forming a basic vehicle structure.

[0045] Preferably, the frame 3 is provided with a shelf 32, and the shelf 32 can carry goods.

[0046] Preferably, the frame 3 is provided with a suspension device 31, and the suspension device 31 acts as a shock absorber for the shelf 32 to reduce the bumps of the goods.

[0047] Preferably, the four groups of the inner planetary compound gear train units 1 are independently driven and the suspension device 31 is respectively installed.

[0048] Preferably, the external load includes the frame 3, the shelf 32 and goods.

Embodiment 3

[0050] As mentioned above, the automatic following obstacle-crossing vehicle is different from this embodiment in that it combines Figure 7a to Figure 7f As shown, the automatic following obstacle crossing vehicle can realize the obstacle crossing function. Take climbing stairs as an example, the specific climbing process is as follows:

[0051] Such as Figure 7a As shown, when on flat ground, due to the gravity effect of the external load, the main bearing wheels 11 and the gears 111 of the four sets of the inner planetary compound gear train unit 1 are located on the inner surface 191 of the tire 19 The line connecting the center of the main bearing wheel 11 and the center of the tire 19 is approximately perpendicular to the ground;

[0052] Such as Figure 7b As shown, when the two groups of the inner planetary compound gear train unit 1 at the front encounter an obstacle, the tire 19 stops rotating, and then the ring gear 18 stops rotating. In this case, the The gear 111 co...

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Abstract

The invention provides an automatic-following obstacle crossing vehicle comprising at least one inner planet type compound gear train unit. Each inner planet type compound gear train unit comprises an inner gear ring, a main bearing wheel, and a power device. The inner gear rings are arranged on the inner surfaces of tires, and the inner gear rings and the tires rotate in the same speed; the main bearing wheels are provided with gears engaged with the inner gear rings coaxially and can slide around the inner surfaces of the tires in a rolling mode; the power devices are used for driving force transmitting mechanisms and transmitting the rotating force to the main bearing wheels and the gears; and the main bearing wheels and the gears are connected with exterior loads through pin shafts. The automatic-following obstacle crossing vehicle can effectively cross an obstacle with the loads, the requirement for the pavement condition in the carrying process is low, the load weight is high, and excellent performance is achieved.

Description

Technical field [0001] The invention relates to the field of unmanned vehicles, in particular to an automatic following obstacle crossing vehicle. Background technique [0002] Because of the simple structure and the single restriction of the movement mode, the traditional robot car can only complete simple flat road movement. The traditional universal wheel structure has poor obstacle crossing performance and stable carrying capacity, and has high requirements on the road environment. The terrain to be climbed, such as multiple stairs. In the case of complex ground environment and diverse terrain features, general four-wheel drive vehicles and tracked vehicles simply cannot meet the obstacle crossing requirements. Most of the existing obstacle-crossing vehicles at home and abroad are manual assist or manually controlled electric assist. In principle, they cannot realize automatic handling and their functions are not perfect. In addition, existing products, such as the visual f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02G05D1/02
CPCB62D57/02G05D1/0212G05D1/0231
Inventor 李蕴洲魏晋解为然李立东曹梦宇姚辰呂焱
Owner 玄智(深圳)科技有限公司
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