CN101445158B - Method for controlling running of wheeled interplanetary exploration patrol vehicle - Google Patents
Method for controlling running of wheeled interplanetary exploration patrol vehicle Download PDFInfo
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- CN101445158B CN101445158B CN2007101937878A CN200710193787A CN101445158B CN 101445158 B CN101445158 B CN 101445158B CN 2007101937878 A CN2007101937878 A CN 2007101937878A CN 200710193787 A CN200710193787 A CN 200710193787A CN 101445158 B CN101445158 B CN 101445158B
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Abstract
The invention relates to a method for controlling running of a wheeled interplanetary exploration patrol vehicle. When the vehicle runs, and a wheel upright post swings forwards from backwards, a wheel connected with the wheel upright post rolls and rotates forward to reduce resistance of swing; when the wheel upright post swings backwards from forwards, the wheel connected with the wheel upright post stops rotating to increase thrust of soil to the wheel. Vehicle running can be realized by utilizing the difference of acting force of the ground to the wheel between swings in two directions. The method realizes step running of the vehicle, and not only is simple in structure control, but also can greatly improve the trafficability of the vehicle on loose ground and a loose slope; meanwhile, the method can realize necessary functions of entire vehicle furl and the like to a deep space exploration vehicle.
Description
Technical field
The present invention relates to the ambulation control method of wheeled car, be specifically related to a kind of method for controlling running of wheeled interplanetary exploration patrol vehicle.
Background technology
It is main configuration that present interspace detection is maked an inspection tour the many employings of vehicle wheeled.Wheeled car has that physical construction is simple, and kinematic velocity is fast, controls advantages such as easy.But for the requirement of interspace and lunar surface detection, its cross country power can not meet the demands, and in by the end of April, 2005, and U.S.'s " Opportunity Rover " Marsokhod is cannot moved owing to having opened 1 30 centimetres of high sand drift, and is stranded for 1 month.Therefore, people concentrate on attention the ambulation control method that changes wheeled car.Through the prior art literature search is found, the Chinese patent publication number is CN 1546289A, open day is on November 17th, 2004, patent name is " a variable-structure leg wheel type sniffing robot ", a kind of leg wheel type sniffing robot that this patent is announced, four leg wheels are arranged, and each leg wheel has three joints, adopts a kind of similar quadruped gait mode to realize walking.Though this ambulation control method has obtained better carrying capacity with respect to wheeled car, mechanism is too complicated, and control ratio is difficulty.
Summary of the invention
The object of the present invention is to provide a kind of method for controlling running of wheeled interplanetary exploration patrol vehicle, it can either improve the carrying capacity of wheeled car, and hag carrying capacity has especially reduced the complexity of system, can realize that again car load draws in.
A kind of method for controlling running of wheeled interplanetary exploration patrol vehicle of the present invention, its when vehicle to run, when the wheel column from after when swinging forward, the rotation of rolling forward of connected wheel; When the wheel column was swung in the past backward, connected wheel stopped operating.It is taken turns interspace detection according to following steps control six and makes an inspection tour vehicle to run:
(1) before vehicle began walking, all wheel columns were all put to the back limiting angle;
When (2) vehicle begins to walk, two wheel columns that are positioned at vehicle rear from after swing forward, the wheel rotation of rolling forward;
(3) when two the wheel columns pendulum that is positioned at vehicle rear to preceding limiting angle, two wheel columns that are positioned at the vehicle middle part from after swing forward, the wheel rotation of rolling forward;
(4) when two wheel columns pendulum that are positioned at vehicle middle part to preceding limiting angle, two wheel columns that are positioned at front part of vehicle from after swing forward, the wheel rotation of rolling forward;
(5) put to preceding limiting angle when two wheel columns that are positioned at front part of vehicle, all wheel columns are swing backward in the past again, and wheel stops operating;
(6) when all wheel columns all put to after limiting angle, vehicle integral body moves ahead a step;
(7) circulation repeating step (2) is to step (6), thereby realized the whole walking of vehicle.
Aforesaid method for controlling running of wheeled interplanetary exploration patrol vehicle, when wheel column forward swing, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
When putting behind the wheel column, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
ω
4=0;
In the above-mentioned formula:
V is a vehicle to run speed;
L is the wheel strut length;
R is a radius of wheel;
ω
1The cireular frequency of wheel column swing during for wheel column forward swing;
ω
3The spin velocity of wheel during for wheel column forward swing;
ω
2Cireular frequency for when pendulum wheel column swing behind the wheel column;
ω
4For behind the wheel column when pendulum wheel spin velocity.
Aforesaid method for controlling running of wheeled interplanetary exploration patrol vehicle, the preceding limiting angle during its wheel column forward swing
The scope that is provided with at 20～50 °; Back limiting angle when putting behind the wheel column
The scope that is provided with at 20～50 °.
Aforesaid method for controlling running of wheeled interplanetary exploration patrol vehicle, it is also taken turns interspace detection according to following steps control six and makes an inspection tour vehicle to run:
(1) before vehicle begins walking, be positioned at the front portion of a vehicle left side (or right) side and two wheel columns at rear portion and put to preceding limiting angle, the wheel column at middle part pendulum is to the back limiting angle; Be positioned at the front portion of the vehicle right side (or left side) side and two wheel columns at rear portion and put to the back limiting angle, the wheel column pendulum at middle part is to preceding limiting angle;
When (2) vehicle began to walk, pendulum described in the step (1) was to three wheel columns swing backward in the past of preceding limiting angle, and wheel stops operating, pendulum to three wheel columns of back limiting angle from after swing forward, the wheel rotation of rolling forward;
(3) limiting angle after two wheel columns at front portion that is positioned at a vehicle left side (or right) side and rear portion are put extremely, the wheel column pendulum at middle part is to preceding limiting angle, being positioned at the front portion of the vehicle right side (or left side) side and two wheel columns at rear portion puts to preceding limiting angle, the wheel column pendulum at middle part is to the back limiting angle, and vehicle integral body has moved ahead a step;
(4) then, pendulum described in the step (3) is to three wheel columns swing backward in the past of preceding limiting angle, and wheel stops operating, pendulum to three wheel columns of back limiting angle from after swing forward, the wheel rotation of rolling forward;
(5) put once more to preceding limiting angle when being positioned at (or right) front portion of side, a vehicle left side and two wheel columns at rear portion, the wheel column at middle part is put once more to the back limiting angle, being positioned at (or left side) front portion of side, the vehicle right side and two wheel columns at rear portion puts once more to the back limiting angle, the wheel column at middle part is put once more to preceding limiting angle, and vehicle integral body has moved ahead again a step;
(6) circulation repeating step (2) is to step (5), thereby realized the whole walking of vehicle.
Effect of the present invention is: method for controlling running of wheeled interplanetary exploration patrol vehicle of the present invention, when the wheel column from after when swinging forward, the rotation of rolling forward of connected wheel is to reduce the resistance of swing; When the wheel column was swung in the past backward, connected wheel stopped operating, to increase the thrust of soil to wheel.Utilize the application force difference realization vehicle ' of the ground of both direction swing in the face of wheel.The present invention has realized that striding of vehicle travel, and not only structure control is simple for it, can improve the carrying capacity of vehicle on soft terrain and soft slope greatly again, can realize that car load gathering etc. is to survey of deep space vehicle necessary function very simultaneously.
Description of drawings
Fig. 1 takes turns interspace detection tour vehicle scheme drawing for of the present invention described a kind of six;
Fig. 2 is an I part-structure scheme drawing shown in Figure 1;
Fig. 3 is the scheme drawing of described a kind of method for controlling running of wheeled interplanetary exploration patrol vehicle of the present invention;
Fig. 4 is embodiment 1 described a kind of method for controlling running of wheeled interplanetary exploration patrol vehicle scheme drawing;
Fig. 5 is embodiment 2 described a kind of method for controlling running of wheeled interplanetary exploration patrol vehicle scheme drawings;
Fig. 6 is that vehicle contraction state scheme drawing is maked an inspection tour in a kind of wheeled interspace detection of the present invention;
Among the figure: 1. wheel; 2. wheel column; 3. actuator; 4. actuator.
The specific embodiment
Below in conjunction with drawings and the specific embodiments method for controlling running of wheeled interplanetary exploration patrol vehicle of the present invention is further described in detail.
As shown in Figure 1, wheeled interspace detection is maked an inspection tour vehicle and is had six wheels, is separately positioned on the left and right vehicle wheel both sides.As shown in Figure 2, each wheel 1 all passes through wheel column 2 and is connected with car body, and described car body is provided with the actuator 3 that makes the swing of wheel column, and described wheel column 2 is provided with the actuator 4 that makes wheel 1 rotation with wheel 1 coupling end.
When control vehicle is walked, when the wheel column from after when swinging forward, the rotation of rolling forward of connected wheel is to reduce the resistance of swing; When the wheel column was swung in the past backward, connected wheel stopped operating, to increase the thrust of soil to wheel.Utilize the application force difference realization vehicle ' of the ground of both direction swing in the face of wheel.
As shown in Figure 3, when wheel column forward swing, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
As shown in Figure 3, when putting behind the wheel column, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
ω
4=0;
In the above-mentioned formula:
V is a vehicle to run speed;
L is the wheel strut length;
R is a radius of wheel;
ω
1The cireular frequency of wheel column swing during for wheel column forward swing;
ω
3The spin velocity of wheel during for wheel column forward swing;
ω
2Cireular frequency for when pendulum wheel column swing behind the wheel column;
ω
4For behind the wheel column when pendulum wheel spin velocity.
Control above-mentioned six according to following steps and take turns interspace detection tour vehicle to run, as shown in Figure 4:
(1) before vehicle begins walking, be positioned at the front portion of a vehicle left side (or right) side and two wheel columns at rear portion and put to preceding limiting angle, the wheel column at middle part pendulum is to the back limiting angle; Be positioned at the front portion of the vehicle right side (or left side) side and two wheel columns at rear portion and put to the back limiting angle, the wheel column pendulum at middle part is to preceding limiting angle;
When (2) vehicle began to walk, pendulum described in the step (1) was to the swing backward in the past of three wheel columns (A group) of preceding limiting angle, and wheel stops operating, pendulum to three wheel columns (B group) of back limiting angle from after swing the wheel rotation of rolling forward forward;
(3) limiting angle after two wheel columns at front portion that is positioned at a vehicle left side (or right) side and rear portion are put extremely, the wheel column pendulum at middle part is to preceding limiting angle, being positioned at the front portion of the vehicle right side (or left side) side and two wheel columns at rear portion puts to preceding limiting angle, the wheel column pendulum at middle part is to the back limiting angle, and vehicle integral body has moved ahead a step;
(4) then, pendulum described in the step (3) is to three wheel columns swing backward in the past of preceding limiting angle, and wheel stops operating, pendulum to three wheel columns of back limiting angle from after swing forward, the wheel rotation of rolling forward;
(5) put once more to preceding limiting angle when being positioned at (or right) front portion of side, a vehicle left side and two wheel columns at rear portion, the wheel column at middle part is put once more to the back limiting angle, being positioned at (or left side) front portion of side, the vehicle right side and two wheel columns at rear portion puts once more to the back limiting angle, the wheel column at middle part is put once more to preceding limiting angle, and vehicle integral body has moved ahead again a step;
(6) circulation repeating step (2) is to step (5), thereby realized the whole walking of vehicle.
As shown in Figure 6, when all wheel columns and wheel all turn to up, whole vehicle draws in vertical direction, thereby has realized whole vehicle contraction, bottom, compartment ground connection.
As shown in Figure 1, wheeled interspace detection is maked an inspection tour vehicle and is had six wheels, is separately positioned on the left and right vehicle wheel both sides.As shown in Figure 2, each wheel 1 all passes through wheel column 2 and is connected with suspension, is provided with the actuator 3 that makes the swing of wheel column on suspension, is provided with the actuator 4 that makes wheel 1 rotation on wheel column 2 and wheel 1 coupling end.
When control vehicle is walked, when the wheel column from after when swinging forward, the rotation of rolling forward of connected wheel; When the wheel column was swung in the past backward, connected wheel stopped operating.
As shown in Figure 3, when wheel column forward swing, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
As shown in Figure 3, when putting behind the wheel column, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
ω
4=0;
In the above-mentioned formula:
V is a vehicle to run speed;
L is the wheel strut length;
R is a radius of wheel;
Preceding limiting angle during for wheel column forward swing, it is provided with scope at 20～50 °;
ω
1The cireular frequency of wheel column swing during for wheel column forward swing;
ω
3The spin velocity of wheel during for wheel column forward swing;
ω
2Cireular frequency for when pendulum wheel column swing behind the wheel column;
ω
4For behind the wheel column when pendulum wheel spin velocity.
Control above-mentioned six according to following steps and take turns interspace detection tour vehicle to run, as shown in Figure 5:
(1) before vehicle began walking, all wheel columns were all put to the back limiting angle;
When (2) vehicle begins to walk, two wheel columns that are positioned at vehicle rear from after swing forward, the wheel rotation of rolling forward;
(3) when two the wheel columns pendulum that is positioned at vehicle rear to preceding limiting angle, two wheel columns that are positioned at the vehicle middle part from after swing forward, the wheel rotation of rolling forward;
(4) when two wheel columns pendulum that are positioned at vehicle middle part to preceding limiting angle, two wheel columns that are positioned at front part of vehicle from after swing forward, the wheel rotation of rolling forward;
(5) put to preceding limiting angle when two wheel columns that are positioned at front part of vehicle, all wheel columns are swing backward in the past again, and wheel stops operating;
(6) when all wheel columns all put to after limiting angle, vehicle integral body moves ahead a step;
(7) circulation repeating step (2) is to step (6), thereby realized the whole walking of vehicle.
As shown in Figure 6, when all wheel columns and wheel all turn to up, whole vehicle draws in vertical direction, thereby has realized whole vehicle contraction, bottom, compartment ground connection.
Claims (3)
1. method for controlling running of wheeled interplanetary exploration patrol vehicle, its when vehicle to run, when the wheel column from after when swinging forward, the rotation of rolling forward of connected wheel; When the wheel column was swung in the past backward, connected wheel stopped operating; It is characterized in that: take turns interspace detection according to following steps control six and make an inspection tour vehicle to run:
(1) before vehicle began walking, all wheel columns were all put to the back limiting angle;
When (2) vehicle begins to walk, two wheel columns that are positioned at vehicle rear from after swing forward, the wheel rotation of rolling forward;
(3) when two the wheel columns pendulum that is positioned at vehicle rear to preceding limiting angle, two wheel columns that are positioned at the vehicle middle part from after swing forward, the wheel rotation of rolling forward;
(4) when two wheel columns pendulum that are positioned at vehicle middle part to preceding limiting angle, two wheel columns that are positioned at front part of vehicle from after swing forward, the wheel rotation of rolling forward;
(5) put to preceding limiting angle when two wheel columns that are positioned at front part of vehicle, all wheel columns are swing backward in the past again, and wheel stops operating;
(6) when all wheel columns all put to after limiting angle, vehicle integral body moves ahead a step;
(7) circulation repeating step (2) is to step (6), thereby realized the whole walking of vehicle.
2. method for controlling running of wheeled interplanetary exploration patrol vehicle according to claim 1 is characterized in that:
When wheel column forward swing, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
When putting behind the wheel column, the cireular frequency of wheel column swing has following relation with connected wheel revolutions speed:
In the above-mentioned formula:
V is a vehicle to run speed;
L is the wheel strut length;
R is a radius of wheel;
Back limiting angle for when pendulum behind the wheel column;
ω
1The cireular frequency of wheel column swing during for wheel column forward swing;
ω
3The spin velocity of wheel during for wheel column forward swing;
ω
2Cireular frequency for when pendulum wheel column swing behind the wheel column;
ω
4For behind the wheel column when pendulum wheel spin velocity.
3. method for controlling running of wheeled interplanetary exploration patrol vehicle according to claim 2 is characterized in that: the preceding limiting angle during wheel column forward swing
The scope that is provided with at 20～50 °; Back limiting angle when putting behind the wheel column
The scope that is provided with at 20～50 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101937878A CN101445158B (en) | 2007-11-28 | 2007-11-28 | Method for controlling running of wheeled interplanetary exploration patrol vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101937878A CN101445158B (en) | 2007-11-28 | 2007-11-28 | Method for controlling running of wheeled interplanetary exploration patrol vehicle |
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| CN101445158A CN101445158A (en) | 2009-06-03 |
| CN101445158B true CN101445158B (en) | 2011-05-04 |
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| CN2007101937878A Expired - Fee Related CN101445158B (en) | 2007-11-28 | 2007-11-28 | Method for controlling running of wheeled interplanetary exploration patrol vehicle |
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| CN103197681B (en) * | 2013-04-12 | 2015-09-23 | 北京空间飞行器总体设计部 | A kind of General Mobile control method being applicable to lunar surface rover |
| CN111361760B (en) * | 2020-01-13 | 2021-07-02 | 北京理工大学 | Small celestial body surface movement track tolerance optimization method |
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| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Su Bo Inventor after: Yang Shuling Inventor after: Han Xiaoling Inventor after: Jiang Lei Inventor after: Cai Wenbin Inventor after: Lu Guoxuan Inventor before: Su Bo Inventor before: Yang Shuling Inventor before: Lu Guoxuan Inventor before: Jiang Lei Inventor before: Cai Wenbin |
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Free format text: CORRECT: INVENTOR; FROM: SU BO YANG SHULING LU GUOXUAN JIANG LEI CAI WENBIN TO: SU BO YANG SHULING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN |
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| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Su Bo Inventor after: Yang Shuling Inventor after: Li Chunming Inventor after: Han Xiaoling Inventor after: Jiang Lei Inventor after: Cai Wenbin Inventor after: Lu Guoxuan Inventor after: Yao Qichang Inventor after: He Yali Inventor before: Su Bo Inventor before: Yang Shuling Inventor before: Han Xiaoling Inventor before: Jiang Lei Inventor before: Cai Wenbin Inventor before: Lu Guoxuan |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: SU BO YANG SHULING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN TO: SU BO YANG SHULING LI CHUNMING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN YAO QICHANG HE YALI |
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Granted publication date: 20110504 Termination date: 20171128 |
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| CF01 | Termination of patent right due to non-payment of annual fee |