The invention relates to a deep sea walking device and a terrain recognition and vehicle body posture control method thereof, walking is achieved in a four-track mode, and the device comprises a track module, a suspension mechanism, a vehicle body, a terrain recognition system and a vehicle body posture control system. The number of the crawler belt modules is four, and each crawler belt module is provided with an attitude sensor and a pressure sensor. The vehicle body is provided with an inertial navigation device, and the terrain recognition system is composed of four track attitude sensors and the inertial navigation device on the vehicle body. When the mining vehicle works under the sea, the vehicle body posture control system calculates the current state of the vehicle body according to posture information collected by the carried four crawler belt posture sensors, the pressure or length is adjusted in real time through the suspension system, and the adjustment effect is monitored through inertial navigation, so that the vehicle body of the mining vehicle can generate a small trim angle and a small rolling angle; the anti-overturning capacity and the terrain passing capacity of the mining vehicle are improved, so that the mining vehicle adapts to complex seabed terrains.
本发明涉及一种深海行走装置及其地形识别、车身姿态控制方法,采用四履带模式实现行走,装置包括履带模块、悬挂机构、车体、地形识别系统、车身姿态控制系统。履带模块有4个,每个履带模块均安装有姿态传感器和压力传感器;车体上安装有惯导,地形识别系统由4个履带姿态传感器和车体上的惯导组成。当采矿车在海底作业时,车身姿态控制系统根据所搭载的4个履带姿态传感器采集的姿态信息计算出当前车体的状态,通过悬挂系统实时调节压力或是长度,通过惯导监控调整效果,可使采矿车车体产生较小的纵倾角、横摇角,增加采矿车的抗倾覆能力和地形通过能力,从而适应海底复杂的地形。
Deep sea walking device and terrain recognition and vehicle body posture control method thereof
深海行走装置及其地形识别、车身姿态控制方法
2023-04-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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