CN104931279A - Traction characteristic test platform for miniature crawler mobile robot - Google Patents
Traction characteristic test platform for miniature crawler mobile robot Download PDFInfo
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- CN104931279A CN104931279A CN201510381867.0A CN201510381867A CN104931279A CN 104931279 A CN104931279 A CN 104931279A CN 201510381867 A CN201510381867 A CN 201510381867A CN 104931279 A CN104931279 A CN 104931279A
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Abstract
A traction characteristic test platform for a miniature crawler mobile robot belongs to the driving traction characteristic control field, and helps to solve the problems that a conventional crawler mobile robot cannot simultaneously test soil sinking, sliding ratio and traction. The traction characteristic test platform comprises a wheel equipped with an encoder, a front laser displacement sensor, a power supply and signal processing box, a rear laser displacement sensor, and a tensiometer. The tension signal input end of the power supply and signal processing box is connected with the data signal output end of the tensiometer. The first displacement signal input end of the power supply and signal processing box is connected with the displacement signal output end of the front laser displacement sensor. The second displacement signal input end of the power supply and signal processing box is connected with the displacement signal output end of the rear laser displacement sensor. The front laser displacement sensor and the rear laser displacement sensor are fixed to a vehicle body of a to-be-tested crawler robot through the same rigid cantilever beam. The traction characteristic test platform is mainly applied to crawler mobile robots.
Description
Technical field
The invention belongs to and drive tractive characteristic control field.
Background technology
Crawler-type mobile platform has compared with high maneuverability, certain obstacle climbing ability and adaptive capacity to environment, and its controlled attitude can meet the job requirements of stable vision system, the accurate operation of motion arm etc., resulting in and applies widely.Particularly when being faced with complexity, the unknown, changeable non-structure environment, it in limited space, both can expand and contact area of ground, and can absorb again the vibration because the factors such as earth construction sudden change cause as far as possible, its compact conformation, can meet the requirement of robot buffering absorbing.
Concerning robot, locomitivity is the most basic, most important primary prerequisite.Higher locomitivity and maneuverability can be had for target with robot, how to set up vehicle dynamics model accurately and become the matter of utmost importance studied mobile robot and adapt to complicated ground environment, in recent years, Chinese scholars utilizes and calculates terra mechanics and set up traveling mechanism and ground effects model, analysis traveling mechanism and ground effects mechanism, sets up calculating method of tractive and becomes study hotspot.In experimental study, tractive force experiment mainly concentrates on celestial body car and big-and-middle-sized off-road vehicle aspect, rarely for the tractive force experimental study of crawler type robot, is particularly directed to the pulling figure research of the caterpillar robot under multiple types of floors.
Along with deepening continuously of caterpillar mobile robot application, outdoor ground environment is more complicated.In the ground environment of the unknown, the character of Different Soil is completely different, for hard ground, and better by property to soil of caterpillar robot, and for soft ground, the shear strength of soil is less, the tractive force that can provide for robot is limited.
Traditional vehicle dynamics model utilizing Coulomb law to set up just is estimated tractive force by the crawler belt model of soil parameters and simplification, specifically studies that soil sink, crawler belt distortion and the problem of sliding ratio.Simultaneously in experimental study, tractive force experiment mainly concentrates on celestial body car and big-and-middle-sized off-road vehicle aspect, rarely for the tractive force experimental study of crawler type robot, is particularly directed to the pulling figure research of the caterpillar robot under multiple types of floors.
Summary of the invention
The present invention be in order to solve caterpillar mobile robot in prior art can not simultaneously testing soil sink, the problem of sliding ratio and tractive force, the invention provides a kind of Small track robot pulling figure test platform.
Small track robot pulling figure test platform, it comprises with the wheel of scrambler, front laser displacement sensor, power supply and signal transacting case, rear laser displacement sensor and tautness meter;
Power supply and signal transacting case are fixed on the car body of tested caterpillar robot,
Power supply and signal transacting case are used for front laser displacement sensor, tautness meter, rear laser displacement sensor and power with the scrambler in the wheel of scrambler,
Be fixed on the Vehicular body front of tested caterpillar robot by floating connection system with the wheel of scrambler, tautness meter is fixed on the rear vehicle of tested caterpillar robot by section bar support,
The pulling force signal input part of power supply and signal transacting case is connected with the data signal output of tautness meter, first displacement signal input end of power supply and signal transacting case is connected with the displacement signal output terminal of front laser displacement sensor, the second shifting signal input end of power supply and signal transacting case is connected with the displacement signal output terminal of rear laser displacement sensor
Front laser displacement sensor and rear laser displacement sensor are fixed on the car body of tested caterpillar robot by same stiff cantilevers beam, and front laser displacement sensor is positioned at the car body front of tested caterpillar robot, rear laser displacement sensor is positioned at the car body rear of tested caterpillar robot
Front laser displacement sensor and rear laser displacement sensor are symmetrical arranged centered by tested caterpillar robot.
The detailed process that described power supply and signal transacting case obtain the sinkage of tested caterpillar robot is,
Under tested caterpillar robot stationary state, with tested caterpillar robot front-wheel and ground contact points for initial point, in surface level, set up coordinate system, with tested caterpillar robot working direction for X-axis, vertical X axis direction is that Z axis sets up plane,
In coordinate system xoz, before power supply and the collection of signal transacting case obtain, laser displacement sensor and ground distance are l
1mm, rear laser displacement sensor and ground distance are l
2mm and tested track machines human body over the ground angle of inclination are δ degree, and setting road surface keeps level, and road surface is z relative to the height of x-axis
0mm, then tested caterpillar robot is in motion process, is h=(z at the sinkage of the trailing wheel of t
0-z
1),
According to the coordinate (x of front laser displacement sensor
before, z
before), the coordinate (x of rear laser displacement sensor
after, z
after) and the relative distance L of front laser displacement sensor and rear laser displacement sensor, there is following relation:
Z
1+ l
2=z
after(1)
Z
0+ l
1=z
before(2),
Z
before-Lsin δ=z
after(3)
Tested caterpillar robot trailing wheel sinkage h is obtained by formula (1) to formula (3):
h＝(z
0-z
1)＝l
2+Lsinδ-l
1(4)，
Wherein, z
1when representing that tested caterpillar robot moves, tested caterpillar robot trailing wheel is relative to the height of x-axis.
The detailed process that described power supply and signal transacting case obtain the sliding ratio of tested caterpillar robot is:
In the process that tested caterpillar robot moves, by with the scrambler in the wheel of scrambler, power supply and signal transacting case obtain the angular velocity omega with the wheel of scrambler
steamboat, by angular velocity omega
steamboatsubstitute in following formula, obtain the sliding ratio i of tested caterpillar robot:
Wherein, ω
driving wheelrepresent the angular velocity of the driving wheel of tested caterpillar robot, r
steamboatrepresent the radius with the wheel of scrambler, r
driving wheelrepresent the radius of the driving wheel of tested caterpillar robot.
Set up caterpillar mobile robot pulling figure analysis platform, study its pulling figure to reasonable design optimization caterpillar robot structural parameters, improve the ability that robot adapts to complicated ground environment, when caterpillar robot advances on a certain class soil, by the terra mechanics parameter of such soil of influence of tractive force model prediction set up based on terra mechanics and then predict the tractive force that soil can provide for robot under certain sliding ratio, effectively can realize the motion control of robot, thus make robot in motion process as far as possible reduction slide, improve locomitivity, reduce energy consumption, effectively fulfil assignment task.
The beneficial effect that the present invention brings is, the small-sized caterpillar belt mobile robot pulling figure test platform that the present invention builds can measure several data simultaneously, for the control of follow-up tracked mobile platform.All sensors are all installed on caterpillar robot by section bar support, all detachably, can test different caterpillar robots and the information data of ground interaction.
Set up draw bar load-sliding ratio relation and tractive force-sinkage relation by measurement data and set up the soil parameters that identification characterizes Different Ground type, after dismounting platform annex, the terra mechanics parameter of such soil can be predicted and then predict the tractive force that soil can provide for robot under certain sliding ratio and sinkage.
Accompanying drawing explanation
Fig. 1 is the principle schematic of Small track robot pulling figure test platform of the present invention;
Fig. 2 is in embodiment two, and tested caterpillar robot is in principle schematic during sagging state;
Fig. 3 is in embodiment two, the sinkage survey sheet of tested caterpillar robot in coordinate system xoz.
Embodiment
Embodiment one: present embodiment is described see Fig. 1, Small track robot pulling figure test platform described in present embodiment, it comprises with the wheel 1 of scrambler, front laser displacement sensor 2, power supply and signal transacting case 5, rear laser displacement sensor 7 and tautness meter 8;
Power supply and signal transacting case 5 are fixed on the car body of tested caterpillar robot 4,
Power supply and signal transacting case 5 for giving front laser displacement sensor 2, tautness meter 8, rear laser displacement sensor 7 and powering with the scrambler in the wheel 1 of scrambler,
Be fixed on the Vehicular body front of tested caterpillar robot 4 by floating connection system with the wheel 1 of scrambler, tautness meter 8 is fixed on the rear vehicle of tested caterpillar robot 4 by section bar support,
The pulling force signal input part of power supply and signal transacting case 5 is connected with the data signal output of tautness meter 8, first displacement signal input end of power supply and signal transacting case 5 is connected with the displacement signal output terminal of front laser displacement sensor 2, the second shifting signal input end of power supply and signal transacting case 5 is connected with the displacement signal output terminal of rear laser displacement sensor 7
Front laser displacement sensor 2 and rear laser displacement sensor 7 are fixed on the car body of tested caterpillar robot 4 by same stiff cantilevers beam, and front laser displacement sensor 2 is positioned at the car body front of tested caterpillar robot 4, rear laser displacement sensor 7 is positioned at the car body rear of tested caterpillar robot 4
Front laser displacement sensor 2 and rear laser displacement sensor 7 are symmetrical arranged centered by tested caterpillar robot 4.
In present embodiment, when tractive force is measured by tested caterpillar robot 4 uniform motion, drag weight block 9 by tautness meter 8 and measure.
Tested caterpillar robot 4 outside add the detachable components such as laser displacement sensor, front steamboat ranging mechanism, tautness meter obtain robot crawler belt-ground effects under more complete comprehensive data message map according to calculating data and pass through polynomial fitting curve, set up the soil parameters that draw bar load-sliding ratio relation and tractive force-sinkage relation set up identification sign Different Ground type.
Embodiment two: present embodiment is described see Fig. 2, the difference of present embodiment and the Small track robot pulling figure test platform described in embodiment one is, the detailed process that described power supply and signal transacting case 5 obtain the sinkage of tested caterpillar robot 4 is
Under tested caterpillar robot 4 stationary state, with tested caterpillar robot 4 front-wheel and ground contact points for initial point, in surface level, set up coordinate system, with tested caterpillar robot 4 working direction for X-axis, vertical X axis direction is that Z axis sets up plane,
In coordinate system xoz, before power supply and signal transacting case 5 collection obtain, laser displacement sensor 2 is l with ground distance
1mm, rear laser displacement sensor 7 are l with ground distance
2mm and tested caterpillar robot 4 body over the ground angle of inclination are δ degree, and setting road surface keeps level, and road surface is z relative to the height of x-axis
0mm, then tested caterpillar robot 4 is in motion process, is h=(z at the sinkage of the trailing wheel of t
0-z
1),
According to the coordinate (x of front laser displacement sensor 2
before, z
before), the coordinate (x of rear laser displacement sensor 7
after, z
after) and front laser displacement sensor 2 and the relative distance L of rear laser displacement sensor 7, there is following relation:
Z
1+ l
2=z
after(1)
Z
0+ l
1=z
before(2),
Z
before-Lsin δ=z
after(3)
Tested caterpillar robot 4 trailing wheel sinkage h is obtained by formula (1) to formula (3):
h＝(z
0-z
1)＝l
2+Lsinδ-l
1(4)，
Wherein, z
1when representing that tested caterpillar robot moves, tested caterpillar robot trailing wheel is relative to the height of x-axis.
In present embodiment, tested caterpillar robot 4 body over the ground angle of inclination is that δ degree can have the instrument taken measurement of an angle in prior art to realize.
Embodiment three: the difference of present embodiment and the Small track robot pulling figure test platform described in embodiment one is, the detailed process that described power supply and signal transacting case 5 obtain the sliding ratio of tested caterpillar robot 4 is:
In the process that tested caterpillar robot 4 moves, by with the scrambler in the wheel 1 of scrambler, power supply and signal transacting case 5 obtain the angular velocity omega of the wheel 1 with scrambler
steamboat, by angular velocity omega
steamboatsubstitute in following formula, obtain the sliding ratio i of tested caterpillar robot 4:
Wherein, ω
driving wheelrepresent the angular velocity of the driving wheel of tested caterpillar robot 4, r
steamboatrepresent the radius with the wheel 1 of scrambler, r
driving wheelrepresent the radius of the driving wheel of tested caterpillar robot 4.
Claims (3)
1. Small track robot pulling figure test platform, it is characterized in that, it comprises with the wheel (1) of scrambler, front laser displacement sensor (2), power supply and signal transacting case (5), rear laser displacement sensor (7) and tautness meter (8);
Power supply and signal transacting case (5) are fixed on the car body of tested caterpillar robot (4),
Power supply and signal transacting case (5) for giving front laser displacement sensor (2), tautness meter (8), rear laser displacement sensor (7) and powering with the scrambler in the wheel (1) of scrambler,
Be fixed on the Vehicular body front of tested caterpillar robot (4) by floating connection system with the wheel (1) of scrambler, tautness meter (8) is fixed on the rear vehicle of tested caterpillar robot (4) by section bar support
The pulling force signal input part of power supply and signal transacting case (5) is connected with the data signal output of tautness meter (8), first displacement signal input end of power supply and signal transacting case (5) is connected with the displacement signal output terminal of front laser displacement sensor (2), the second shifting signal input end of power supply and signal transacting case (5) is connected with the displacement signal output terminal of rear laser displacement sensor (7)
Front laser displacement sensor (2) and rear laser displacement sensor (7) are fixed on the car body of tested caterpillar robot (4) by same stiff cantilevers beam, and front laser displacement sensor (2) is positioned at the car body front of tested caterpillar robot (4), rear laser displacement sensor (7) is positioned at the car body rear of tested caterpillar robot (4)
Front laser displacement sensor (2) and rear laser displacement sensor (7) are symmetrical arranged centered by tested caterpillar robot (4).
2. Small track robot pulling figure test platform according to claim 1, is characterized in that, the detailed process that described power supply and signal transacting case (5) obtain the sinkage of tested caterpillar robot (4) is,
Under tested caterpillar robot (4) stationary state, with tested caterpillar robot (4) front-wheel and ground contact points for initial point, in surface level, set up coordinate system, with tested caterpillar robot (4) working direction for X-axis, vertical X axis direction is that Z axis sets up plane
In coordinate system xoz, before power supply and signal transacting case (5) collection obtain, laser displacement sensor (2) is l with ground distance
1mm, rear laser displacement sensor (7) and ground distance are l
2mm and tested caterpillar robot (4) body over the ground angle of inclination are δ degree, and setting road surface keeps level, and road surface is z relative to the height of x-axis
0mm, then tested caterpillar robot (4) is in motion process, is h=(z at the sinkage of the trailing wheel of t
0-z
1),
According to the coordinate (x of front laser displacement sensor (2)
before, z
before), the coordinate (x of rear laser displacement sensor (7)
after, z
after) and the relative distance L of front laser displacement sensor (2) and rear laser displacement sensor (7), there is following relation:
Z
1+ l
2=z
after(1)
Z
0+ l
1=z
before(2),
Z
before-Lsin δ=z
after(3)
Tested caterpillar robot (4) trailing wheel sinkage h is obtained by formula (1) to formula (3):
h＝(z
0-z
1)＝l
2+Lsinδ-l
1(4)，
Wherein, z
1when representing that tested caterpillar robot moves, tested caterpillar robot trailing wheel is relative to the height of x-axis.
3. Small track robot pulling figure test platform according to claim 1, is characterized in that, the detailed process that described power supply and signal transacting case (5) obtain the sliding ratio of tested caterpillar robot (4) is:
In the process that tested caterpillar robot (4) moves, by with the scrambler in the wheel (1) of scrambler, power supply and signal transacting case (5) obtain the angular velocity omega with the wheel (1) of scrambler
steamboat, by angular velocity omega
steamboatsubstitute in following formula, obtain the sliding ratio i of tested caterpillar robot (4):
Wherein, ω
driving wheelrepresent the angular velocity of the driving wheel of tested caterpillar robot (4), r
steamboatrepresent the radius with the wheel (1) of scrambler, r
driving wheelrepresent the radius of the driving wheel of tested caterpillar robot (4).
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| CN201510381867.0A CN104931279A (en) | 2015-07-02 | 2015-07-02 | Traction characteristic test platform for miniature crawler mobile robot |
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| CN105675308A (en) * | 2016-02-24 | 2016-06-15 | 中南大学 | Evaluation and testing system for walking traction passage performance of submarine crawler type working vehicle |
| CN106843232A (en) * | 2017-03-28 | 2017-06-13 | 上海市质子重离子医院有限公司 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
| CN107870094A (en) * | 2016-12-28 | 2018-04-03 | 中南大学 | A kind of underwater track-type work robot experimental system |
| CN107917799A (en) * | 2017-11-10 | 2018-04-17 | 天津航天机电设备研究所 | Mecanum takes turns the test equipment of independent suspension device |
| CN109342084A (en) * | 2018-11-27 | 2019-02-15 | 洛阳理工学院 | A kind of caterpillar type robot performance test stand |
| CN111216844A (en) * | 2020-02-14 | 2020-06-02 | 武汉理工大学 | Traction system applied to tunnel ship navigation |
| CN113639916A (en) * | 2021-08-13 | 2021-11-12 | 吉林大学 | Planet vehicle traction testing device used in vacuum high-temperature and low-temperature environment |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675308A (en) * | 2016-02-24 | 2016-06-15 | 中南大学 | Evaluation and testing system for walking traction passage performance of submarine crawler type working vehicle |
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| CN107870094A (en) * | 2016-12-28 | 2018-04-03 | 中南大学 | A kind of underwater track-type work robot experimental system |
| CN106843232A (en) * | 2017-03-28 | 2017-06-13 | 上海市质子重离子医院有限公司 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
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| CN107917799A (en) * | 2017-11-10 | 2018-04-17 | 天津航天机电设备研究所 | Mecanum takes turns the test equipment of independent suspension device |
| CN109342084A (en) * | 2018-11-27 | 2019-02-15 | 洛阳理工学院 | A kind of caterpillar type robot performance test stand |
| CN111216844A (en) * | 2020-02-14 | 2020-06-02 | 武汉理工大学 | Traction system applied to tunnel ship navigation |
| CN113639916A (en) * | 2021-08-13 | 2021-11-12 | 吉林大学 | Planet vehicle traction testing device used in vacuum high-temperature and low-temperature environment |
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