The invention relates to the technical field of platform control, in particular to an amphibious unmanned platform obstacle crossing device which comprises a pump spraying device, a main walking device, a navigation control device and a liftable triangular crawler device. The bow and the stern are each provided with a sensor used for detecting the working environment, and after a triangular crawler wheel controller receives a signal to be landed, triangular crawler wheels on the two sides begin to be put down. When the extension length of a telescopic rod reaches the maximum value or a sensorat the head of a platform cannot detect a front obstacle, the device stops, and the priority of the former is higher than that of the latter. At the moment, the main walking device makes contact withan obstacle firstly, the whole platform is moved forwards under the friction force between a main walking crawler device and the ground and the friction force between the triangular crawler wheels andthe ground, and then the front triangular crawler wheels make contact with the obstacle; and at the moment, under the action of the gravity of the platform and the upward force generated by the mainwalking crawler device, the front triangular crawler wheels and the obstacle, the whole platform crosses the obstacle.

    本发明涉及平台控制技术领域,具体地说,是一种水陆两栖无人平台越障装置,包括泵喷装置、主行走装置、航控制装置和可升降的三角形履带装置。在船头和船尾各安装有一个用于检测工作环境的传感器,当三角履带轮控制器接收到要登陆的信号后,开始下放两侧三角轮。当伸缩杆的伸长长度达到本身的最大值或平台头部的传感器检测不到前方障碍物时停止,前者的优先级大于后者。此时主行走装置先和障碍进行接触,在主行走履带装置以及三角履带轮与地面的摩擦力下,将整个平台向前移动,然后前三角履带轮与障碍物接触,此时在平台本身的重力下和主行走履带装置以及前三角履带轮与障碍物产生向上的力的作用下,使整个平台越过障碍物。


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    Title :

    Amphibious unmanned platform obstacle crossing device


    Additional title:

    一种水陆两栖无人平台越障装置


    Contributors:
    ZHONG WEIBO (author) / XU QIANG (author) / FENG YOUBING (author) / GAO BIHAN (author) / YAN LINGXIAO (author) / CHANG QI (author) / LI HAODONG (author) / QI GUOQING (author)

    Publication date :

    2021-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



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