The invention discloses an anti-subsidence seabed probe vehicle with multiple motion modes and a control method thereof.The anti-subsidence seabed probe vehicle comprises a wheel type walking mechanism, a crawler type walking mechanism, an anti-subsidence device and the like, through cooperation of a wheel type driving mechanism and a crawler type driving mechanism, flexible switching between the two driving modes of wheel type driving and crawler type driving can be achieved, and the anti-subsidence seabed probe vehicle is convenient to use. Self-adaptive vehicle body attitude compensation control can be realized based on the wheel type walking mechanism, so that the terrain adaptability of the submarine probe vehicle is effectively improved; in addition, an anti-sinking device is creatively designed, slipping and sinking of the vehicle body can be prevented, the safety of equipment is improved, the gravity center of the vehicle body can be adjusted by combining the position of the movable weight block, and the posture stability of the vehicle body is effectively improved. According to the scheme, the structural design is ingenious, cost is low, and high practical value and popularization value are achieved.

    本发明公开一种具备多种运动模式的防沉陷海底探测车及其控制方法,包括轮式行走机构、履带式行走机构和防沉陷装置等,通过轮式驱动机构和履带式驱动机构的配合,能够实现轮式驱动和履带驱动两种驱动方式之间的灵活切换,并能够基于轮式行走机构实现自适应车体姿态补偿控制,有效提高海底探测车的地形适应性;另外创造性的设计防沉陷装置,不仅能够防止车体打滑沉陷,提高设备的安全性,还可以结合可移动重物块的位置在调节车体重心,以有效提高车体的姿态稳定性。本方案结构设计巧妙,且成本低,具有较高的实用价值和推广价值。


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    Title :

    Anti-subsidence seabed probe vehicle with multiple motion modes and control method of anti-subsidence seabed probe vehicle


    Additional title:

    一种具备多种运动模式的防沉陷海底探测车及其控制方法


    Contributors:
    SUN ZHILEI (author) / ZHANG XILIN (author) / CAO HONG (author) / WANG HONGBIN (author) / GENG WEI (author) / SUN YUNBAO (author) / ZHAI BIN (author) / LI ZHITONG (author) / ZHANG DONG (author) / LI XINHAI (author)

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    E21C Bergbau oder Steinbruchbetrieb , MINING OR QUARRYING / B62D MOTOR VEHICLES , Motorfahrzeuge



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