CN104960573A - Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes - Google Patents
Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes Download PDFInfo
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- CN104960573A CN104960573A CN201510389368.6A CN201510389368A CN104960573A CN 104960573 A CN104960573 A CN 104960573A CN 201510389368 A CN201510389368 A CN 201510389368A CN 104960573 A CN104960573 A CN 104960573A
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Abstract
The invention discloses an intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes. The intelligent all-dimensional probing vehicle comprises two front wheels, two rear wheels, three steering engines for controlling the steering of the wheels, a steering engine for controlling a supporting plate to rotate, two driving motors, two ultrasonic-wave sensors and a control module, wherein the two front wheels are steering wheels; the steering engines positioned on both sides of the front wheels are used for controlling the front wheels to separately rotate, and the steering engine positioned in the middle of the front wheels is used for controlling the front wheels to simultaneously rotate, so that the switching of different steering modes can be realized; the steering engine positioned on the vehicle is used for realizing the all-directional probing of the ultrasonic-wave sensors; the two rear wheels are driving wheels; the two driving motors are used for supplying driving force with which the two rear wheels rotate; the control module controls the steering engines and the driving motors to take actions through the probing results of the sensors. Through the adoption of the intelligent all-dimensional probing vehicle disclosed by the invention, the vehicle can be guaranteed to accurately and stably turn in a small turning radius, and the probing without dead zones is realized, so that the traveling stability and the traveling safety are improved.
Description
Technical field
The present invention relates to intelligent vehicle to turn to and field of detecting, particularly a kind of three steering wheels turn to switchable omnidirectional detection intelligent carriage.
Background technology
At present, intelligent carriage generally adopts the technology of single steering engine front-wheel steering, when turn radius is less, steering wheel must export larger corner guarantee intelligent carriage and realize negotiation of bends, and larger corner just means that the wheel at two ends has larger camber line displacement.And the larger displacement that wheel produces at short notice can have a negative impact to the smooth running of intelligent carriage.And adopt double steering engine front-wheel independent steering technology, because two front wheel angles are identical, cause the instantaneous center of velocity that four wheels do not move, namely can not realize the pure rolling of wheel, thus cause the slippage of wheel.The slippage of wheel is also the labile factor that intelligent carriage turns to.
Intelligent carriage relies on sensor acquired disturbance thing information, thus controls steering wheel and drive motor action by control module.Therefore, the information obtained by sensor is particularly important.At present, generally the investigative range expanding sensor in the way of car body surrounding sensor installation is respectively adopted, to realize omnidirectional detection.But adopt number of sensors many, cost is high, at body support and little dolly is also difficult to arrange.
Summary of the invention
Technical matters to be solved by this invention is for defect involved in background technology, there is provided a kind of three steering wheels to turn to switchable omnidirectional detection intelligent carriage, solve turn radius less when intelligent carriage turn to the problem of inaccurate instability and the problem of omnidirectional detection.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of three steering wheels turn to switchable omnidirectional detection intelligent carriage, comprise two front-wheels, two trailing wheels, two drive motor, two ultrasonic transduters, supporting plate, first to fourth steering wheel, body support and control modules, wherein, described control module respectively with two drive motor, two ultrasonic transduters, first to fourth steering wheels are electrically connected;
Described first steering wheel, the second steering wheel are arranged on the inner side of two front-wheels, are respectively used to control two front-wheels and turn to separately;
Described 3rd steering wheel is arranged on the centre of two front-wheels, turns to for controlling two front-wheels simultaneously;
Described two drive motor are arranged on the inner side of two trailing wheels, are respectively used to provide the propulsive effort needed for two rear wheel;
Described supporting plate is fixed on the output shaft of described 4th steering wheel, and parallel with body support;
Described 4th steering wheel is fixed on body support, rotates for driving described supporting plate;
Described two ultrasonic transduters are fixed on described supporting plate, and detection direction is contrary, the obstacle before being respectively used to probe vehicles and after car;
Described control module is used for controlling described first to fourth steering wheel and two drive motor work according to the result of detection of ultrasonic transduter.
Turn to the further prioritization scheme of switchable omnidirectional detection intelligent carriage as a kind of three steering wheels of the present invention, described two drive motor all adopt direct current deceleration motor.
Turn to the further prioritization scheme of switchable omnidirectional detection intelligent carriage as a kind of three steering wheels of the present invention, described control module adopts Arduino micro controller system.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
The present invention ensures that intelligent carriage can accurately steadily turn in tight turn radius situation; Take into account the simplification of handling maneuver, intelligent carriage can carry out the switching of two kinds of steering modes under different turn radius; And achieve non-blind area omnidirectional detection, required number of sensors is few, and be easy to arrange.This technical scheme improves riding stability and the safety of intelligent carriage.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of intelligent carriage;
Accompanying drawing 2 is single steering engine front-wheel steering schematic diagram;
Accompanying drawing 3 is double steering engine front-wheel independent steering schematic diagram.
In figure, 1-front frame, 2-first steering wheel, 3-supporting plate, 4-drive motor, 5-body support, 6-front-wheel, 7-the 4th steering wheel, 8-ultrasonic transduter, 9-control module, 10-trailing wheel, 11-second steering wheel, 12-the 3rd steering wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the invention discloses a kind of three steering wheels and turn to switchable omnidirectional detection intelligent carriage, comprise two front-wheels, 6, two trailing wheel 10, first steering wheel 2, second steering wheels 11, the 3rd steering wheel 12, the 4th steering wheel 7, two drive motor 4, two ultrasonic transduters 8, supporting plate 3, body support 5, front frame 1 and control modules 9.
Two described front-wheels 6 are wheel flutters, for realizing turning to of intelligent carriage.
Two described trailing wheels 10 are drive wheels, for realizing the advance of intelligent carriage, retreating and stopping.
Described first steering wheel 2, second steering wheel 11 is arranged on front frame 1, connects the near front wheel and off front wheel respectively, is respectively used to control the near front wheel and off front wheel rotation.
Described 3rd steering wheel 12 arranges on body support 5, and its output shaft is connected with front frame 1, rotates while realizing the near front wheel and off front wheel by driving the rotation of front frame 1.
When turn radius is larger, as shown in Figure 2, the first steering wheel 2, second steering wheel 11 is all failure to actuate, and rotates, thus realize turning to of dolly while controlling the 4th steering wheel 12 action and realizing wheel.Because turn radius is comparatively large, the corner of steering wheel is less, and the camber line displacement of both sides wheel is very little, and the impact turned to dolly is very little, negligible, and this type of forward method only controls a steering wheel, simple.
When turn radius is less, as shown in Figure 3, the 3rd steering wheel 12 is failure to actuate, and realizes the rotation respectively of wheel by controlling the first steering wheel 1, second steering wheel 11 action.Because turn radius is less, the corner that steering wheel exports at short notice is larger.Compared to single steering engine front-wheel steering, wheel displacement at short notice when dolly adopts this kind of steering mode can reduce to turn to, is conducive to improving stationarity when dolly turns to; Meanwhile, ensure that the corner of outboard wheels is less than the corner of inboard wheel, its relation is met
, to realize the pure rolling of four wheels, avoid dolly in the process of moving wheel there is sliding phenomenon, affect dolly and normally travel, thus reach the object accurately turned to.
Take into account the simplification of handling maneuver, stationarity and accuracy, two kinds of above-mentioned steering modes can switch according to the difference of turn radius size, achieve the reliable traveling of intelligent carriage on different bend.
Two described drive motor 4 respectively with left rear wheel, off hind wheel connect, provide two trailing wheels 10 to rotate required propulsive effort.
Described supporting plate 3 is fixed on the output shaft of the 4th steering wheel 7, and parallel with body support 5.
Described 4th steering wheel 7 is fixed on body support 5, and for driving described supporting plate 3 to rotate, its rotation angle range is 0 ~ 180 °.
Two described ultrasonic transduters 8 are all fixed on supporting plate 3, and detection direction is contrary; One of them is for detecting the obstacle in 0 ~ 180 ° of region, dolly front, and another is for detecting the obstacle in 0 ~ 180 ° of region, dolly rear; Ultrasonic transduter 8 has highly sensitive, takes measurement of an angle large, the advantage that antijamming capability is strong.
In intelligent carriage traveling process, control the 4th steering wheel 7 continuous firing that supporting plate rotates.Two ultrasonic transduters 8 detect the obstacle within the scope of dolly front and 0 ~ 180 °, rear respectively, along with the raising of the intelligent carriage speed of a motor vehicle, suitably can increase the rotating speed of steering wheel, accelerate the speed that supporting plate rotates, to ensure good Effect on Detecting.
Described control module 9 controls steering wheel 2 and drive motor 4 action by the result of detection of ultrasonic transduter 8, avoids colliding with obstacle.
Described drive motor 4 is direct current deceleration motor.
Described control module 9 is Arduino micro controller system, and it is low in energy consumption, stable performance.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above-described detailed description of the invention; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a steering wheel turns to switchable omnidirectional detection intelligent carriage, it is characterized in that, comprise two front-wheels, two trailing wheels, two drive motor, two ultrasonic transduters, supporting plate, first to fourth steering wheel, body support and control modules, wherein, described control module respectively with two drive motor, two ultrasonic transduters, first to fourth steering wheels are electrically connected;
Described first steering wheel, the second steering wheel are arranged on the inner side of two front-wheels, are respectively used to control two front-wheels and turn to separately;
Described 3rd steering wheel is arranged on the centre of two front-wheels, turns to for controlling two front-wheels simultaneously;
Described two drive motor are arranged on the inner side of two trailing wheels, are respectively used to provide the propulsive effort needed for two rear wheel;
Described supporting plate is fixed on the output shaft of described 4th steering wheel, and parallel with body support;
Described 4th steering wheel is fixed on body support, rotates for driving described supporting plate;
Described two ultrasonic transduters are fixed on described supporting plate, and detection direction is contrary, the obstacle before being respectively used to probe vehicles and after car;
Described control module is used for controlling described first to fourth steering wheel and two drive motor work according to the result of detection of ultrasonic transduter.
2. three steering wheels according to claim 1 turn to switchable omnidirectional detection intelligent carriage, it is characterized in that, described two drive motor all adopt direct current deceleration motor.
3. three steering wheels according to claim 1 turn to switchable omnidirectional detection intelligent carriage, it is characterized in that, described control module adopts Arduino micro controller system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510389368.6A CN104960573A (en) | 2015-07-06 | 2015-07-06 | Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes |
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| CN201510389368.6A CN104960573A (en) | 2015-07-06 | 2015-07-06 | Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107223105A (en) * | 2016-07-29 | 2017-09-29 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control, chassis vehicle control method and ground mobile robot |
| CN109445430A (en) * | 2018-10-19 | 2019-03-08 | 安徽信息工程学院 | A kind of automated guided vehicle |
| CN109562779A (en) * | 2016-07-29 | 2019-04-02 | 三菱电机株式会社 | Electric power steering apparatus |
| CN110588858A (en) * | 2019-09-18 | 2019-12-20 | 东莞灏智动能科技有限公司 | Scooter for old people |
| CN112550753A (en) * | 2020-12-28 | 2021-03-26 | 东北农业大学 | Fixed wing unmanned aerial vehicle running takeoff auxiliary trolley |
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| CN107223105A (en) * | 2016-07-29 | 2017-09-29 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control, chassis vehicle control method and ground mobile robot |
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| CN110588858A (en) * | 2019-09-18 | 2019-12-20 | 东莞灏智动能科技有限公司 | Scooter for old people |
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| CN112550753A (en) * | 2020-12-28 | 2021-03-26 | 东北农业大学 | Fixed wing unmanned aerial vehicle running takeoff auxiliary trolley |
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Application publication date: 20151007 |