The invention belongs to the technical field of obstacle crossing control of planet probe vehicles, discloses an obstacle crossing control method of a planet probe vehicle, and particularly relates to an obstacle crossing control method of a distributed mechanical reinforcement planet probe vehicle. The main controller intelligently selects different single-side and double-side obstacle crossing strategies in combination with real-time road surface information acquired by the sensor. Aiming at the characteristics of different obstacles, the angle of the guide rod reinforcement mechanism is dynamically adjusted through the included angle control motor, the extension length of the guide rod is changed, and the obstacle crossing performance of the planet probe vehicle for different obstacles is improved; meanwhile, in the obstacle crossing process, the system monitors slippage of each driving wheel in real time and dynamically adjusts the underground depth of the guide rod so as to maintain the slippage of the wheels within a reasonable range, and the driving performance of each wheel in the obstacle crossing process is further improved. The obstacle crossing control method provided by the invention can effectively cope with different obstacle characteristics, and improves the obstacle crossing adaptability of the planet probe vehicle to cope with complex environments.

    本发明属于星球探测车越障控制技术领域,公开了一种星球探测车越障控制方法,特别涉及一种分布式机械增力星球探测车越障控制方法。主控器结合传感器获取的实时路面信息,智能选择单侧、双侧不同越障策略。针对不同障碍物特征,通过夹角控制电机动态调节导杆增力机构角度,改变导杆的外伸长度,提升星球探测车应对不同障碍物时的越障性能;同时,越障过程系统实时监测各驱动车轮滑移,动态调整导杆入地深度,以维持车轮滑移在合理范围,进一步提升越障过程各车轮的驱动性能。本发明提出的越障控制方法,能够有效应对不同障碍物特征,提升了星球探测车应对复杂环境的越障适应性。


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    Title :

    Obstacle crossing control method for distributed mechanical reinforcement planet probe vehicle


    Additional title:

    一种分布式机械增力星球探测车越障控制方法


    Contributors:
    LIU PINGYI (author) / SUN LIANG (author) / ZHANG XIAOLIANG (author) / LIANG LONGJIN (author) / HUANG YUJIE (author) / DU FU (author) / WANG HUJIANG (author) / ZHAO YANHUI (author) / WANG DONGLIANG (author)

    Publication date :

    2025-01-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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