CN108502035A - A kind of high speed crawler-type unmanned vehicle platform and its control method - Google Patents
A kind of high speed crawler-type unmanned vehicle platform and its control method Download PDFInfo
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- CN108502035A CN108502035A CN201810376552.0A CN201810376552A CN108502035A CN 108502035 A CN108502035 A CN 108502035A CN 201810376552 A CN201810376552 A CN 201810376552A CN 108502035 A CN108502035 A CN 108502035A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000002828 fuel tank Substances 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000005183 dynamical system Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 claims description 2
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- 235000006510 Nelumbo pentapetala Nutrition 0.000 claims description 2
- 241000219098 Parthenocissus Species 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 18
- 230000006872 improvement Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of high speed crawler-type unmanned vehicle platforms, including：Crawler type car body, the interior vehicle-mounted main control computer of installation；Traveling remote control end, communicates to connect with vehicle-mounted main control computer；Main control computer is communicated to connect with vehicle-mounted main control computer；O-E Payload is mounted on crawler type car body and is connect with vehicle-mounted main control computer；Supporting rack is fixed with crawler type car body, is double-layer structure；Energy resource system comprising the vehicle power supply being mounted on the fuel tank and reserve battery on supporting rack upper layer, and installation crawler type car body；Switching system comprising the power switch being mounted on supporting rack, and the motor mounted on crawler type vehicle body, igniter and two relays；Dynamical system comprising be mounted on the throttle steering engine and brake steering engine on supporting rack upper layer, and the steering-engine mounted on supporting rack lower layer.The present invention also provides a kind of control methods of high speed crawler-type unmanned vehicle platform.Beneficial effects of the present invention：Realize the unmanned of creeper truck.
Description
Technical field
The present invention relates to unmanned technical field, in particular to a kind of high speed crawler-type unmanned vehicle platform and its
Control method.
Background technology
Crawler type unmanned vehicle can assist or the mankind is replaced to complete many work.First, it can be in rough topography
Or the work such as scouted, attacked under dangerous situation；Secondly, it can investigate dangerous goods, rescue of battlefield etc.；In addition exist
On the basis of the application of the advanced technologies such as network communication, artificial intelligence, unmanned vehicle can be engaged in control accuracy and real-time is high, complicated
The strong work of property.But existing creeper truck only has manual crawler type scooter under the premise of meeting 8m/s travel speeds, this
Creeper truck needs someone to operate, and by special slide plate operating principle carry out course changing control, cannot achieve nobody and drive
The function of sailing.
Invention content
To solve the above problems, the purpose of the present invention is to provide a kind of high speed crawler-type unmanned vehicle platform and its controlling parties
The unmanned of creeper truck may be implemented in method.
The present invention provides a kind of high speed crawler-type unmanned vehicle platforms, including：
Crawler type car body, inside vehicle-mounted main control computer is installed；
Traveling remote control end, communicates to connect with the vehicle-mounted main control computer, for manually controlling the crawler type car body；
Main control computer is communicated to connect with the vehicle-mounted main control computer by CAN bus, described for automatically controlling
Crawler type car body；
O-E Payload is mounted on the crawler type car body and in front of the crawler type car body, and the photoelectricity carries
Lotus connect with the vehicle-mounted main control computer, for acquiring the image information in the crawler type car body traveling process；
Supporting rack passes through handle shaft mounting hole, hinge mounting hole, preceding pivot tube and the rear pivot on crawler type car body
Pipe is fixed with the crawler type car body, and support frame as described above is double-layer structure；
Energy resource system comprising be mounted on the fuel tank and reserve battery on support frame as described above upper layer, and the installation crawler belt
Vehicle power supply on formula car body, the fuel tank are connected with the throttle, the vehicle power supply, the reserve battery with it is described vehicle-mounted
Main control computer connects；
Switching system comprising the power switch being mounted on support frame as described above, and it is mounted on the crawler type car body
Internal motor, igniter and two relays, the power switch are connect with the vehicle power supply, described two relays
It is connect with the vehicle-mounted main control computer, the motor connects with described two relays and controls the igniter；
Dynamical system comprising be mounted on the throttle steering engine and brake steering engine on support frame as described above upper layer, and be mounted on institute
State the steering-engine of supporting rack lower layer, the throttle steering engine is connect with the throttle of the crawler type car body, the brake steering engine with
The brake of the crawler type car body connects, the steering axis connection that the steering-engine passes through gear and the crawler type car body.
As further improvement of the invention, described two relays are respectively：
Electric motor starting relay is used to control the motor and opens, and controls the ignition device；
Motor closes relay, is used to control the motor and closes, and it is flame-out to control the igniter.
As further improvement of the invention, described two relays use plug-in intermediate relay.
As further improvement of the invention, the throttle steering engine, the brake steering engine and the steering-engine are used and are watched
Take steering engine.
Improved as of the invention further, be arranged on the traveling remote control end startup, closing, advance, retrogressing, throttle,
Brake, left-hand rotation and right-hand rotation button.
As further improvement of the invention, support frame as described above passes through pipe clamp and the preceding pivot tube and rear pivot tube connects
It connects.
As further improvement of the invention, further include：Infrared detector on the crawler type car body is set and is swashed
Optical radar.
As further improvement of the invention, it is provided on the vehicle-mounted main control computer：
Power module, connect with the vehicle power supply and the reserve battery obtain input power, and with the photoelectricity
Load, the motor connect out-put supply with described two relays；
Radio reception module is connect with the power switch, and is sent with the radio on traveling remote control end
Module communicates to connect, the switching signal for obtaining the power switch and traveling remote control end；
Locating module is used to position the crawler type car body, obtains the 3 d pose of the crawler type car body
Information；
Image processing module is used to handle O-E Payload the image collected information, obtains crawler type
Environment in car body traveling process；
Calculation processing module, based on the path by being planned according to the 3 d pose information and the main control computer
Travelling route, speed and the course of the crawler type car body are calculated, and is converted into control instruction and is issued to control module；
Control module is used for according to the on-off signal for receiving described two relays, and controls institute according to on-off signal
Motor is stated to be turned on and off, meanwhile, the control instruction for receiving the calculation processing module and traveling remote control end, and
Control instruction is issued to the throttle steering engine, the brake steering engine and the steering-engine, controls the throttle steering engine, described
Brake steering engine and the steering-engine carry out action or stopping action.
The present invention also provides a kind of high speed crawler-type unmanned vehicle platforms, include the following steps：
Step 1, by the power switch in lower bracing frame, the vehicle-mounted main control computer on crawler type car body receives the electricity
The switching signal of source switch, by the start key on downward driving remote control end, the vehicle-mounted main control computer passes through radio reception mould
Block receives the switching signal that radio sending module is sent on traveling remote control end, at this point, vehicle-mounted on crawler type car body
Power supply starts to power, and crawler type car body is powered on；
Step 2, the vehicle power supply sends out current signal, and the vehicle-mounted main control computer controls the crawler type car body
On electric motor starting relay be attracted, electric current is after the electric motor starting relay contact, the electricity on the crawler type car body
Machine starts operation, completes igniting；
Step 3, the vehicle-mounted main control computer positions the crawler type car body, obtains the crawler type car body
3 d pose information；
Step 4, main control computer is according to the real-time the image collected information pair of O-E Payload on the crawler type car body
The path of planning carries out real-time optimization, obtains path optimizing；
Step 5, the vehicle-mounted main control computer is according to the optimization road in the 3 d pose information and step 4 in step 3
Diameter calculates route, course and speed that the crawler type car body is advanced；
Step 6, the vehicle-mounted master control calculates the throttle steering engine controlled on the crawler type car body, brake steering engine and turns to rudder
Machine is acted accordingly；
Step 7, after tenth skill, the vehicle-mounted master control calculating control crawler type car body powers on organ and closes relay suction
It closes, electric current is after the motor closes relay contact, the flame-out line and ground strap of igniter on the crawler type car body
It connects, the electric current of ignition coil flows directly into bonding, and spark plug can not obtain electric, at this point, the motor closes operation, complete to put out
Fire；
Step 8, the power switch is closed, and by the close key on downward driving remote control end.
As further improvement of the invention, step 3-6 is replaced with：Traveling remote control end issues control instruction to described
Vehicle-mounted main control computer, the vehicle-mounted main control computer control throttle steering engine, brake rudder on the crawler type car body after receiving
Machine and steering-engine are acted accordingly.
Beneficial effects of the present invention are：
It can be remotely controlled manually controlling for end by traveling and realize control to crawler type car body with automatically controlling for main control computer
System realizes the unmanned of crawler type car body；
Increase supporting rack on crawler type car body, for placing more equipment on crawler type car body, convenient for crawler belt
The control of formula car body；
Fuel tank is avoided to work far from the position of crawler type car body exhaust tube on supporting rack upper layer fuel tank setting
It causes danger in the process, ensures the operational safety of entire unmanned vehicle platform；
Reduce the handle of existing crawler type car body artificially controlled, therefore reduce gear closure switch, simplification finishes
The control to crawler type car body can be realized without special slide plate manipulation in structure；
Provided with reserve battery, so as to when vehicle power supply is carried beyond vehicle power supply in range without electricity or power demands
Power supply is participated in time, avoids powering off；
Power switch cannot achieve the power supply of all devices after opening, it is necessary to the switching signal issued in conjunction with traveling remote control end
Whole equipment could be powered on, avoid maloperation；
Crawler type car body can on structural pavements (cement) and non-structural road surface (slight slope or meadow) normally travel, can edge
30 ° ramp up normally travel, and maximum travelling speed is not less than 8m/s, and the weight that can carry O-E Payload is not less than 5kg.
Description of the drawings
Fig. 1 is the scheme of installation of supporting rack and crawler type car body in the present invention；
Fig. 2 is the partial schematic diagram of crawler type car body in the present invention；
Fig. 3 is control schematic diagram of the present invention to high speed crawler-type unmanned vehicle platform.
In figure,
1, hand shaft mounting hole；2, hinge mounting hole；3, preceding pivot tube；4, rear pivot tube；5, fuel tank；6, reserve battery；
7, throttle steering engine；8, brake steering engine；9, steering engine；10, gear；11, pipe clamp.
Specific implementation mode
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention.
Embodiment 1, as shown in Figs. 1-2, a kind of high speed crawler-type unmanned vehicle platform of the embodiment of the present invention, including：
Crawler type car body, inside vehicle-mounted main control computer is installed；
Traveling remote control end, communicates to connect with vehicle-mounted main control computer, for manually controlling crawler type car body；
Main control computer is communicated to connect with vehicle-mounted main control computer by CAN bus, for automatically controlling crawler
Body；
O-E Payload is mounted on crawler type car body and in front of crawler type car body, O-E Payload and vehicle-mounted master control
Computer connects, for acquiring the image information in crawler type car body traveling process；
Supporting rack, by handle shaft mounting hole 1 on crawler type car body, hinge mounting hole 2, preceding pivot tube 3 and after
Pivot tube 4 is fixed with crawler type car body, and supporting rack is double-layer structure；
Energy resource system comprising be mounted on the fuel tank 5 and reserve battery 6 on supporting rack upper layer, and installation crawler type car body
On vehicle power supply, fuel tank 5 connects with throttle, and vehicle power supply, reserve battery 6 are connect with vehicle-mounted main control computer；
Switching system comprising the power switch being mounted on supporting rack, and the electricity mounted on crawler type vehicle body
Machine, igniter and two relays, power switch are connected with a vehicle-mounted power supply, and two relays connect with vehicle-mounted main control computer
It connects, motor connects with described two relays and controls igniter；
Dynamical system comprising be mounted on the throttle steering engine 7 and brake steering engine 8 on supporting rack upper layer, and mounted on support
The steering-engine 9 of frame lower layer, throttle steering engine 7 are connect with the throttle of crawler type car body, the brake of brake steering engine 8 and crawler type car body
Connection, the steering axis connection that steering-engine 9 passes through gear 10 and crawler type car body.
Existing creeper truck fuel tank needs artificial oil supply on the downside of handle, in traveling process, cannot meet creeper truck remote control
Mode.Simultaneously because temperature is excessively high during the work time for exhaust tube, and in order to avoid fuel tank is caused danger during the work time, Ying Jiang
Fuel tank is placed on the position far from exhaust tube, ensures equipment operational safety, therefore, fuel tank has been placed on supporting rack by the present invention
Layer avoids the safety problem of fuel tank in the prior art far from exhaust tube.
Vehicle power supply is main power supply unit, and reserve battery 6 is arranged in the present invention, without electricity or to power in vehicle power supply
It participates in powering in time when demand is beyond in vehicle power supply carrying range, avoids powering off.
Further, supporting rack is connect by pipe clamp 11 with preceding pivot tube 3 and rear pivot tube 4, and middle section is pacified with hinge
Dress hole 3 is in reinforcement connection, and can ensure the stability of holder in this way, while increasing installation space, convenient on step creeper truck
Place more equipment.
Further, two relays are respectively：Electric motor starting relay is used to control motor unlatching, and control point
Fiery device igniting；Motor closes relay, is used to control motor closing, and it is flame-out to control igniter.Further, two
A relay uses plug-in intermediate relay, has small, easy for installation, quick-replaceable, is swift in motion, durable etc.
Feature.
Further, throttle steering engine 7, brake steering engine 8 and steering-engine 9 use Servo-controller, steering engine parameter such as 1 institute of table
Show, with small, torque is big, durable, angle is accurate, control range is big, easy to assembly, high speed communication, overheating protection
The features such as.
1 steering engine parameter list of table
Further, the present invention devises two kinds of control modes, the first is automatic control mode：I.e. main control computer will
The path planned is sent directly to vehicle-mounted main control computer, vehicle-mounted main control computer control throttle steering engine 7,8 and of brake steering engine
Steering-engine 9 is acted accordingly according to the travelling route, speed and course that calculate；Second is manual control mode：
I.e. traveling remote control end directly issues control instruction, vehicle-mounted main control computer control throttle steering engine 7, brake to vehicle-mounted main control computer
Steering engine 8 and steering-engine 9 are acted accordingly according to the control instruction at traveling remote control end, specifically, on traveling remote control end
Setting starts, closes, advancing, retreating, throttle (throttle increases or reduces, change gait of march), brake (decelerations), turns left and the right side
Turn button to realize corresponding action.Second of control mode can be used when main control computer can not connect upper, especially suitable
Conjunction uses in short distance driving process, simple and easy to control.
Further, further include：The infrared detector and laser radar being arranged on crawler type car body.Infrared detector without
O-E Payload fogging image caused by night deficiency need to can be made up by ambient light, and laser radar can be fast
Speed detects the distance of barrier, and main control computer is by both sensors and the collected use processing of O-E Payload
Afterwards, more accurate three-dimensional spatial information can be obtained, so as to can more real-time Regeneration planning path, obtain it is more optimal
Path avoids crawler type car body from encountering barrier or overturning etc..
Further, it is provided on vehicle-mounted main control computer：
Power module, connect with vehicle power supply and reserve battery 6 obtain input power, and with O-E Payload, motor and
Two relays connect out-put supply；
Radio reception module, connect with power switch, and is communicated with the radio sending module on traveling remote control end
Connection, the switching signal for obtaining power switch and traveling remote control end；
Locating module is used to position crawler type car body, obtains the 3 d pose information of crawler type car body；
Image processing module is used to handle O-E Payload the image collected information, obtains crawler type car body
Environment in traveling process；
Calculation processing module is used to go out crawler belt according to the path computing that 3 d pose information and main control computer are planned
Travelling route, speed and the course of formula car body, and be converted into control instruction and be issued to control module；
Control module is used for according to the on-off signal for receiving two relays, and is controlled motor according to on-off signal and opened
It opens or closes, meanwhile, the control instruction for receiving calculation processing module and traveling remote control end, and control instruction is issued to
Throttle steering engine 7, brake steering engine 8 and steering-engine 9, control throttle steering engine 7, brake steering engine 8 and steering-engine 9 are acted or are stopped
Stop is made.
The crawler type car body of the present invention compares more existing creeper truck, reduces the handle artificially controlled, therefore reduce
Gear closure switch, meanwhile, power switch of the invention cannot achieve the power supply of all devices after opening, it is necessary to distant in conjunction with travelling
The switching signal that control end issues could power on whole equipment, avoid maloperation.The crawler type car body of the present invention is complete
It is unmanned, reduces danger.
Embodiment 2, as shown in figure 3, a kind of control method of high speed crawler-type unmanned vehicle platform of the present invention, including it is following
Step：
Step 1, by the power switch in lower bracing frame, the vehicle-mounted main control computer on crawler type car body receives power supply and opens
The switching signal of pass, by the start key on downward driving remote control end, vehicle-mounted main control computer is received by radio reception module
The switching signal that radio sending module is sent on traveling remote control end, at this point, the vehicle power supply on crawler type car body starts to power,
Crawler type car body is powered on；
Step 2, vehicle power supply sends out current signal, the electric motor starting on vehicle-mounted main control computer control crawler type car body
Relay KA1 is attracted, and for electric current behind the contacts electric motor starting relay KA1, the motor M4 on crawler type car body starts operation, complete
At igniting；
Step 3, vehicle-mounted main control computer positions crawler type car body, obtains the 3 d pose letter of crawler type car body
Breath；
Step 4, main control computer is according to the real-time the image collected information pair of O-E Payload on the crawler type car body
The path of planning carries out real-time optimization, obtains path optimizing；
Step 5, vehicle-mounted main control computer is according to the path optimizing in the 3 d pose information and step 4 in step 3, meter
Calculate route, course and speed that crawler type car body is advanced；
Step 6, vehicle-mounted master control calculates throttle steering engine M1, brake steering engine M2 and steering-engine M3 on control crawler type car body
It is acted accordingly；
Step 7, after tenth skill, vehicle-mounted master control calculating control crawler type car body powers on organ and closes relay KA2 actuations, electricity
Stream is after motor closes the contacts relay KA2, and the flame-out line N1 of igniter and ground strap N2 is connected on crawler type car body, point
The electric current of firewire circle L1 flows directly into bonding, and spark plug can not obtain electric, at this point, motor M4 closes operation, complete flame-out；
Step 8, it turns off the power switch, and by the close key on downward driving remote control end.
Aforesaid operations are the control method under automatic control mode, and when needing to manually control, step 3-6 is replaced with：Row
It sails remote control end and issues control instruction to vehicle-mounted main control computer, vehicle-mounted main control computer controls the oil on crawler type car body after receiving
Door steering engine, brake steering engine and steering-engine are acted accordingly.
The high speed crawler-type unmanned vehicle platform of the present invention has carried out experimental test, and test condition is：- 10 DEG C of environment temperature~
45 DEG C, relative humidity 45%~90%.
1, complex road surface traveling test：
Crawler type car body is stayed in into level road, starts traveling remote control end, entire platform is powered on, crawler is started
Body executes the operations such as advance, acceleration, left-hand rotation, right-hand rotation using traveling remote control end manipulation crawler type car body；
Crawler type car body is stayed in into slight slope or meadow road surface, starts traveling remote control end, entire platform is powered on, starts and carries out
Belt car body executes the operations such as advance, acceleration, left-hand rotation, right-hand rotation using traveling remote control end manipulation crawler type car body.
Test result shows what crawler type car body carried out on structural pavements (cement pavement) and non-structural road surface (meadow)
The operations such as advance, acceleration, left-hand rotation, right-hand rotation, all functions of motion of crawler type car body are normal, meet index request.
2,30 ° of slope formal testings：
Crawler type car body is placed in the gradient and reaches under 30 ° of slope pavement that (or the slope of artificial 30 ° of manufacture is so that experiment makes
With), start traveling remote control end, entire platform is powered on, starts crawler type car body, it is made to be travelled upwards along the road surface on 30 ° of slopes.
Test result shows the operations such as advance, acceleration, left-hand rotation, the right-hand rotation that crawler type car body carries out on 30 ° of slope,
All functions of motion of crawler type car body are normal, meet index request.
3, maximum travelling speed is tested not less than 8m/s：
Broad place is selected, determines test point 1, test point 2 respectively, ensures that the distance between two test points are 50m, will carry out
Belt car body is placed on starting point (starting point should ensure that crawler type car body can accelerate to maximum speed at a distance from test point 1), selection
Two pieces of stopwatches, are reset, and take stopwatch station in test point 1 and test point 2 respectively by two tester's first, second, in starting point
Start crawler type car body, it is made to give it the gun to test point 1, makes its traveling to test point 1 after its speed reaches maximum, reach
When test point 1, tester's first presses stopwatch, and when its traveling is to test point 2, tester's second presses stopwatch, after waiting for,
Two testers simultaneously suspend stopwatch, record time α, the β shown on stopwatch respectively, take T=| alpha-beta |, then V=50/T,
As maximum travelling speed.
Test result shows crawler type car body in the distance of 50m, and used time 5.35s is calculated by formula, the section away from
9.35m/s is can reach from interior maximum travelling speed, meets the index request not less than 8m/s.
4, the weight that can carry O-E Payload is tested not less than 5kg：
It is placed on crawler type car body using the mass (being not less than 5kg) by counting weight device measuring, it is distant to start traveling
End is controlled, entire platform is powered on, startup crawler type car body carries out crawler type car body using traveling remote control end manipulation and executes advance, a left side
Turn, turn right etc. operations.
Test result shows crawler type car body under the load for carrying 15kg O-E Payloads, and crawler type car body normally completes
Start, advance, accelerating, turning left, turning right, the operations such as parking, meeting index request.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of high speed crawler-type unmanned vehicle platform, which is characterized in that including：
Crawler type car body, inside vehicle-mounted main control computer is installed；
Traveling remote control end, communicates to connect with the vehicle-mounted main control computer, for manually controlling the crawler type car body；
Main control computer is communicated to connect with the vehicle-mounted main control computer by CAN bus, for automatically controlling the crawler belt
Formula car body；
O-E Payload is mounted on the crawler type car body and in front of the crawler type car body, the O-E Payload with
The vehicle-mounted main control computer connection, for acquiring the image information in the crawler type car body traveling process；
Supporting rack, by handle shaft mounting hole (1) on crawler type car body, hinge mounting hole (2), preceding pivot tube (3) and
Pivot tube (4) is fixed with the crawler type car body afterwards, and support frame as described above is double-layer structure；
Energy resource system comprising be mounted on the fuel tank (5) and reserve battery (6) on support frame as described above upper layer, and the installation shoe
Vehicle power supply on belt car body, the fuel tank (5) connect with the throttle, the vehicle power supply, the reserve battery (6) with
The vehicle-mounted main control computer connection；
Switching system comprising the power switch being mounted on support frame as described above, and it is mounted on the crawler type vehicle body
Motor, igniter and two relays, the power switch connect with the vehicle power supply, described two relays with
The vehicle-mounted main control computer connection, the motor connect with described two relays and control the igniter；
Dynamical system comprising be mounted on the throttle steering engine (7) and brake steering engine (8) on support frame as described above upper layer, and be mounted on
The steering-engine (9) of support frame as described above lower layer, the throttle steering engine (7) connect with the throttle of the crawler type car body, the brake
Vehicle steering engine (8) is connect with the brake of the crawler type car body, and the steering-engine (9) passes through gear (10) and the crawler
The steering axis connection of body.
2. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that described two relay difference
For：
Electric motor starting relay is used to control the motor and opens, and controls the ignition device；
Motor closes relay, is used to control the motor and closes, and it is flame-out to control the igniter.
3. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that described two relays are using slotting
Pull out formula intermediate relay.
4. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that the throttle steering engine (7), described
Brake steering engine (8) and the steering-engine (9) use Servo-controller.
5. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that the traveling remote control is arranged on end
Startup, closing, advance, retrogressing, throttle, brake, left-hand rotation and right-hand rotation button.
6. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that support frame as described above passes through pipe clamp
(11) it is connect with the preceding pivot tube and rear pivot tube.
7. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that further include：It is arranged in the shoe
Infrared detector on belt car body and laser radar.
8. high speed crawler-type unmanned vehicle platform according to claim 1, which is characterized in that on the vehicle-mounted main control computer
It is provided with：
Power module connect with the vehicle power supply and the reserve battery (6) and obtains input power, and is carried with the photoelectricity
Lotus, the motor connect out-put supply with described two relays；
Radio reception module is connect with the power switch, and the radio sending module on end is remotely controlled with the traveling
Communication connection, the switching signal for obtaining the power switch and traveling remote control end；
Locating module is used to position the crawler type car body, obtains the 3 d pose information of the crawler type car body；
Image processing module is used to handle O-E Payload the image collected information, obtains crawler type car body
Environment in traveling process；
Calculation processing module is used to be gone out according to the path computing that the 3 d pose information and the main control computer are planned
Travelling route, speed and the course of the crawler type car body, and be converted into control instruction and be issued to control module；
Control module is used for according to the on-off signal for receiving described two relays, and controls the electricity according to on-off signal
Machine is turned on and off, meanwhile, the control instruction for receiving the calculation processing module and traveling remote control end, and will control
System instruction is issued to the throttle steering engine (7), the brake steering engine (8) and the steering-engine (9), controls the throttle steering engine
(7), the brake steering engine (8) and the steering-engine (9) carry out action or stopping action.
9. a kind of control method of high speed crawler-type unmanned vehicle platform, which is characterized in that include the following steps：
Step 1, by the power switch in lower bracing frame, the vehicle-mounted main control computer on crawler type car body receives the power supply and opens
The switching signal of pass, by the start key on downward driving remote control end, the vehicle-mounted main control computer is connect by radio reception module
The switching signal that radio sending module is sent on traveling remote control end is received, at this point, the vehicle power supply on crawler type car body
Start to power, crawler type car body is powered on；
Step 2, the vehicle power supply sends out current signal, and the vehicle-mounted main control computer controls on the crawler type car body
Electric motor starting relay is attracted, and after the electric motor starting relay contact, the motor on the crawler type car body opens electric current
Dynamic operation, completes igniting；
Step 3, the vehicle-mounted main control computer positions the crawler type car body, obtains the three-dimensional of the crawler type car body
Posture information；
Step 4, main control computer according to the real-time the image collected information of O-E Payload on the crawler type car body to planning
Path carry out real-time optimization, obtain path optimizing；
Step 5, the vehicle-mounted main control computer is according to the path optimizing in the 3 d pose information and step 4 in step 3, meter
Calculate route, course and speed that the crawler type car body is advanced；
Step 6, the vehicle-mounted master control calculates the throttle steering engine (7) controlled on the crawler type car body, brake steering engine (8) and turns to
Steering engine (9) is acted accordingly；
Step 7, after tenth skill, the vehicle-mounted master control calculating control crawler type car body powers on organ and closes relay actuation,
Electric current is after the motor closes relay contact, and the flame-out line of igniter connects with ground strap on the crawler type car body
Logical, the electric current of ignition coil flows directly into bonding, and spark plug can not obtain electric, at this point, the motor closes operation, complete flame-out；
Step 8, the power switch is closed, and by the close key on downward driving remote control end.
10. control method according to claim 9, which is characterized in that step 3-6 is replaced with：Under traveling remote control end
Control instruction is sent out to the vehicle-mounted main control computer, the vehicle-mounted main control computer controls after receiving on the crawler type car body
Throttle steering engine (7), brake steering engine (8) and steering-engine (9) are acted accordingly.
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