An automatic following obstacle-crossing vehicle

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...

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.

Images