Research On Mode Switching And Judgment Of Land And Air Amphibious Load Platform

In the field of geological exploration,the land and air amphibious load platform is mainly used for carrying detection instruments,and is an indispensable equipment for detecting in complex and harsh environments.As the detected area expands,the conditions of the undetected area are more complicated and harsh than the detected area.The cost of manpower in these undetected areas is relatively high,and the accuracy of data obtained by high-altitude airborme detection is not high enough.In order to improve the detection accuracy and reduce the detection cost.The detection methods using land-based amphibious platform,which has become a widespread attention in the field of geological exploration.At present,flying vehicles is the main development direction of land and air amphibious platforms at home and abroad.The land walking and flight functions of a flying car are achieved by combining different accessories or making structUral changes of the machine.The switching between the land walking mode and the flight mode is mainly based on hiunan control or coumand control,and its degree of autonomy and intelligence i5 not high enough.The land and air amphibious equipment designed by the foreign military is mainly used for material transportation and wounded rescue.The way of switching has not been reported.The geological environment in the wild is changeable,and the gullies and ponds are arranged in a staggered arrangement.Irregular terrain conditions have a great impact on the detection,and the undulating road surface also poses great challenges to the stability of the loading platform.In order to adapt to the different environment,this study adopts the crawler structure as the walking part and the multi-rotor structure as the flight part.By combining the two,the land and air amphibious load platform is designed.In order to improve the intelligent of mode switching of land and air amphibious equipment,this paper uses the differential pressure system to monitor the land walking condition in real time,and discriminates the threshold by differential pressure threshold.The characteristic is:when the road condition changes,the loading platform performs the land-and-air mode switching through the self-state judgment,thereby ensuring the integrity of the detection area and ensuring the accuracy of the detection data.This paper uses theoretical analysis,computer simulation and experimental methods to study the mode switching of land and air amphibious platform.Based on the modeling and mechanical analysis of different modes,a reasonable differential pressure judgment system is established,which is optimized and verified by experiments.The main contents include:?Designing the land and air amphibious platform,introducing the design concept of the whole machine and the selection logic of the main components;?Considering the influence of ground effect,the flight mode modeling was carried out,the ground mechanics and track force analysis in the land walking mode were carried out,and the differential pressure judgment system was established according to the land walking model.?The stability control of the whole machine after mode switching was carried out.The strategy research uses MATLAB to simulate the control strategy in flight mode.? Through experimental research,the threshold value of mode switching is determined,and the effectiveness of the mode switching strategy based on the differential pressure decision system is verified.The experimental part of this paper mainly analyzes the three to-be-switched states of front side instability,unilateral instability and overall subsidence under uniform forward conditions.Through the experiment,the reasonable pressure difference threshold interval of the differential pressure system is obtained,and the validity of the interval is verified.The research content of this paper has certain practical application value and theoretical reference value for the model switching research of land and air amphibious platform.